• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.217-226
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• 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.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.1
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• pp.100-112
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• 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
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• v.5 no.1
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• pp.79-102
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• 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.

• The Journal of Korean society of community based occupational therapy
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• v.4 no.2
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• pp.63-73
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• 2014

Objective : The purpose of this study was to identify the effect of crafts and handwriting on bilateral coordination during task performance. Methods : Randomly selected 30 college students without hand disability were invited for the study, and grouped 3(test group 1 for crafts, test group 2 for handwriting, and control group) with 10 students per group respectively. Then Jebsen-taylor hand function test, Purdue pegboard test, and Minnesota manual dexterity test were employed for evaluating changes before and after the intervention. Results : After training intervention of crafts and handwriting for two test groups, test groups showed better bilateral coordination significantly than the control group. Especially test group 1(crafts) showed a bigger difference at Jebsen-taylor hand function test, and likely test group 2(handwriting) did at Purdue pegboard test. Conclusion : It was found that crafts increase bilateral coordination, while handwriting increase hand dexterity during task performance. That is, crafts and handwriting affect tasks differently. Further studies applying various crafts and handwriting for many age groups will be helpful for identifying the better way of occupational intervention for individuals in lack of bilateral coordination.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.3-149
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• 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
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• 1995.10a
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• pp.400-403
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• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.2
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• pp.127-134
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• 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.

• Journal of the Korean Society of Physical Medicine
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• v.18 no.3
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• pp.65-72
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• 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.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.21 no.48
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• pp.73-87
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• 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.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.9A
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• pp.1075-1082
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• 2004

Wireless LAN is a rather mature communication technology connecting mobile terminals. IEEE 802.11 is a representative protocol among Wireless LAN technologies. The basic medium access control (MAC) mechanism of IEEE 802.11 is called distnbuted coordination function (DCF). DCF shows poor throughput and high drop rate as the number of stations and offered traffic load increase. In this paper we propose an effective mechanism using dynamic mimmum contention window(CWmin) in wireless LAN~ and show that performance improves via simulations. Proposed dynamic CWmin scheme exhibits superior performance as the number of stations and offered load grow. As, our proposed scheme is expected to be more effective in highly densed wireless LAN environment.