• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.850-855
• /
• 1991

In this paper, neural network-based compliance control of telerobot is presented, This is a method to learn the compliance of human behavior and control telerobot using learned compliance. The consistency of human behavior is checked using Lipschitz's condition. The neural compliance model is composed of a multi-layered neural network which mimics the compliant notion of the human operator. The effectiveness of proposed scheme ie verified by a simulation study.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.2
• /
• pp.416-422
• /
• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

• Journal of Industrial Technology
• /
• v.19
• /
• pp.351-359
• /
• 1999

If the tactile sense is introduced to engineering and industries, it may provide more realistic virtual tactile sensing to human and it is possible to develop product that satisfy various consumer's taste. This paper presents a compliance emulator system as a new concept of tactile reproduction simulator which uses magnetic levitation in order to minimize friction and emulates compliance only along the vertical direction. Compliance is one of the important mechanical properties of the object related to tactile sensing of the human. The implemented system equipped with an analog LVDT sensor for a position sensor and employs a PD control with gravity compensation to emulate the specified compliance. To compensate the limited range of the system, the method of attaching the spring with various magnitude of stiffness to the system is adopted and its preliminary test is performed to confirm the validity of the method.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.5
• /
• pp.909-915
• /
• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.6_1
• /
• pp.953-959
• /
• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• The Journal of Asian Finance, Economics and Business
• /
• v.7 no.10
• /
• pp.795-802
• /
• 2020

This study seeks to determine the effect of the application of accounting information system (AIS), internal control system, and human resource (HR) competency on the quality of local government financial statements (FS). This study uses agency theory and compliance theory. Agency theory is used to explain that there is a link between the society as the principal and the government as the agent. Compliance theory is a theory, which states that every agency is obliged to comply with regulations because the law-drafting authority has the right to dictate behavior. The population in this study were employees of the financial division of local government organizations in one of the districts in Central Java, Indonesia. The total samples in this study was 106 respondents. The data used are primary data taken from distributing questionnaires to respondents. The method of analysis used to test the hypothesis was multiple linear regression analysis. The results of hypothesis testing indicate that HR competency has an effect on the quality of FS; however, the application of AIS and internal control system has no effect on the quality of FS. The implication of this research underlines the importance of HR competency to improve the quality of local government FS.

• Journal of Navigation and Port Research
• /
• v.31 no.4
• /
• pp.295-307
• /
• 2007

The statistics of Korean Maritime Safety Tribunal and Japan Marine Accidents Inquiry Agency shows that the major muses of collision at sea are Improper lookout and Non-compliance with marine traffic rules. Those two muses are occupying more than 70% of collision, and it's clear that those muses are undoubtedly closely related to simple human error. In this paper we tried to find out the root muses of this kind of human error of OOWs(officers on watch) through risk identification method and studied how to tackle them via risk control theory. In conclusion, the measures studied in this paper could be applied to help OOWs avoid their own human error as well as be used in shipping company for their fleets' safety management.

• International conference on construction engineering and project management
• /
• 2022.06a
• /
• pp.721-727
• /
• 2022

Construction safety remains an ongoing concern, and project managers have been increasingly forced to cope with myriad uncertainties related to human operations on construction sites and the lack of a skilled workforce in hazardous circumstances. Various construction fatality monitoring systems have been widely proposed as alternatives to overcome these difficulties and to improve safety management performance. In this study, we propose an intelligent, automatic control system that can proactively protect workers using both the analysis of big data of past safety accidents, as well as the real-time detection of worker non-compliance in using personal protective equipment (PPE) on a construction site. These data are obtained using computer vision technology and data analytics, which are integrated and reinforced by lessons learned from the analysis of big data of safety accidents that occurred in the last 10 years. The system offers data-informed recommendations for high-risk workers, and proactively eliminates the possibility of safety accidents. As an illustrative case, we selected a pilot project and applied the proposed system to workers in uncontrolled environments. Decreases in workers PPE non-compliance rates, improvements in variable compliance rates, reductions in severe fatalities through guidelines that are customized according to the worker, and accelerations in safety performance achievements are expected.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1157-1160
• /
• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.1
• /
• pp.38-42
• /
• 2002

Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.