• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.88-94
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• 2016

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.

• 대한간호
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• 제28권3호
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• pp.52-67
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• 1989

True nursing care means total nursing care which includes physical, emotional and spiritual care. The modern nursing care has tendency to focus toward physical care and needs attention toward emotional and spiritual care. The total nursing care is mandatory for patients with terminal cancer and for this purpose, hospice care became emerged. Hospice case originated from the place or shelter for the travellers to Jerusalem in medieval stage. However, the meaning of modem hospice care became changed to total nursing care for dying patients. Modern hospice care has been developed in England, and spreaded to U.S.A. and Canada for the patients with terminal cancer. Nowaday, it became a part of nursing care and the concept of hospice care extended to the palliative care of the cancer patients. Recently, it was introduced to Korea and received attention as model of total nursing care. This study was attempted to assess the efficacy of hospice care. The purpose of this study was to prove a difference in terms of physical, emotional a d spiritual aspect between the group who received hospice care and who didn't receive hospice care. The subject for this study were 113 patients with advanced cancer who were hospitalized in the S different hospitals. 67 patients received hospice care in 4 different hospitals, and 46 patients didn't receive hospice care in another 4 different hospitals. The method of this study was the questionaire which was made through the descriptive study. The descriptive study was made by individual contact with 102 patients cf advanced cancer for 9 months period. The measurement tool for questionaire was made by author through the descriptive study, and included the personal religious orientation obtained from chung(originated R. Fleck) and 5 emotional stages before dying from Kubler Ross. The content ol questionaire consisted in 67 items which included 11 for general characteristics, 10 for related condition with cancer, 13 for wishes far physical therapy, 13 for emotional reactions and 20 for personal religious orientation. Data for this study was collected from Aug. 25 to Oct. 6 by author and 4 other nurse's who received education and training by author for the collection of data. The collected data were ana lysed using descriptive statistics, $X^2-test$, t-test and pearson correlation coefficient. Results of the study were as follows: "H.C Group" means the group of patient with cancer who received hospice care. "Non H.C Group" means the group of patient with cancer who did not receive hospice care. 1. There is a difference between H.C Group and Non H.C Group in term of the number of physical symptoms, subjective degree of pain sensation and pain control, subjective beliefs in physical cure, emotional reaction, help of present emotional and spiritual care from other personal, needs of emotional and spiritual care in future, selection of treatment method by patients and personal religious orientation. 2. The comparison of H.C Group and Non H.C Group 1) There is no difference in wishes for physical therapy between two groups(p=.522). Among Non H.C Group, a group, who didn't receive traditional therapy and herb medicine was higher than a group who received these in degree of belief that the traditional therapy and herb medicine can cure their disease, and this result was higher in comparison to H.C Group(p=.025, p=.050). 2) Non H.C Group was higher than H.C Group in degree of emotional reaction(p=.050). H.C Group was higher than Non H.C Group in denial and acceptant stage among 5 different emotional stages before dying described by Kubler Ross, especially among the patient who had disease more than 13 months(p=.0069, p=.0198). 3) Non H.C Group was higher than H. C Group in demanding more emotional and spiritual care to doctor, nurse, family and pastor(p=. 010). 4) Non H.C Group was higher than H.C Group in demanding more emotional and spiritual care to each individual of doctor, nurse and family (p=.0110, p=.0029, P=. 0053). 5) H.C Group was higher th2.n Non H.C Group in degree of intrinsic behavior orientation and intrinsic belief orientation of personal religious orientation(p=.034, p=.026). 6) In H.C Group and Non H.C Group, the degree of emotional demanding of christians was significantly higher than non christians to doctor, nurse, family and pastor(p=. 000, p=.035). 7) In H.C Group there were significant positive correlations as following; (1) Between the degree of emotional demandings to doctor, nurse, family & pastor and: the degree of intrinsic behavior orientation in personal religious orientation(r=. 5512, p=.000). (2) Between the degree of emotional demandings to doctor, nurse. family & pastor and the degree of intrinsic belief orientation in personal religious orientation(r=.4795, p=.000). (3) Between the degree of intrinsic behavior orientation and the degree of intrinsic: belief orientation in personal religious orientation(r=.8986, p=.000). (4) Between the degree of extrinsic religious orientation and the degree of consensus religious orientation in personal religious orientation (r=. 2640, p=.015). In H.C. Group there were significant negative correlations as following; (1) Between the degree of intrinsic behavior orientation and extrinsic religious orientation in personal religious orientation (r=-.4218, p=.000). (2) Between the degree or intrinsic behavior orientation and consensus religious orientation in personal religious orientation(r=-. 4597, p=.000). (3) Between the degree of intrinsic belief orientations and the degree of extrinsic religious orientation in personal religious orientation(r=-.4388, p=.000). (4) Between the degree of intrinsic belief orientation and the degree of consensus religious orientation in personal religious orientation(r=-. 5424, p=.000). 8) In Non H.C Group there were significant positive correlation as following; (1) Between the degree of emotional demandings to doctor, nurse, family & pastor and the degree of intrinsic behavior orientation in personal religious orientation(r= .3566, p=.007). (2) Between the degree of emotional demandings to doctor, nurse, family & pastor and the degree of intrinsic belief orientation in personal religious orientation(r=.3430, p=.010). (3) Between the degree of intrinsic behavior orientation and the degree of intrinsic belief orientation in personal religious orientation(r=.9723, p=.000). In Non H.C Group there were significant negative correlation as following; (1) Between the degree of emotional demandings to doctor, nurse, family & pastor and the degree of extrinsic religious orientation in personal religious orientation(r= -.2862, p=.027). (2) Between the degree of intrinsic behavior orientation and the degree of extrinsic religious orientation in personal religious orientation(r=-. 5083, p=.000). (3) Between the degree of intrinsic belief orientation and the degree of extrinsic religious orientation in personal religious orientation(r=-. 5013, p=.000). In conclusion above datas suggest that hospice care provide effective total nursing care for the patients with terminal cancer, and hospice care is mandatory in all medical institutions.

