• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.743-746
• /
• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Journal of Advanced Navigation Technology
• /
• v.27 no.6
• /
• pp.855-860
• /
• 2023

Long-haul transmission of multiple transmission signals, such as wavelength division multiplexed (WDM), has became possible, because the signal distortion caused by chromatic dispersion and nonlinearity can be compensated by applying dispersion management, optical phase conjugation and combination of the two methods into the transmission link. The biggest obstacle to applying optical phase conjugation to an optical link is that the optical phase conjugator (OPC) must be located only in the middle of the entire transmission line. This paper shows that the location constraints of OPC can be overcome through the application of an asymmetric dispersion map. The location of the OPC considered in this paper exists between the 8th and 9th fiber spans out of a total of 48 fiber spans. Additionally, the dispersion map has an asymmetric cumulative dispersion profile with respect to the OPC. As a result of the simulation, it was confirmed that the distortion compensation effect of the WDM channel can be increased compared to the link to which the traditional dispersion map is applied, depending on the overall shape of the cumulative dispersion profile distribution of the proposed asymmetric dispersion map and the selection of the profile slope.

• Journal of the Korea Convergence Society
• /
• v.10 no.9
• /
• pp.63-68
• /
• 2019

The purpose of this study was to investigate the effect of hyper-extended knee and asymmetric standing posture on knee joint position and lower extremity muscle activity. Thirty-three voluntary participants participated and included sixty legs in the study. The sixty legs were divided into two groups: hyper-extended knee and normal group. The muscle activity and knee extension angle were measured. In the asymmetric standing posture, the knee joint extension angle and the muscle activity of the gastrocnemius were statistically significant between the normal group and the hyper-extended knee group. Based on the results, we confirmed that the asymmetric standing posture increases the hyper-extended knee. Therefore, it will contribute to the establishment of therapeutic guide for the subjects with hyper-extended knee to maintain the symmetrical standing posture, and future studies need to be conducted including the effects of the hip joint and ankle joints.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.4
• /
• pp.541-545
• /
• 2014

In this paper, the angle of the thighs that appear during walking condition to balance estimation to the left and right leg was occurred during normal walking. Get over to the limitations of gait analysis using image processing or foot pressure that was used a lot in the previous, the angle of the thigh were used for estimation of asymmetric gait. We implemented heathy five adult male to test targeting and gait and obtained cycle data from 10 times. For this research, Thigh-Angle measurement device were developed, and attached to in a position of $20^{\circ}$ for flexion and $15^{\circ}$ for extension to measure the angle of the thigh. Also, in order to verify the reliability of estimation of asymmetric gait using thigh-angle, it was compared with the result of asymmetric gait estimation using foot pressure. The results of this paper, using the thigh angle is the average of 16.84% higher than using pressure to accuracy of determine the gait imbalance.

• Journal of The Korean Society of Integrative Medicine
• /
• v.6 no.3
• /
• pp.25-32
• /
• 2018

Purpose : This study investigated the effects of different types of plank exercise on abdominal muscle thickness in subjects with asymmetric pelvic anterior tilt. Methods : Participants with a diagnosis of pelvic anterior tilt were divided into an experimental group (n=12) and a control group (n=13). The thicknesses of the transverse abdominis (TrA), internal oblique (IO), and external oblique (EO) muscles were measured using an ultrasound diagnostic apparatus. The data were analyzed using an SPSS (Ver. 21) program. Results : In the experimental group, there was a significant difference in the thicknesses of the left and right muscles in the standing and elbow plank exercises (p<.05). All the muscle thicknesses increased significantly during the plank exercises(elbow plank, right-side plank, and left-side plank) as compared with those in the standing position (p<.05). In addition, the side-plank exercise resulted in significantly higher muscle thickness of the supported side (p<.01, p<.001). Conclusion : These findings suggest that asymmetric exercise should be applied to the change of the left and right muscles of the abdominal when applying plank exercise according to pelvic anterior tilt.

• The Journal of Asian Finance, Economics and Business
• /
• v.1 no.3
• /
• pp.5-16
• /
• 2014

This study aims to examine the dynamics of price changes and trading volume of Kuala Lumpur Options and Financial Futures Exchange (KLOFFE) from 2000 to 2008. With augmented analysis, our results support two hypotheses. First, under information spillover, our findings support noise traders' hypothesis as the time span for variance of past trading volume to cause variance of current return is found to be asymmetric under bull and bear markets. Second, looking at the dynamic relation between volume and volatility of price changes, our findings support Liquidity-Driven Trade hypothesis as past trading volume and subsequent volatility of return exhibit positive correlation. In terms of investors' behavior in response to the news, we find that investors are more risk taking in bull market and more risk reverse in bear market. Our study suggests that investors should adjust their strategy in the futures market in a dynamic manner as the time span of new information arrival is not consistent. Also, uninformed investors with information asymmetry should expect noninformational trading from informed investors to establish their desired positions for better liquid position.

• Journal of the Korean Society of Industry Convergence
• /
• v.17 no.3
• /
• pp.113-121
• /
• 2014

This paper presents a optimization design of 10[W] single phase BLDC motor applied Notch shape. Cogging Torque causes noise, vibration and torque ripple so notched stator is proposed in this paper. Firstly, a single phase BLDC motor needs applying aymmetric air-gap shape because this type motor cannot help having dead-point which is zero torque position. However, using asymmetric air-gap structure causes cogging torque increase. Therefore, this paper proposes the notch shape structure. Notch shape structure has some advantages; low cost, easy to apply. There are 4 optimal factors selected in optimization process, which are position and size of notches. Through building a prototype, the result of FE analysis and the experimental measurement value are compared each other and then vailidity and utility of simulation will be verified.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.11 no.1
• /
• pp.88-96
• /
• 1987

A method is presented to calculate the fiction factor and velocity distribution of asymmetric flow in rough channels and annuli. This method is derived from an assumption of linearly-varying shear stress which is different from Maubach's constant shear stress assumption. This method gives continuous velocity gradient at the position of maximum velocity and the predicted velocity profiles are in better agreements with experimental data than those obtained by Maubach's method. In this paper, a new correlation of roughness function is proposed and the predictions of friction factors by this correlation agree well with experimental data.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.11a
• /
• pp.228-229
• /
• 2008

In this study, we propose an effective method to improve the clarity and period of the beat in a ring structure. Ring is an simplified model of a Korean bell, in which beating vibration and sound are very important features. An equivalent ring theory is applied and finite element analysis on the equivalent ring is performed to determine the condition of the asymmetric element for the clear and proper period beat. The clarity and the period of the beat are improved by attacking asymmetric mass and decreasing local thickness. Using the equivalent ring, the amount and position of the local variation for the required beat condition are determined and the results are verified by experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.362-365
• /
• 2004

'Coil' occupies a much important position in delivering driving force of optical pick-up actuators. Up to now the main stream has been a winding coil type actuator, but actuators using FP-Coil(Fine Pattern Coil) have been considered for the more compacted and simple manufacturing process and have variously spreaded the application fields by product. We have tried to design actuators using PCB-Coil(Printed Circuit Board Coil) which has benefits in terms of price and manufacturing process. Especially this research has two main things those are to reduce the vibration of sub-resonance and to assure the do sensitivity in the performance of asymmetric optical pick-up actuator with PCB-Coil.