• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.24.2-27
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• 1996

This paper is a study on the fuzzy force control of a miniature gripper driven by piezoelectric bimorph actuator. The system is composed of two flexible cantilevers, a stepping motor, a laser displacement transducer and two semiconductor force sensors attached to the beams. Obtained results show that the present artificial finger system works well as a miniature gripper, which produces approximately 0.06N force in the maximum. Further, the fuzzy position/force control algorithm is applied to the soft-handing gripper for stable grasping of a object. It revealed that the fuzzy rule-based controller be efficient controller for the stable drive of the flexible miniature gripper. It also showed that two semiconductor strain gauges located in the flexible beam play an important roles for force control, position control and vibration suppression control.

• Proceedings of the ESK Conference
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• 1997.10a
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• pp.359-365
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• 1997

When grasping a movable object or making an object move, humans feel kinesthetic sense. Kinesthetic sense is the human sense that the human feels in response to the motion acted on the human. The objecive of the paper is tranforming the kinesthetic sense to quantitized data that is useful from the viewpoint of engineering. To provide various motion patterns, 2-dimensional motion generator was built using 2-axis linear motors. Active stiffness and active damping were implemented by means of current control and force feedback techniques. Based on Taguchi method, the most dominant factors to affect kinesthetic sense were investigated. Also, some functions adequate to quantize the kinesthetic sense were found.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.1-83
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• 2001

This paper presents a three-fingered robot hand, called the KIST hand, Which have one active joint and one passive joint. The thumb is fixed on the palm, and the index and the middle take lateral motions symmetrically. A mechanical clutch and an embedded force sensor, attached on the distal link of the fingers, enable the KIST hand to perform human-like functions. A result of experiment shows reliable grasping performance of the hand which maintain stable grasp under disturbances.

• Journal of Information Processing Systems
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• v.18 no.5
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• pp.688-700
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• 2022

A composite bionic soft gripper integrated with electromagnets and magneto-active elastomers is designed by combining the structure of the human hand and the snake's behavior of enhancing friction by actively adjusting the scales. A silicon-based polymer containing magnetized hard magnetic particles is proposed as a soft finger, and it can be reversibly bent by adjusting the magnetic field. Experiments show that the length, width, and height of rectangular soft fingers and the volume ratio of neodymium-iron-boron have different effects on bending angle. The flexible fingers with 20 vol% are the most efficient, which can bend to 90° when the magnetic field is 22 mT. The flexible gripper with four fingers can pick up 10.51 g of objects at the magnetic field of 105 mT. In addition, this composite bionic soft gripper has excellent magnetron performance, and it can change surface like snakes and operate like human hands. This research may help develop soft devices for magnetic field control and try to provide new solutions for soft grasping.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1408-1414
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• 2015

The renewable energies such as photovoltaic power, wind power and biomass have grown to a greater extent as decarbonization techniques. The renewable energies are interconnected to power systems (or electrical grids) in order to increase benefits from economies of scale, and the extra attention is focused on the Grid Code. A grid code defines technical parameters that power plants must meet to ensure functions of power systems, and the grid code determined by considering power system characteristics is various across the country. Some TSO (Transmission System Operator) and ISO (Independent System Operator) have issued grid code for wind power and the special requirements for offshore wind farm. The main purpose of the above grid code is that wind farm in power systems has to act as the existing power plants. Therefore wind farm developer and wind turbine manufacturer have great difficulty in grasping and meeting grid code requirements. This paper presents the basic understanding for grid codes of developed countries in the wind power and trends of those technical requirements. Moreover, in grid code viewpoint, the active power control of wind power is also discussed in details.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.216-223
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• 2015

Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.

• Journal of Environmental Science International
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• v.19 no.8
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• pp.1067-1076
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• 2010

How would environmental education be implemented for effectiveness today? Deep reflection on the way of teaching environment in classes to achieve effectiveness is required. If there exist differences in students' environmental perception depending on environment class pattern, its most effective way should be looked for. In environmental education, inducing the students to have advisable attitude voluntary about environment is more important than teaching them environmental knowledge. From such view, students' active participation is necessary for successful environmental classes. Students need to be set to share their principle, values, attitude about environment problems at environmental class through presentation which is important factor to make them have advisable environmental attitude. Therefore, environmental class need to be carried out student-led way. For that, a class model need to be designed which will be helpful for the students to arrange and elaborate their emitting thought about environment problems through disclosing their thoughts to share them with fellow students which will end up in their advisable environmental attitude. This study aimed to find out the effectiveness of environmental collage making class contributive to offering various environmental perception to students and grasping others' thinking about environment. Fifty-eight 10th graders at U Science High School in Ulsan metropolitan city were selected for the study that carried out from 2010 April to June by choosing total 10 environmental themes divided into environmental collage making class applied to the 30 test group students, and general environmental class applied to 28 control group students. Following are the study results. First, in students' environmental sensitivity, the students in the environmental collage making class appeared to be higher compared with them in general environmental class. Second, in students' intentional environment action, the students in the environmental collage making class appeared to be higher compared with them in general environmental class. Third, in students' satisfaction with environmental class, the students in the environmental collage making class appeared to be higher compared with them in general environmental class.

• Journal of the Society of Disaster Information
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• v.18 no.4
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• pp.687-698
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• 2022

Purpose: This study was conducted to understand the public awareness of landslide and check dams in 2015-2020 using the big data platform 'Hyean' and to confirm the utilization of this platform in disaster prevention areas. Method: The total amount, number of detection by period by media, and affirmative and negative trends of a search for 'landslide' and 'check dam' in 2015-2020 were analyzed using a keyword search of 'Hyean.' Result: There is significant lack of public awareness of check dam compared to landslide, and the trend is more noticeable in the conspicuous gap of data amount between the news and SNS media. The number and the timing of the search for 'landslide' coincided with the actual occurrence of landslide, while the detection of 'check dam' was less related to it. Relatively affirmative preception for the check dam is inferred, but it was difficult to confirm accurate statistical affirmative and negative trends in the disaster prevention field using 'Hyean.' Conclusion: Unlike the experts who expect positive public awareness of check dam, the statistic results show that the public awareness of the check dam as an effective countermeasure against landslide was extremely low. Active promotion of erosion control projects should be carried out first, and a balanced sample survey should accompany online and periodic field surveys. Since there is a limit to grasping the effective perception in the field of disaster prevention area using 'Hyean', it should be very cautious to establish local/governmental policies using it.