• 전기학회논문지
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• 제60권10호
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• 동력기계공학회지
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• 제18권1호
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• pp.91-98
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• 2014

In this investigation, the effect of crack orientation on spatial randomness of fatigue crack growth rate (FCGR) in friction stir welded (FSWed) 7075-T651 aluminum alloy joints has been statistically analyzed by Weibull distribution. The fatigue crack growth tests are conducted under three different constant stress intensity factor range (SIFR) control at room temperature with R = 0.1 and frequency 10Hz on compact tension (CT) specimen machined at base metal (BM) and weld metal (WM). The experimental fatigue crack growth rate data were obtained for two types of specimens having LT and TL orientations. LT specimens both base metal and weld metal showed higher fatigue crack growth rate as compared to TL specimens. In the lower SIFR region, FCGR were found to be almost 3 times higher in higher SIFR region. The shape parameter of Weibull both LT and TL orientation for FCGR was increased with increasing SIFR, the scale parameter was also increased with increasing SIFR. The smallest value of the shape parameter was shown in weld metal specimens having LT orientation at lower SIFR region.

• 산업경영시스템학회지
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• 제37권4호
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• pp.245-250
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• 2014

The purpose of this study is to introduce a empirical study of using Taguchi Method for the Entrepreneurial Orientation and Financial Performance. In this study, three factors of Entrepreneurial Orientation, innovation, pro-activity and risk taking, are used of the control factors and an element, period of establishment, is chosen as a noise factor. In order to carry out this research, we obtained 200 survey sheets and performed the reliability and validity analysis of the questionnaires and then the experiment was conducted by Taguchi's experimental design. To improve Financial Performance under the noise factor of period of establishment, optimal condition are as follows; the two factors of Entrepreneurial Orientation, innovation, pro-activity should be maintained to a high level. Also, other factor, risk taking should be performed as the level that the company has maintained. Through this paper, we find out that Taguchi method is applicable for analysis of questionnaire.

• Journal of Electrical Engineering and Technology
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• 제2권4호
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• pp.478-484
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• 2007

This paper deals with the high efficient vector control for the reduction of copper losses of the doubly fed motor. Firstly, the feedback linearization control based on Lyapunov approach is employed to design the underlying controller achieving the double fluxes orientation. The fluxes# controllers are designed independently of the speed. The speed controller is designed using the Lyapunov method especially employed to the unknown load torques. The global asymptotic stability of the overall system is theoretically proven. Secondly, a new Torque Copper Losses Factor is proposed to deal with the problem of the machine copper losses. Its main function is to optimize the torque in keeping the machine saturation at an acceptable level. This leads to a reduction in machine currents and therefore their accompanied copper losses guaranteeing improved machine efficiency. The simulation and experimental results in comparative presentation confirm largely the effectiveness of the proposed DFIM control with a very interesting energy saving contribution.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.314-323
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• 1999

This paper introduces a methodology of active calibration of a camera pose (orientation and position) using the images of cylindrical objects that are going to be manipulated. This active calibration method is different from the passive calibration where a specific pattern needs to be located at a certain position. In the active calibration, a camera attached on the robot captures images of objects that are going to be manipulated. That is, the prespecified position and orientation data of the cylindrical object are transformed into the camera pose through the two consecutive image frames. An ellipse can be extracted from each image frame, which is defined as a circular-feature matrix. Therefore, two circular-feature matrices and motion parameters between the two ellipses are enough for the active calibration process. This active calibration scheme is very effective for the precise control of a mobile/task robot that needs to be calibrated dynamically. To verify the effectiveness of active calibration, fundamental experiments are peformed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.