• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.8
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• pp.831-840
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• 1992

This paper presents an efficient short-term generation scheduling method using a rule-based expert/consulting system approach to assist electric energy system operators and planners. The expert system approach is applied to improve the Dynamic Programming(DP) based generation scheduling algorithm. In the selection procedure of the feasible combinations of generating units at each stage, automatic consulting on the manipulation of several constraints such as the minimum up time, the minimum down time and the maximum running time constraints of generating units will be performed by the expert/consulting system. In order to maximize the solution feasibility, the aforementioned constraints are controlled by a rule-based expert system, that is, instead of imposing penalty cost to those constraint violated combinations, which sometimes may become the very reason of no existing solution, several constraints will be manipulated within their flexibilities using the rules and facts that are established by domain experts. In this paper, for the purpose of implementing the consulting of several constraints during the dynamic process of generation scheduling, an expert system named STGSCS is developed. As a building tool of the expert system, C Language Integrated Production System(CLIPS) is used. The effectiveness of the proposed algorithm has been demonstrated by applying it to a model electric energy system.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.40 no.2
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• pp.255-259
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• 1995

Improvement in potential Crop yield could be achieved through either the improve-ment of source potential or sink capacity, but preferably both simultaneously. The field experiment was performed to evaluate the genotypic difference in partitioning of dry matter into each plant part in response to photosynthetic manipulation as well as to assess whether the soybean yield is source or sink-limited. Four soybean genotypes, which were 'Baekunkong', 'Suwon 168', and two local soy-beans with black seed coat(hereafter referred to as the 'black soybean', 'Kangleungjarae' and 'Keumleungjarae', were grown in four different environments in which one or two layers of shading net during grain filling and two different planting densities(55,000 and 110,000 plants $ha^{-1}$) were applied to manipulate photosynthesis. Significant effects of genotype (G), photosynthetic manipulation(P), and$G^p$P were shown in top and grain dry weight. Relative grain to top dry weight was the lowest in soybean plants grown at 110,000 plants$ha^{-1}$and covered with two layers of shading net during grain filling, Evaluation of dynamic changes in shoot harvest index in response to photosynthetic manipulation treatments revealed that sink was more limited in local black soybeans than Suwon 168 and Baekunkong, indicating that the availability of photosynthate during grain filling did not limit the grain yield in local black soybeans when compared to Baekunkong and Suwon 168.oybeans when compared to Baekunkong and Suwon 168.

• Biotechnology and Bioprocess Engineering:BBE
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• v.9 no.6
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• pp.428-434
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• 2004

Coarse clumping of solid materials within diseased biological cells can have a marked influence on the light scattering pattern. Perturbations in refractive index lead to distinct varia­tions in the cytometric signature, especially apparent over wide scattering angles. The large dynamic range of scattering intensities restricts collection of data to narrow angular intervals be­lieved to have the highest potential for medical diagnosis. We propose the use of an interfer­ence filter to reduce the dynamic range. Selective attenuation of scattering intensity levels is expected to allow simultaneous data collection over a wide angular interval. The calculated angu­lar transmittance of a commercial shortwave-pass filter of cut-off wavelength 580 nm indicates significant attenuation of scattering peaks below ${\~}\;10^{circ}$, and reasonable peak equalization at higher angles. For the three-dimensional calculation of laser light scattered by cells we use a spectral method code that models cells as spatially varying dielectrics, stationary in time. How­ever, we perform preliminary experimental testing with the interference filter on polystyrene microspheres instead of biological cells. A microfluidic toolkit is used for the manipulation of the microspheres. The paper intends to illustrate the principle of a light scattering detection system incorporating an interference filter for selective attenuation of scattering peaks.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.6
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• pp.402-406
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• 2007

Rich Internet Application(RIA) is one of the Web 2.0 technologies and is expected to be a next generation user interface technique which allows flexible and dynamic manipulation for Web searches. This paper addresses a personalization mechanism for advanced Web search using RIA for abundant user interactions. We devised a dynamic and graphical user interface instead of previous text-based searches and a client side application for storing personal preference information. In this research, we implemented the graphical personalized search manager using Yahoo web search API and widget, and demonstrated its effectiveness by performing some experiments with various query terms and representative predicates.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• 한국공간정보시스템학회:학술대회논문집
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• 2000.06a
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• pp.93-105
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• 2000

GIS is a powerful toolbox in managing spatial data associated with attribute data. However GIS is short of spatial analysis function and graphic user interface(GUI) function in dealing with dynamic planning problems. Decision Support Systems(DSS) make up for the shortage of GIS by providing GUI function, modeling function and database function. Spatial Decision Support Systems(SDSS), a new kind of DSS, incorporate display function, basic spatial analysis function and manipulation function of spatial data and attribute data of GIS and GUI function, modeling function and database function of DSS in dealing with spatial planning problems. Planning Support Systems(PSS) add more advanced spatial analysis function and intertemporal function to the functions of SDSS. This study focuses on the modeling of a PSS for capacity expansion of water-distribution network depending upon land use planning by using GIS, value engineering(VE) and life cycle costing(LCC). The PSS shows a guideline about the investment of water-distribution networks related to urban growth management through generating certain numbers of dynamic alternatives to supply the amount of water caused by land use planning.

• Journal of the Korean Society of Safety
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• v.13 no.4
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• pp.102-112
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• 1998

Shock absorber has a great influence on the performance of the vehicle(ride comfort, manipulation, noise, vibration, turning, stability). Therefore, in this study we consider theoretically about general damper, variable damping oil damper, the control of vehicle Characteristics for the suspension, and undesirable phenomenon. And we measured the vibration/noise characteristics of shock absorber for the real car experimentation, strain change, and noise characteristics of shock absorber using experimental equipment. The study of domestic company and research institute on the vehicle shock absorber is active, but that of basis is not. So we think that they should be accomplished actively. Therefore, this paper will develop theoretical system on the vibration/noise characteristics of shock absorber by theoretical consideration and experimental result analysis of dynamic characteristics of shock absorber that were accomplished in this study. Then we will use it as the optimistic design data for shock absorber development.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.9
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• pp.10-21
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• 1994

Query-by-Example(QBE) is high-level display-oriented databased manipulation language that provides a convenient and unified style for querying, updating, defining, and controling a relational database. QBE is relationally complete. However, lack of aubquery constructs limits th usability of QBE significantly. In particular, certain queries cannot be represented in one window. In this paper, we define a subquery box and extend QBE for subquery construction. The Extended QBE makes it possible to represent the queries that the QBE cannot do in one window, reducing the overhead and complexity of composing those queries. We also define the grammar of the Extended QBE and present the parsing techniques. Finally, we present an algorithm to transform the queries in Exteded QBE to those in SQL. The result of the transformation can be executed using dynamic SQL features of any SQL system. The proposed language has been implemented on OS/2 using the OS/2 EE Database Manager.