• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• International Journal of Computer Science & Network Security
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• v.22 no.4
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• pp.274-284
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• 2022

By explaining the essence of corporate governance as well as disclosure and transparency, the study examined the guarantees of applying disclosure and transparency to firms listed on the Saudi stock exchange. The research also addressed the disclosure and transparency duties of firms listed on the Saudi stock exchange. Finance to prepare a prospectus, as the Capital Market Authority's regulations required that the prospectus includes information that enables the investor in securities to make his investment decision based on real foundations based on the issuing company's financial position and to ensure that companies fulfill that disclosure in the prospectus. Firms who fail to disclose are required by law to do so, and the Capital Market Authority's laws mandate companies listed on the financial market to regularly report fundamental events linked to the issuer or the securities issued by it. The Capital Market Authority must make it available to the public dealing with the business issuing the securities, and The Capital Market Authority's Law and Regulations have imposed fines on corporations that do not comply with disclosure and make the Board of Director's report available. The research focused on activities that the legislator deemed to be a breach of the obligation of openness, such as the danger of many measures aimed at ensuring the impartiality and transparency of trading in the Saudi financial market, as well as the absence of conflicts of interest. The research also addressed the sanctions imposed on The source for failing to meet the obligation of disclosure and openness, as well as the mechanisms of compensating persons harmed by the failure to meet that responsibility.

• Journal of Korean Public Health Nursing
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• v.13 no.2
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• pp.84-100
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• 1999

Caring is the essential and universal concept of underlying nursing. Exactly how caring attributes relate to nurses' perception in the context of a contemporary technological environment have yet to be operationlized. In total. 560 Registered Nurses from 5 different university hospitals were involved in this study which aimed to : investigate technological influence and caring attributes as perceived by nurse. Data were obtained using Technological Influence Questionnaire (TIQ) and Caring Attributes Questionnaires(CAQ) which developed by Arthur et al(1999). Data were analyzed using SAS program for frequency. t-test. ANOVA and Tukey's Studentized Range test. and Pearson correlation coefficients. The results were as follows : 1) The mean score of TIQ was 48.84 and special unit nurses' TIQ was higher than that of general ward nurses. 2) The mean score of CAQ was 237.02 and it showed significant differences in the following variables : age. religion. educational background. marital status. career, and position. 3) With regard to the mean item score of CAQ by 3 perspectives : theoretical perspectives score was 3.76. practical perspectives score was 4.03, and pedagogical perspectives score was 3.84. 4) The correlation between TIQ score and CAQ score was slightly moderate (r=.35), The CAQ mean scsre was significantly different accordig to the level of TIQ meen score. The CAQ mean score was $247.19(\pm18.17)$ in high TIQ(>mean+1SD) group, $236.21(\pm19.71)$ In moderate $TIQ(between\;mean{\pm}1SD) $ group, and $228.47(\pm18.07)$ in low TIQ( (mean-1SD) group. In conclusion, nurses perceived the CAQ differently by several demographic characteristics which relating to age. religion, eduacational background. marital status. career. and position. This study provides an important message for administrators and nurse educators by highlighting factors which can be addressed by education programs. staff development and appraisal. Further research is necessary to improve and refine the Korean version of TIQ and CAQ instead of Arthur et al's scales directly to Korean nurses.

• Korean Journal of Mathematics
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• v.20 no.1
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• pp.137-159
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• 2012

In this paper, we deal with recent researches on Ying N$\ddot{u}$ and Ying Buzu(盈不足) which were addressed in the book Jiu Zhang Suan Shu(九章算術, The Nine Chapters on the Mathematical Art). Ying N$\ddot{u}$(Ying Buzu) is a concept on profit and loss problems. Ying Buzu Shu(盈不足術, the method of excess and deficit) represents an algorithm which has been used for solving many mathematical problems. It is known as a rule of double false position in the West. We show the importance of Ying Buzu Shu via an analysis of some problems in 'Ying Buzu' chapter. In 1202, Fibonacci(c.1170-c.1250) used Ying Buzu Shu in his book. This shows some of Asian mathematics were introduced to the West even before the year 1200. We present the origin of Ying Buzu Shu, and its relationship with Cramer's Rule. We have discovered how Asia's Ying Buzu Shu spread to Europe via Arab countries. In addition, we analyze some characters of Ying N$\ddot{u}$(Ying Buzu) in the book Suan Xue Bao Jian(算學寶鑑).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.6
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• pp.505-514
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• 2014

The effects of reflected wave of the sea on pseudolite ranging accuracy are analysed in this paper, when a pseudolite navigation system is used for wide area outdoor applications such as aircraft and vessels positioning. Methods for minimizing the influence of sea surface reflection wave were proposed. The methods include the appropriate correlator in pseudolite navigation system through the correlation performance comparison analysis in receiver design, the use of the technology of multiple antennas, and locating the transmitting station antenna on an appropriate position. From the results of experiments, the method of locating the antenna position shows the most reliable performance against the effect of surface reflection wave. The analysis results of the ranging accuracy improvement are addressed, when the multipath caused by sea surface reflection exists.

