• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.5
• /
• pp.456-462
• /
• 2010

This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications. The proposed manipulator has an advantage that we can separate the driving actuators from a robotic manipulator. By separating actuators from the manipulator, we are able to separate the electrical component such as electrical wiring from the mechanical linkage/joint components in the robotic manipulator. Also, we suggest the kinematic analysis of the proposed manipulator which is composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, we suggest numerical simulations to show the effectiveness of the proposed manipulator.

• Journal of Distribution Science
• /
• v.17 no.9
• /
• pp.67-81
• /
• 2019

Purpose - The overarching aim of this study is to empirically test the effect of ex-post control mechanisms on multi-dimensional trust and channel performance in franchise systems. Although the franchise system is a vertical marketing channel based on trust between the franchisor and the franchisees, issues related to franchisee's opportunistic behavior have persisted and thus requires research into the effective control system of franchise headquarters. Research design, data, and methodology - In this study, data was collected from 150 franchises to identify the effect of two types of franchising headquarters' control system on the multi-dimensional trust and franchise channel outcome between franchisor and franchisee. To test the hypotheses intended to achieve this aim, structural equations modeling technique is utilized. Results - The results of this research reveal that among the two formal control systems studied (output and process control), output control positively and significantly affects multidimensional trust. Additionally, among the three dimensions of trust employed in this study, only expertise has a positive and significant effect on contract compliance. Equally, only expertise and integrity have a negative and significant effect on opportunistic behavior. Conclusions - The study provides managerial and theoretical insights into understanding ex-post control mechanisms, trust, compliance and opportunistic behaviors in franchise systems.

• Journal of the Korean Society for Precision Engineering
• /
• v.27 no.5
• /
• pp.102-111
• /
• 2010

This paper presents a design of seat mechanism for multi-postures controllable wheelchair. The possible seat postures are reclining, tilting, standing, which are controlled by four seat mechanisms using four linear actuators. The seat mechanisms designed in this study are reclining, tilting, forward-tilting, and elevation mechanism. Three postures except standing are controlled by corresponding mechanisms, but the standing posture is performed by combination of the reclining and the forward-tilting mechanism. Posture control system is composed of PID controllers and a planner to determine a feasible posture based on a posture transition diagram. Simulation results show that the seat mechanism and its control system are applicable to a multi-postures controllable wheelchair.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2646-2648
• /
• 2002

This paper deals with a comparative evaluation of the reliability of control rod drive mechanisms including their driving methods for nuclear power plants. Basically there exist two types of electromagnetic-jack-type drive mechanisms in commercial use that are called as Control Rod Drive Mechanism and Control Element Drive Mechanism. Each type has corresponding drive sequence to make the movements of insertion and withdrawal. A state-space model is derived for each model graphically. Then the evaluation of the reliability is carried out on the programming tool called SHARPE. The evaluation does not give any meaningful numerical values for the reliability but just shows a relative degree to each other in view of reliability.

• The Journal of Korea Robotics Society
• /
• v.9 no.3
• /
• pp.178-184
• /
• 2014

Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.12
• /
• pp.3098-3108
• /
• 1996

This paper proposed two mechanisms of fixed method and new arrival method. They are all interactive meachanisms in that a SCP and the SSPs exchange load information for overload control. These mechanisms using simple algorithm based on the standard ACG, apply differenct call gapping time on each SSP under the fairness scheme when they allocates SCP capacity to competing demends. Also in the mechanisms, priority scheme is implemented. Two mechanisms show the almost same results on the call throughput. Fairness about the probability of rejection is maintained same value on all SSPs. On Priority scheme, new arrival method has better achievement than fixed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.396-399
• /
• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• Korean System Dynamics Review
• /
• v.15 no.4
• /
• pp.29-60
• /
• 2014

As every commentators has noted, bureaucratic corruption, which has complicated causes, is prevalent phenomenon in Korean society. Especially, most people realize that systemic corruption has a strong negative effect on society; however, only few studies reflect on the nature of 'systemic corruption' and it seems that no established theory explains the phenomenon. Thus, this study suggest that we look more carefully into the nature and mechanisms of 'systemic corruption'. Interdisciplinary approach based on the integrated model of structure-behavior to analyse the nature of bureaucratic corruption. The system dynamics method can test the mechanisms of 'systemic corruption'. With this way, the factors generating systemic corruption represent the relationships reinforcing and balancing within system dynamics model. This paper also consider 'isomorphism' and 'dominance' as control mechanisms to systemic corruption. From the CLD(Causal Loop Diagram), three main areas(rent in organization, networking, control mechanisms) are overlapped and it indicates dynamic relationships of systemic corruption in organizations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.10
• /
• pp.881-889
• /
• 2002

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)

• Journal of Microbiology and Biotechnology
• /
• v.31 no.1
• /
• pp.1-7
• /
• 2021

Bacterial biofilm is a community of bacteria that are embedded and structured in a self-secreted extracellular matrix. An important clinical-related characteristic of bacterial biofilms is that they are much more resistant to antimicrobial agents than the planktonic cells (up to 1,000 times), which is one of the main causes of antibiotic resistance in clinics. Therefore, infections caused by biofilms are notoriously difficult to eradicate, such as lung infection caused by Pseudomonas aeruginosa in cystic fibrosis patients. Understanding the resistance mechanisms of biofilms will provide direct insights into how we overcome such resistance. In this review, we summarize the characteristics of biofilms and chronic infections associated with bacterial biofilms. We examine the current understanding and research progress on the major mechanisms of antibiotic resistance in biofilms, including quorum sensing. We also discuss the potential strategies that may overcome biofilm-related antibiotic resistance, focusing on targeting biofilm EPSs, blocking quorum sensing signaling, and using recombinant phages.