• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.663-668
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• 2014

This paper presents a hook-type finger force measuring system with force sensors. The system is composed of a body, two three-axis force sensors, a hook, and so on. The two three-axis force sensors system was specially designed using FEM(Finite Element Method) and fabricated using strain-gages. The sensors measure the finger forces of both normal people and handicapped people in the system, and the forces are combined. The developed hook-type finger force measuring system can measure the pulling finger force of both normal and handicapped people. The pulling force tests of men and women were performed using the developed the system. It is thought that the developed system can be used to measure the pulling force of fingers.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 춘계종합학술대회
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• pp.454-458
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• 2004

본 논문에서는 시각 시스템의 민감도를 고려한 새로운 비디오 율제어 기법을 제안한다. 제안된 방식은 MPEG2 TM5 율제어 기법과 같이 3단계의 구조로 구성되어 있으나, 적응적 양자화를 위한 시각의 시-공간 민감도에 근거한 새로운 마크로블록 활성도 척도를 사용한다. 모의 실험을 통해 TM5 방식에서 사용된 공간 활성도보다. 제안된 시-공간 결합 활성도가 주관적, 객관적 화질 측면에서 우수함을 증명한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.412-419
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• 1993

The transient responses of a linear system having undesired disturbances are dominantly governed by the system's left eigenstructure(eigenvalues/left eigenvectors). In control system design problem of altering the transient response of the system, both the controllability and the disturbance suppressibility, should be considered simultaneously to obtain a robust, effective controller. The controllability of the system may be degraded if the left eigenstructure is chosen to suppress the disturbance, or vice versa. In this paper, first, proposed are a modal disturbance suppressibility measure and an improved version of the modal controllability measure suggested by Hamdan and Nayfeh. Second, a simple and general left eigenstructure assignment scheme, considering both the proposed modal disturbance suppressibility measure and the improved version of modal controllability measure, is suggested. When the previous works are applied to assign the left eigenvectors may differ from the desired ones. But the proposed left eigenstructure assignment scheme makes it possible to achieve the desired colsed-loop eigenvalues exactly, provided the desired left eigenvectors reside in the achievable subspace. In case the desired left eigenvectors do not reside in the achievable subspace, the closed-loop eigenvalues are achieved exactly and the left eigenvectors are assigned to the best possible set of eigenvectors in the least square sense. Finally, a numerical example is included to confirm and demonstrate the usefulness of our propositions and to illustrate the proposed design scheme.

• 드라이브 ㆍ 컨트롤
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• 제7권1호
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• pp.38-44
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• 2010

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.579-584
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• 1998

In this work, we present a method to deal with the interval valued decision making systems. First, we propose a new type of equality measure based on the Ordered Weighted Averaging (OWA) operator. The proposed equality measure has a structure to render the extreme values of the measure by choosing a suitable weighting vector of the OWA operator. From this property, we derive a bidirectional fuzzy inference network which can be applied for the decisionmaking systems requiring the inverval valued decisions.

• 산업경영시스템학회지
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• 제20권42호
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• pp.73-85
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• 1997

In the product liability age the demand on quality is extremely high and inspection and test are automated. The process capability indices $C_p, {\;}C_{pk}$ and p control chart widely used to provide unitless measure of process performance and process control. Traditional process capability indices $C_p, {\;}C_{pk}$ do not represent the process variation from target value. The convention p chart for control of fraction nonconforming becomes inadequate when the fraction nonconforming becomes very small such as PPM level production system. This paper proposes process performance measure considering quadratic loss function and cumulative counts control chart for control of PPM level production system.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권12호
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• pp.705-712
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• 2005

This paper deals with speed-sensorless control of an AC servo motor using Fuzzy-Tuning High Gain Observer(FTHGO). Resolver or encoder can be used to measure a rotor speed, but it has a limit to detect motor speed precisely. To solve this problem, it is studied to measure a speed of an AC servo motor without sensor. In this paper, the gain of an observer to estimate motor speed is properly set up and designed using the fuzzy control theory. It calculates the differentiation of the rotor current of the AC motor and estimates the rotor speed using it. Proposed speed sensorless control is performed using the estimated speed as the control variable. Designed FTHGO is applied to AC servo motor to verify the feasibility of the proposed observer. Feasibility of the FTHGO proposed in this paper is proven comparing the experimental results with/without the speed sensor.

• 대한인간공학회지
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• 제19권2호
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• pp.33-45
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• 2000

Present study was performed to compare different types of teleoperation performance measures. A modified Cooper-Harper rating scale and a distance measure were newly introduced and compared to two traditional measures, the error rate and time-to-completion. Participants performed a simulated telerobotic task with varying visual display interfaces. The results of correlation analyses revealed that the modified Cooper-Harper ratings had a close association with the error rate measure. The distance measure also appeared to be a consistent performance measure, which accounted for both the error rate and time-to-completion. A further analysis, however, showed that the effectiveness of each performance measure varied with the level of task difficulty. The results imply that the choice of performance measure should be made based on the task difficulty as well as the particular task being studied. The results revealed here also have implication for performance measures of various display and control systems including aircraft navigation displays and tactical displays.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Physical Therapy Rehabilitation Science
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• 제10권2호
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• pp.197-204
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• 2021

Objective: This study is based on a parallax design before and after a non-equivalent control group to examine the effects of laughter therapy on the anxiety, depression, and stress in patients with cancer admitted to a nursing hospital. Design: A randomized controlled trial. Methods: Data collection was conducted on 34 patients who agreed to participate in the study among patients admitted to E Cancer Hospital from September to November 2018. Laughter treatment interventions were performed three times a week for 50 minutes each and a total of eight times. In this study, a tool developed by Spielberger was used to measure state anxiety, a tool developed by Beck was used to measure depression, and the Perceived Stress Scaled eveloped by Cohen was used to measure stress. Results: Anxiety was significantly lower in the experimental group than in the control group (F=10.74, p=0.003). Depression was lower in both the experimental group and the control group that did not participate in the laughter therapy intervention and was not significant (F=0.58, p=0.451). Stress was significantly lower in the experimental group than in the control group (F=4.36, p=0.045). Conclusions: The results of this study suggest that laughter therapy has a positive effect on reducing anxiety and stress in patients with cancer admitted to nursing hospitals.