• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• Journal of applied mathematics & informatics
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• v.11 no.1_2
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• pp.327-340
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• 2003

For motion analysis electromagnetic sensors are often used to measure positions and orientations of human subjects. It is observed from several experiments of the Ergonomics Research group that there exist systematic errors and unexpected serious distortions due to some metal masses in the test area. A calibration process is necessary to fix these errors. In this article three models are proposed to correct position measurement errors based on observations from calibration experiments.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.22-26
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• 1999

In general, three are many degrees of freedom (DOF) in industrial robots. That can generate several special end-effector's positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applications such as welding, spray painting, deburring, and so on. In this research, new method is presented which safely maintain the desired constant end-effector's orientation and minimize the numbers of segments in path. These algorithms may apply to welding, painting, and assembling. The simulation study of straight line and circular motions in arc-welding operations is carried out to show the sure proof of these algorithms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1095-1102
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• 2003

The most important thing in measuring the tool wear is to set up the measurement base. The end mill that is being used for machining of die is difficult to set up the base and to measure the tool wear because of geometric properties of that such as a helix and relief angle. In this study, a new instrument using spindle orientation function in end milling is developed to measure the tool wear and evaluated by the measuring system on the machine. Finally, this new method makes possible the wear measurement of same position and reduces the measuring time compared with the measuring methods such as the microscope and CCD.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.149-153
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• 2003

The most important thing in measuring the tool wear is to set up the measurement base. The end mill that is being used for machining is difficult to set up the base and to measure the tool wear because of geometric properties of that such as a helix and relief angle. In this study, a new instrument using spindle orientation function in end milling is developed to measure tool wear and evaluated by measuring system on the machine. Finally, this new method makes possible the wear measurement of same position and reduces measuring time compared with measuring methods such as the microscope and CCD.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.94-99
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• 2013

This paper presents some experimental results about Position Mooring (PM) system applied to the barge ship. In PM operation, the station keeping in surge, sway of vessel is provided by the mooring system. In this paper, a system, consisting of a barge vessel and mooring lines, is mathematically modeled. The position and orientation of vessel is controlled by changing the tensions in the mooring lines. The PID control strategy is applied to evaluate the efficiency of proposed system. Experimental result which corresponds to the applied control strategy is presented and discussed.

• Korea Journal of Hospital Management
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• v.5 no.1
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• pp.40-61
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• 2000

The purpose of this study is to promote the efficiency of the management of the controls organization in the university hospitals and general hospitals by evaluating the factors underlying organizational conflict. The subject population included 351 hospital workers randomly selected from two general hospitals of less than 200 beds and two university hospitals over 500 beds in Seoul area. Data were collected through a survey questionnaire. To define related factors for the level of conflict among departments in each hospitals multivariate regression analysis was conducted. Independent factors were characteristics of subjects, conflicting factors between the departments. The results are as follows: 1. Those in high job position group demonstrated significantly higher level of conflict between departments. Those working in the general hospitals, who were older and had long-term tenure at current working hospital had higher level of conflict between the departments. 2. Concerning the involvement of conflicting factors and the level of conflict in the employees' there was statistically significant positive correlation between reliability and job-related and intradepartmental level of conflict in university hospitals. There was a significant positive correlation between interdepartmental conflicting factors of mutual dependence, difference in goal/orientation and interdepartmental level of conflict. 3. In the university hospitals, among the interdepartmental factors, mutual dependence and difference in goal/orientation had statistically significant influence and showed a positive relationship with interdepartmental level of conflict. In the general hospitals, job position was a significant factor which showed that those in high position such as section chief or above, compared to those in general position had higher level of conflict. Among the interdepartmental characteristics, factors of mutual dependence and goal/orientation had statistically significant influence and showed a positive relationship with interdepartmental level of conflict. In the general hospitals setting efforts to reduce conflict in areas among workers with high position, old age, and long tenure and those in medical care department should be made and prudent management and planning for improved manpower and increased budget or efficient allocation and clear definition of job description are necessary to adequately assess. In the university hospitals setting efforts to reexaminitation of the organizational structure and efficiency conveyance of information and efforts to resolve conflict among young workers with lower level of education is need. This study has its own merit in comparing empirically the conflict among hospital workers in the university hospitals and general hospitals. Future study are needed with respect to the relationship between interdepartmental level of conflict and the effectiveness of the hospital organization for improved resolution of conflict in the organization and hospital management.

• Journal of Power Electronics
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• v.4 no.1
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• pp.28-38
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• 2004

In this paper, the position control of a detuned indirect field oriented control (IFOC) induction motor drive is studied. A proposed Simple-Neuro-Controllers (SNCs) are designed and analyzed to achieve high-dynamic performance both in the position command tracking and load regulation characteristics for robotic applications. The proposed SNCs are trained on-line based on the back propagation algorithm with a modified error function. Four SNCs are developed for position, speed and ｄ-ｑ axes stator currents respectively. Also, a synchronous proportional plus integral-derivative (PI-D) two-degree-of-freedom (2DOF) position controller and PI-D speed controller are designed for an ideal IFOC induction motor drive with the desired dynamic response. The performance of the proposed SNCs and synchronous PI-D 2DOF position controllers for detuned field oriented induction motor servo drive is investigated. Simulation results show that the proposed SNCs controllers provide high-performance dynamic characteristics which are robust with regard to motor parameter variations and external load disturbance. Furthermore, comparing the SNC position controller with the synchronous PI-D 2DOF position controller demonstrates the superiority of the proposed SNCs controllers due to attain a robust control performance for IFOC induction motor servo drive system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.818-829
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• 2003

A cooperating control algorithm for two nonholonomic mobile robots is proposed. The task is composed of collision avoidance against obstacles and carrying a ladder. The front robot and the rear robot are called the leader and the follower, respectively. Each robot has a nonholonomic constraint so it cannot move in perpendicular directions. The environment is initially supposed to be unknown except target position. The torque that drives leader is determined by distance between the leader and the target position or the distance between it and the obstacles. The torque by target is attractive and the torque by obstacles is repulsive. The two mobile robots are supposed to be connected by link that can be expanded and contracted. The follower computes its torque using position and orientation information from the leader by communication. Simulation results show that the robots can drive to target position without colliding into the obstacles and maintain the distance in the allowable range.