• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1571-1574
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• 2003

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1169-1172
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• 1995

In this paper, the external force control and hybrid force control algorithms are proposed to apply Deburring process. the purpose of adjust which can be implemented to on unknown environments, adaptive control law(MRAC) is adopted. IF a model system is given, the plant system can be controlled on the way which we will introduce to. We showed the validation and the possibility of Deburring process with multi-dimensional force control through experiments. the experimental result show the validity of Deburring in the robot manipulator.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.35-40
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• 2021

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

• Journal of agricultural medicine and community health
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• v.27 no.1
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• pp.155-164
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• 2002

Hypertension is the most frequent disease of chronic circulatory diseases and major intermediate cause or risk of the cerebrovascular disease which is a leading cause of death in Korea. Therefore, management of hypertension is an important issue in Korean healthcare. Especially, therapeutic compliance of hypertensives is very important because the hypertensive patients should receive anti-hypertensive treatment as long as the condition exists. However, many patients drop out of treatment, which is a major problem that needs to be solved through a hypertension control program. This study was carried out to provide basic data and counter measule for the hypertension control program in the community which aimed to keep the patients receiving treatment continuously. In order to investigate compliance of hypertensive patients during three months follow-up and the rate of control of hypertension, the data were collected during February, 2001, by reviewing medical records of 295 hypertensive patients who had been registered to Gunnam-myeon health subcenter before November, 2000. The author also study the dropout reasons by interviewing 58 patients among 68 dropout patients. The results were as follows: 1. Among the 295 subjects, 108(36.6%) were male and 187(63.4%) were female. Statistically, female hypertensives had a higher mean age than male(64.6 vs 66.3, p<0.05). 2. The 54.9% of the patients took anti-hypertensive medicine continuously for the past three months. And 19.3% had drug intermittently, and 25.8% dropped out of treatment. 3. Among several variables, such as sex, age, health insurance, the time taken from a patient's village to the health subcenter, only the last one was found to be significantly related to therapeutic compliance in the contingency table analysis. 4. The dropout reasons by multiple response were as follows, 'no symptom or no problem' (23.9%), 'change to other hospitals'(19.4%), 'geographical barrier'(17.9%), 'change to a neighborhood drugstore' (14.9%), 'immobility'(7.5%), 'economic barrier'(6.0%), 'unsatisfactory services of the health subcenter'(4.4%). 5. The mean blood pressure of 295 subjects was $144.9{\pm}12.9/86.88{\pm}8.6mmHg$. 6. The 32.5% of the subjects were controlled below 140/90mmHg. Conclusions: In order to improve the low rates of treatment and control of hypertension in rural hypertensives, a more active and systematic hypertension control program, including out-reaching follow-up management, is required in rural area. Especially, for health education of hypertensive patients, emphasis should placed on correcting wrong attitude toward hypertension.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.76-81
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Journal of Mechanical Science and Technology
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• v.18 no.8
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• pp.1388-1400
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Journal of Korean society of Dental Hygiene
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• v.11 no.1
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• pp.137-148
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• 2011

Objectives : The objectives of this study were to investigate the infection control practices of practicing dental hygienists. Methods : This research was based on self-filling survey which 149 dental hygienists in dental clinic and dental hospital on October 2009. For the data analysis, an SPSS WIN 11.5 program was used and its signification level was 0.05. The following shows the results of this study. Results : 1. There was significant difference in there practice about sterilization and disinfection of dental instrument depending upon the respondent' career(p<0.05). 2. There was significant difference to were gloves and a apron according to type of service(p<0.05). 3. There was significant difference in the time to change the gown according to experience of education factors infection control(p<0.05). Conclusions : The majority of dental hygienists surveyed reported altering infection control practices and treatment techniques. While there has been an improvement in compliance with recommended infection control guidelines. Even though there is a need for continuing infection control education for dental hygienists.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.907-912
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• 1990

An approach to robot force control, which allows force manipulations to be realized without overshot and overdamping while in the presence of unknown environment, is given in this paper. The main idea is to use dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resolved acceleration control method, dynamic compensation and PID control based on known robot dynamics, kinematics and estimated environment compliance is introduced. To avoid overshoot the whole control system is constructed overdamped. In the second stage, the unknown environment stiffness is estimated by using fuzzy reasoning, where the fuzzy estimation rules are obtained priori as the expression of the relationship between environment stiffness and system response. Based on simulation result, comparisons between cases with or without fuzzy identifications are given, which illustrate the improvement achieved.

• Information Systems Review
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• v.12 no.1
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• pp.23-42
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• 2010

Although organizations are given various benefits with information technologies, they sometimes have suffered fatal damages due to information security incidents now such as computer virus, hacking, counterfeiting, plagiarizing, etc. The fundamentalcauses of information security incidents are closely related to individuals who do not comply with information security policy or rules. The spontaneous self-control of individuals and monitoring for individuals could be the most essential solution for the ongoing observance of information security policy. Thus, the purpose of this study is to analyze effects of punishment and ethics training on compliance of information security policy of individuals in organizations, to determine individual divide among security propensity depending on organization types, and to find the more fundamental solution which leads change of organizational members’ behaviors and self-control. Regardless of the type of organizations, the results of the study suggest that there exist positive effects of punishment and ethics training in all types of organization on compliance of information security rules or regulations. A member of unitary form organization has higher cognition of punishment than a member's cognition of the multi-divisional form organization, while relatively lower awareness of ethics training. Also, a member of public organization has higher awareness of ethics training than a member’s awareness of private organization, while lower cognition of punishment. Finally, the result shows that punishment and ethics training may be major factors which affect information security. It also suggests that organizational security managers have to understand and consider organization member’s propensity relying on organization form and organization characteristics for establishment and enforcement of information security policy.