• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.10a
• /
• pp.90-90
• /
• 2003

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.917-922
• /
• 2004

As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

• The Journal of the Convergence on Culture Technology
• /
• v.10 no.3
• /
• pp.189-198
• /
• 2024

In this papery, we study the diverse dynamics of human personality formation, examining the harmonious interplay between innate traits and the surrounding environment. Our focus is on Charles Dickens' renowned work, "Oliver Twist," where Dickens underscores the critical role of both the environment and innate traits in shaping personalities. We explore Dickens' unique perspective, emphasizing the deep insights gained through his work. The paper outlines the research background, stressing the topic's importance and explaining the necessity of addressing this crucial issue. The significance of choosing "Oliver Twist" as the research subject is highlighted, underscoring its special relevance. The main content thoroughly investigates how innate traits and the environment profoundly influence individual personality formation. Contrary to common assumptions, Dickens' perspective unequivocally highlights the greater importance of innate traits. Our analysis supports this claim, examining key scenes and characters in "Oliver Twist." By exploring his distinctive viewpoint on the environment's impact on personality formation, we enhance understanding of theinteraction between innate traits and the environment. Focused on "Oliver Twist," our goal is to provide contemporary readers with profound insights into how personal characteristics evolve and are shaped by environmental factors, utilizing Dickens' masterpiece as a central reference point.