• International Journal of Control, Automation, and Systems
• /
• 제4권2호
• /
• pp.217-226
• /
• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• 대한전기학회논문지
• /
• 제45권1호
• /
• pp.100-112
• /
• 1996

This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL) is proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed.In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal languages, one can easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks). (author). 17 refs., 16 figs., 2 tabs.

• Journal of Electrical Engineering and Technology
• /
• 제5권1호
• /
• pp.79-102
• /
• 2010

This paper presents exhaustive review of various methods/techniques for coordinated control between FACTS controllers in multi-machine power systems. It also reviews various techniques/methods for optimal choice and allocation of FACTS controllers. Authors strongly believe that this survey article will be very much useful to the researchers for finding out the relevant references in the field of placement and coordination of FACTS Controllers.

• 대한지역사회작업치료학회지
• /
• 제4권2호
• /
• pp.63-73
• /
• 2014

목적 : 본 연구는 수공예활동과 글씨쓰기활동이 과제를 수행할 때에 양손협응에 미치는 영향에 대해 알아보고자 하였다. 연구방법 : 손 기능에 장애가 없는 20대 대학생 30명을 선정하여 무작위방법으로 10명씩 세 군으로 나누었다. 실험군 1(수공예활동), 실험군 2(글씨쓰기활동), 대조군으로 배분하였다. 중재 전, 후에 각각의 양손협응의 정도를 비교하기 위하여 Jebsen-taylor hand function test, Purdue pegboard test, Minnesota manual dexterity test를 시행하였다. 결론 : 수공예활동과 글씨쓰기 훈련 전, 후를 비교한 결과 중재 후에 실험군 1(수공예활동)과 실험군 2(글씨쓰기활동)에서 손 기능 및 양손협응에 긍정적인 영향을 미치는 것을 알 수 있었다. 특히, 실험군 1(수공예활동)은 Jebsen-taylor hand function test 항목에서 실험군 2(글씨쓰기활동)는 Purdue pegboard test 항목에서 중재 후에 통계적으로 유의한 차이를 보였다. 결론 : 수공예활동은 과제를 수행할 때에 양손협응을 향상시키고 글씨쓰기활동은 손의 기민성을 향상시킨다는 것을 알 수 있었다. 즉, 수행하는 과제에 따라 수공예활동과 글씨쓰기활동이 미치는 영향이 다르다는 것을 알 수 있었다. 후속 연구에서는 모든 연령과 다양한 수공예활동과 글쓰기활동에 대한 다각도의 연구가 수행된다면 협응능력 제한이 있는 사람의 작업 중재 방법에 도움이 되리라 생각한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.149.3-149
• /
• 2001

Task allocation is a key problem in multiagent systems. The importance of automated negotiation protocols for solving the task allocation problem is increasing as a consequence of increased multi-agent applications. In this paper, we introduce the multiagent Traveling Salesman Problem(TSP) as an example of task reallocation problem, and suggest Vickery auction as an inter-agent coordination mechanism for solving this problem. In order to apply this market-based coordination mechanism into multiagent TSPs, we define the profit of each agent, the ultimate goal of negotiation, cities to be traded out through auctions, the bidding strategy, and the order of auctions. The primary advantage of such approach is that it can find an optimal task allocation ...

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.400-403
• /
• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권2호
• /
• pp.127-134
• /
• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.

• 대한물리의학회지
• /
• 제18권3호
• /
• pp.65-72
• /
• 2023

PURPOSE: This study assessed the influence of bilateral coordination exercises on unstable support surfaces on leg muscle activation and balance in stroke patients. METHODS: Two groups were recruited for comparison: an experimental group of 10 individuals who performed bilateral coordination exercises on unstable surfaces and a control group of 10 individuals who performed the same exercises on stable surfaces. All participants were assigned randomly. Pre-tests were conducted to measure the leg muscle activation and balance levels of the participants prior to the experiment. The intervention was comprised of three 30-minute weekly sessions for four weeks, followed by a post-test after the four-week period. RESULTS: Significant differences were identified within the experimental group in relation to all muscles (p < .01) and balance (p < .05). Within the control group, significant differences were identified in relation to the rectus femoris muscle, biceps femoris muscle, and balance (p < .05). Significant differences between the two groups were only observed in relation to the tibialis anterior and soleus muscles (p < .05). CONCLUSION: Only the tibialis anterior and soleus muscles showed significant differences between the two groups. This effectiveness may be attributed to using an ankle strategy to maintain body balance during exercise on unstable surfaces.

• 산업경영시스템학회지
• /
• 제21권48호
• /
• pp.73-87
• /
• 1998

Recently the international transfer pricing became the most popular topic in accounting of the research as well as of the practice. Modern corporations have been experiencing a lot of changes in managerial control technique as their scale and scope of activities grows and the environment in which they operate changes rapidly. If there are internal transactions in a decentralized firm, the necessity of coordination among the divisions is inevitable. Transfer pricing in a decentalized company provides an excellent example of the coordinating role of information. One of the most important reason for a form to have a decentalized structure is the improved decision making at the lower level due to better access to information. International transfer pricing is not merely a problem of pricing but coordination of transfers and other collective or individual actions to derive rents from intergration. Such coordination can be achived through the performance evaluation scheme which is partly based upon transfer price.

• 한국통신학회논문지
• /
• 제29권9A호
• /
• pp.1075-1082
• /
• 2004

무선랜은 우선으로 근거리 디바이스들을 연결하는 통신기술로 IEEE 의 802.11 이 대표적인 프로투콜로 사용되 고 있다 IEEE 802.11 에서 정의된 DCF (Distributed Coordination Fun 이 ion) 는 사용 4 가 증가하고 부하가 커질수록 전송률 ,throughput) 과 데이터 손실률 -(drop rate) 이 커지는 단점을 가지고 있다. 본 논문에서는 무선랜 환경에서 효율적인 최소 동적윈도우 (CWmin) 의 적용을 통한 성능향상방법을 제안하고 분석과 시율레이션을 통해 제안하는 방법이 기존 DCF 보다 성능이 향상됨을 입증한다. 제안하는 동적최소윈도우 방법은 우선 스테이션의 개수가 증가 할수록 , 무선네트워크에 걸리는 부하가 커질수록 성능향상정도가 더욱 커지게 된다. 따라서 향후 고밀도 무선랜 환경에서 효과적일 것이라 기대된다.