• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.258-263
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• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• Journal of the Korea Safety Management & Science
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• v.15 no.1
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• pp.77-85
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• 2013

In the location science, environmental effect becomes a new main consideration for site selection. For the unwanted facility location selection, decision makers should consider the cost of resolving the environmental conflict. We introduced the negative influence cost for the facility which was inversely proportional to distance between the facility and residents. An unwanted facility location problem was suggested to minimize the sum of the negative influence cost and the transportation cost. The objective cost function was analyzed as nonlinear type and was neither convex nor concave. Three GRASP (Greedy Randomized adaptive Search Procedure) methods as like Random_GRASP, Epsilon_GRASP and GRID_GRASP were developed to solve the unwanted facility location problem. The Newton's method for nonlinear optimization problem was used for local search in GRASP. Experimental results showed that quality of solution of the GRID_GRASP was better than those of Random_GRASP and Epsilon_GRASP. The calculation time of Random_GRASP and Epsilon_GRASP were faster than that of Grid_GRASP.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.12
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• pp.856-864
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• 2019

The weapon-target assignment (WTA) problem is a matter of effectively allocating weapons to a number of threats. The WTA in a rapidly changing dynamic environment of engagement must take into account both of properties of the threat and the weapon and the effect of the previous decision. We propose a method of applying the Greedy Randomized Adaptive Search Procedure (GRASP) algorithm, a kind of meta-heuristic method, to derive optimal solution for a dynamic WTA problem. Firstly, we define a dynamic WTA problem and formulate a mathematical model for applying the algorithm. For the purpose of the assignment strategy, the objective function is defined and time-varying constraints are considered. The dynamic WTA problem is then solved by applying the GRASP algorithm. The optimal solution characteristics of the formalized dynamic WTA problem are analyzed through the simulation, and the algorithm performance is verified via the Monte-Carlo simulation.

• Journal of the Korea Safety Management & Science
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• v.13 no.1
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• pp.133-142
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• 2011

Overhead facility design problem(OFDP) is one of the shortest rectilinear flow network problem(SRFNP)[4]. Genetic algorithm(GA), artificial immune system(AIS), population management genetic algorithm (PM) and greedy randomized adaptive search procedures (GRASP) were introduced to solve OFDP. A path matrix formed individual was designed to represent rectilinear path between each facility. An exchange crossover operator and an exchange mutation operator were introduced for OFDP. Computer programs for each algorithm were constructed to evaluate the performance of algorithms. Computation experiments were performed on the quality of solution and calculations time by using randomly generated test problems. The average object value of PM was the best of among four algorithms. The quality of solutions of AIS for the big sized problem were better than those of GA and GRASP. The solution quality of GRASP was the worst among four algorithms. Experimental results showed that the calculations time of GRASP was faster than any other algorithm. GA and PM had shown similar performance on calculation time and the calculation time of AIS was the worst.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.843-849
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• 2016

It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.124-132
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• 2004

A hydraulic system is difficult to keep the performance due to non-linearity, load pressure which changes according to working condition and system parameter variation, the requirement of control algorithm has been risen in order to satisfy them. An adaptive control is a control method which is suggested to achieve a control object though plant characteristics change. In spite of the case that plant characteristics and the degree of variation are difficult to grasp, adaptive control can keep the characteristics of closed-loop system regularly. In this study GMVAC(generalized minimum variance adaptive control) combined with output error feedback is proposed in order to solve problems of non-minimum phase, vibration and overshoot in initial response of the plant. The control performance according to the variation of characteristics of the plant is evaluated by changing the supply pressure only.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.3
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• pp.388-394
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• 2003

Hydraulic system is difficult to obtain a suitable performance due to the nonlinearity load pressure change and system parameter variation. The requirement of control a1gorithm has been complex in order to satisfy the performance. The adaptive control is a control method which is suggested to achieve the control object under the plant characteristics change. In spite of the case that plant characteristics and the degree of variation are difficult to grasp. the adaptive control could keep the characteristics of closed-loop system generally. In this study. a method of combined generalized minimum variance adaptive control (GMVAC) and output error feedback is proposed, in order to solve the problem of non-minimum phase of plant and the vibration and overshoot in initial response. The control performance according to the variation of characteristics of plant is evaluated by changing the supply pressure. The experimental results show the effectiveness of the proposed scheme.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.5
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• pp.415-420
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• 2017

Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

• The Transactions of the Korea Information Processing Society
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• v.7 no.12
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• pp.3794-3803
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• 2000

In a Video-on-Demand system, admission control that is used to serve multimedia data efficiently has to be perfonned by an accurate grasp of the condition of surplus resources. Most of all. we need to adaptable admission control mechanism because the disk has irregular response time caused by external elements of disk, and also has high deviation of amount demanded. In previous admission control schemes, they determined whether a new user is granted or not through a theoretical value. Although they based on the measurement, they left much to be desired in dealing with the service state. Measurement ~based statistical admission control scheme, as we su~~ested in this research, perfonns 2 processes of off-line process and on-line process in real service environment. Through this processes, we can grasp the accurate resource state of system and adaptive!y detennine the admission according to circumstances. Therefore, it can guarantee both maximum resource utilization and QoS(Quality of Service). On performance evaluations, we show that the video server can utilize maximum resource utilization with QoS guarantee through precision of perfonnance by measurement and adaptable admission control according to the requested bandwidth.