• Korean Journal of Social Welfare
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• v.58 no.3
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• pp.269-294
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• 2006

This paper aimed to analyze articles published in 9 Korean social work journals from 1979 to 2005 regarding the conceptualization of disability and the orientation of disability theories. Trends of disability theories have shifted from the division of the individual model and the social model to four models including individual materialist, individual idealist, social creationist, and social constructionist. As a result of categorizing the articles, it was revealed that the individual idealist position is the most popular and the social creationist position is increasingly popular. To understand disability holistically, the complexity of disability has to be addressed rather than focusing on one model.

• Journal of Microbiology and Biotechnology
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• v.33 no.6
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• pp.707-714
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• 2023

Plant-derived insecticide-neonicotinoid insecticides (NIs) played a crucial role in the development of agriculture and food industry in recent years. Nevertheless, synthesis of these nitrogen-containing heterocyclic compounds with an effective and greener routing remains challenging especially to the notion raise of "green chemistry" and "atom economy". While bio-catalyzed methods mediated by nicotinate dehydrogenase (NDHase) then provide an alternative. The current review mainly focuses on the introduction of sources, components, structure, catalytic mechanism and applications of NDHase. Specifically, NDHase is known as nicotinic acid hydroxylase and the sources principally derived from phylum Proteobacteria. In addition, NDHase requires the participation of the electron respiratory chain system on the cell membrane. And the most important components of the electron respiratory chain are hydrogen carrier, which is mainly composed of iron-sulfur proteins (Fe-S), flavin dehydrogenase (FAD), molybdenum binding protein and cytochromes. Heterologous expression studies were hampered by the plasmid and host with high efficiency and currently only Pseudomonas entomophila L48 as well as Comamonas testosterone was successfully utilized for the expression of NDHase. Furthermore, it is speculated that the conjugate and inductive effects of the substituent group at position 3 of the substrate pyridine ring exerts a critical role in the hydroxylation reactions at position 6 concerning about the substrate molecular recognition mechanism. Finally, applications of NDHase are addressed in terms of pesticide industry and wastewater treatment. On conclusion, this critical review would not only deepen our understanding of the theory about NDHase, but also provides the guideline for future investigation of NDHase.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.655-663
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• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.10
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• pp.997-1005
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• 2008

Linear motor stage is a useful device in precision engineering field because of its simple power transmission mechanism and accurate positioning. Even though linear motor stage shows fine positioning accuracy along travel axis, geometric dependent errors which relay on machining and assembling accuracy should be addressed to increase total positioning performances. In this paper, we suggests a cost effective yaw error compensation servo-system which is mounted on platform of the stage and nullify travel position dependent yaw error. This paper also provides a method of designing a sliding mode control which is robust to existing friction disturbance and model uncertainties. The reachability condition of slinding mode control for the yaw error compensating servo-system has been established. From some experimental results by using an experimental set-up, the sliding mode control showed its effective in disturbance rejection and its performance was superior to conventional linear controls.

• Proceedings of the Korean Vacuum Society Conference
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• 2015.08a
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• pp.111.1-111.1
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• 2015

As an alternative way to get sophisticated nanostructures, atomic force microscopy (AFM) has been used to directly manipulate building primitives. In particular, assembly of metallic nanoparticles(NPs) can provide various structures for making various metamolecules. As far, conventionally made polygonal shaped metallic NPs showed non-uniform distribution in size and shape which limit its study of fundamental properties and practical applications. In here, we optimized conditions for deterministic manipulation of ultra-smooth and super-spherical gold nanoparticles (AuNPs) by AFM. [1] Lowered adhesion force by using platinum-iridium coated AFM tips enabled us to push super-spherical AuNPs in linear motion to pre-programmed position. As a result, uniform and reliable electric/magnetic behaviors of assembled metamolecules were achieved which showed a good agreement with simulation data. Furthermore, visualization of near field for super-spherical AuNPs was also addressed using photosensitive azo-dye polymers. Since the photosensitive azo-dye polymers can directly record the intensity of electric field, optical near field can be mapped without complicated instrumental setup. [2] By controlling embedding depth of AuNPs, we studied electric field of AuNPs in different configuration.