• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• Journal of the Ergonomics Society of Korea
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• 제20권3호
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• pp.11-25
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• 2001

AS human movements have the inherent property of anticipating target and can be coordinated to realize a given schedule, finger movements have stereotyped patterns during hand grasping. Finger movements have been studied in the past to find out the coordination pattern of hand joint angular movement. These studies analyzed only a few finger joints for a limited number of hand postures. This study investigated fourteen joint angles during eight hand-grasping motions to analyze the angular correlations between finger joints and to suggest motion factors which represent hand grasping. Hand grasping motions including forward arm motion were examined in ten healthy volunteers. Eight objects were used to represent real hand grasping tasks. $CyberGlove^{TM}$ and $Fasreack^{TM}$ measured hand joint angles and wrist origin. Joint angle correlations between PIJ(proximal interphalangeal joint) and MPJ(metacarpophalangeal joint) at one finger, between neighboring PIJs and MPJs were four factors related to the fast phase of hand grasping motions and eight factors related to the slow phase of hand grasping motions.

• Proceedings of the KIEE Conference
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부A
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• pp.289-291
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• 1998

This paper presents short-term hydro scheduling method for hydrothermal coordination by genetic algorithm. Hydro scheduling problem has many constraints with fixed final reservoir volume. In this paper, the difficult water balance constraints caused by hydraulic coupling satisfied throughout dynamic decoding method. Adaptive penalizing method was also proposed to handle the infeasible solutions that violate various constraints. The effectiveness of proposed method in this paper was examined through the case studies. Further studies for the validation of the hydro scheduling scheme obtained by genetic algorithm will be very appreciated.

• Journal of Korean Physical Therapy Science
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• 제30권1호
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• pp.23-30
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• 2023

Background: While agility is a critical factor in the performance of sport in the court field, due to the diversity of agility occurrences, it is generally difficult to develop by strength and conditioning training. Previous study reported the correlation with the static balance and agility. However, the correlation between dynamic balance and agility is insufficient. It is necessary to study how static and dynamic balance affect agility respectively, for agility development. Design: Cross sectional correlational study design Methods: Twenty young women participated in the study. Three tests were used : one leg stance(static balance),Y-balance(dynamic balance), side-step(agility). One leg stance measured time, Y-balance measured distance, and side-step measured number of times. Correlation between balance and agility was used by Pearson Correlation. Results: One leg stance and side steps were shown to be not correlated. The Y balance and the side step showed with a moderate positive correlation. Conclusion: Agility is a decisive factor in fast-moving sports performance, which is generally difficult to improve with muscle strength and conditioning training. Since the correlation between dynamic balance and agility was found in this study, the importance of dynamic balance was found to improve agility to promote coordination.

• Journal of Communications and Networks
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• 제11권1호
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• pp.26-35
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• 2009

In this paper, we investigate how to do resource allocation to guarantee a minimum user data rate at low signaling overhead in multi-cell orthogonal frequency division multiple access (OFDMA) wireless systems. We devise dynamic resource allocation (DRA) algorithms that can minimize the QoS violation ratio (i.e., the ratio of the number of users who fail to get the requested data rate to the total number of users in the overall network). We assume an OFDMA system that allows dynamic control of frequency reuse factor (FRF) of each sub-carrier. The proposed DRA algorithms determine the FRFs of the sub-carriers and allocate them to the users adaptively based on inter-cell interference and load distribution. In order to reduce the signaling overhead, we adopt a hierarchical resource allocation architecture which divides the resource allocation decision into the inter-cell coordinator (ICC) and the base station (BS) levels. We limit the information available at the ICC only to the load of each cell, that is, the total number of sub-carriers required for supporting the data rate requirement of all the users. We then present the DRA with limited coordination (DRA-LC) algorithm where the ICC performs load-adaptive inter-cell resource allocation with the limited information while the BS performs intra-cell resource allocation with full information about its own cell. For performance comparison, we design a centralized algorithm called DRA with full coordination (DRA-FC). Simulation results reveal that the DRA-LC algorithm can perform close to the DRA-FC algorithm at very low signaling overhead. In addition, it turns out to improve the QoS performance of the cell-boundary users, and achieve a better fairness among neighboring cells under non-uniform load distribution.

• Management Science and Financial Engineering
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• 제10권1호
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• pp.1-23
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• 2004

The changing structure of organization and the increasing diversity of business have forced organizations to have abilities to coordinate dispersed business activities. They have required cooperation and coordination among the functional units in the organization which should involve group decision-making processes. Although many group decision-making support tools and methods have been introduced to enable the collaborative process of group decision-making, they often lack the features supporting the dynamic complexity issue frequently occurring at group decision-making processes. This results in cognitive unfit between the group decision-making tasks and their supporting tools, bringing about mixed results in their effects on group decision-making. This study proposes system dynamics modeling as a group decision-making support tool to deal with the group decision -making tasks having properties of dynamic complexity in terms of cognitive fit theory.

• Proceedings of the ESK Conference
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• 대한인간공학회 1996년도 춘계학술대회논문집
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• pp.301-306
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• 1996

Different patterns of dynamic trunk performance between normal subjects and low-back pain (LBP) patients have been investigated. Ten healthy subjects and ten LBP patients were recruited for this study. An experiment was designed to quantify the dynamic motion of the back and hip during repetitive flexion/extension of the trunk. The angular velocity, angular acceleration and the phase angle difference between the hip and back were recorded as dependent measures via electro- mechanical devices. Results showed the significant differences in the velocity and acceleration of the hip and back and the phase angle between normal subjects and LBP patients. The consistency of kinematic variables during motion cycles was also examined in terms of variance ratio (Hershler and Milner, 1978). Based on the results of the study, these quantifiable variables such as trunk kinematics and hip-spine coordination can be developed as a medical tool to identify LBP patients in addition to current imaging techniques.

• Journal of Communications and Networks
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• 제15권1호
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• pp.38-44
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• 2013

This paper proposes a new dynamic spectrum access (DSA) algorithm for cognitive radio networks. Once initialized, this algorithm works without the need of coordination overhead and hence can be used when no control channel is available. Secondary user (SU) lists and predetermined access control are used in this algorithm. We analyze the probability of no SU collision with primary user and the throughput of our proposed algorithm. Extensive simulations show that our algorithm outperforms the existing DSA algorithm in terms of both the aggregate throughput and the traffic distribution fairness. Furthermore, the validity of our analysis is confirmed by simulation results.

• Korean Journal of Applied Biomechanics
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• 제18권4호
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• pp.179-189
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• 2008

The purpose of this study was to investigate interjoint and intersegmental coordination of lower segments in skill process. For the investigation, we examined the difference of resultant linear velocity of segments and angle vs angle graph. Novice subjects were 9 male middle school students who have never been experienced a taekwondo. We analyzed kinematic variables of Side Kick motion through videographical analysis. The conclusions were as follows. 1. Examining the graph of novice subjects' maximal resultant linear velocity of the thigh, shank, and foot segment, as it gets closer to the end of the training, the maximal resultant linear velocity in each segment increases which can be assumed to be a result of the effective momentum transfer between adjacent segments. 2 This research showed a sequential transfer from trunk, to thigh, and then to shank as it gets closer to the end of learning at intersegment angular velocity, and it also showed pattern of throwlike motion and pushlike motion. 3. In three dimension of flexion-extension, adduction-abduction and internal-external rotation of the thigh and shank segment, the angle-angle diagram of knee joint and of hip joint showed that dynamic change was indicated at the beginning of learning but stable coordination pattern was indicated like skilled subject as novice subjects became skilled.