• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1603-1608
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• 2003

Multiple robotics systems with several sub-chains have a characteristic that grasp a common object with internal loading not to loose the grip. The investigation for the internal loading of a triple manipulator has been few as compared to a dual manipulator. In this paper, type of the internal loading for a triple manipulator system is investigated through analysis of the null space of the system. Several types of the internal loading are shown for general planar and spatial type triple robots, which rigidly grasp the common object. The general scheme is applied to analysis of the internal loading for the three-fingered and three-legged robots having a point contact with the grasped object.

• International Commerce and Information Review
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• v.10 no.1
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• pp.349-371
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• 2008

Export controls on strategic items has been an international standard of trade. We should understand the global trend of this and perform clean policies in the international community. This article examines the Improvement of Competitiveness and International Export Control System of Strategic Items for focusing to Internal Compliance Program(ICP). Therefore, this study would like to suggest for build to ICP. Each member of company have to convert their perception for controling strategic items. Also, they have to build controling system in ERP system and extend Incentive for CPs. the support to the trustworthy controling system. Korea is actively trying to control strategic items export for world peace and national security. So the related enterprise needs to manage voluntary export system.

• Information Systems Review
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• v.9 no.1
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• pp.121-137
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• 2007

Several security systems(firewall, intrusion detection system, vaccine for malicious codes and so on), whose purposes are to prevent the external information security threat, have gathered more technological concerns. However, they are little effective for the area of defending the internal information security threat which occurs more frequently and results in much more monetary damages. In this paper, a system for internal surveillance and control on the use of information systems is suggested and described with its architecture, features, necessary functions and development methods. And a case system is introduced to show the reality of this paper.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Korean Management Science Review
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• v.21 no.1
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• pp.57-76
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• 2004

The development of informational technology has lead to a sharp change in not only the existing way of operations and management, but the way of human life or thinking as well. Those shifts of the paradigm in information technology have also affected Individuals to the organizational structure. A series of unexpected problems was, however, accompanied by the advance in informational technology, which had broaden its own area of application. Those problems include the losses of property or data the malfunction of systems and their wastefulness would result in, continuous increases in computer crimes, reliability and efficiency of the functional process with the development of information systems, such as the processing problems of inaccurate data, economical issues, and subjects related to safety, as interruptions of privacy, which would result from lots of one's exposure to the drains of personal information. Accordingly, Auditors' roles of information systems, for now, is more important than anything else in that they are responsible for the objective assessment of relevance and effectiveness of internal control systems under the environment of information systems. The objective of the study is, so as to obtain safety of information systems： First, to provide data to line-design internal control systems after finding internal control factors to prevent and eliminate the risks of information systems. Second, to evaluate the priorities of internal control factors with their effective management being considered as the key to settle the problems of risks of information systems. Third, to discriminate what factors affect In evaluating the relative degrees of Importance of internal control factors.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• The Journal of Internal Korean Medicine
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• v.27 no.4
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• pp.798-810
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• 2006

Objectives : This study was designed to investigate heart rate variability(HRV) in patients with abnormality on EKG by power spectrum analysis of HRV. Methods : The patient group consisted of 147 patients diagnosed as abnormal on EKG at the Oriental Medical Hospital of Dong-eui University from November 2003 to September 2005. We divided the patient group into 9 subgroups (bradycardia, arrhythmia, PVC, AF, AV block, RBBB, LVH, cardiac ischemia, LAD ). The control group consisted of 117 patients who were diagnosed as normal on EKG at the same hospital during the same period. We checked HRV of the two groups over 5 minutes and compared the HRV index between groups. Results and Conclusions : In the time domain analysis, SDNN was significantly higher in the PVC and AF groups than control group and RMSSD was significantly higher in the all patient group and the bradycardia, PVC and AF groups than in the control group. In the frequency domain analysis, Ln(LF) was significantly higher in the all patient group and the PVC and AF groups than the control group but lower in the LAD group. Ln(HF) was significantly higher in The all patient group and bradycardia, PVE and AF groups than control group. LF/HF ratio was significantly lower in the all patient group and bradycardia, arrhythmia, AF, AV block and LAD groups than control group. The autonomic nerve system and parasympathetic nerve system were higher in the patient group with abnormal EKG compared with the control group.

• Journal of Digital Convergence
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• v.14 no.8
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• pp.163-175
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• 2016

The purpose of this study is to provide an efficient internal control system formation incentives for company and to confirm empirically usefulness of the internal accounting control system for financial institutions by analyzing whether the internal control vulnerabilities of companies related significantly to the classification and assessment of soundness of financial institutions. Empirical analysis covered KOSPI, KOSDAQ listed companies and unlisted companies with more than 100 billion won of assets which have trading performance with "K" financial institution from 2008 until 2013. Whereas non-internal control vulnerability reporting companies by the internal control of financial reporting received average credit rating of BBB on average, reporting companies received CCC rating. And statistically significantly, non-reporting companies are classified as "normal" and reporting companies are classified as "precautionary loan" when it comes to asset quality classification rating. Therefore, reported information of internal control vulnerability reduced the credibility of the financial data, which causes low credit ratings for companies and suggests financial institutions save additional allowance for asset insolvency prevention and require high interest rates. It is a major contribution of this study that vulnerability reporting of internal control in accordance with the internal control of financial reporting can be used as information significant for the evaluation of financial institutions on corporate soundness.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.958-961
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• 2001

Control of Industrial processes is very difficult due to nonlinear dynamics, effect of disturbances and modeling errors. M.Morari proposed Internal Model Control(IMC) system that can be effectively applied to the systems with model uncertainties and time delays. The advantage of IMC is their robustness with respect to a model mismatch and disturbances. But it is difficult to apply for nonlinear systems. ANFIS(Adaptive Neuro-Fuzzy Inference System) which contains multiple linear models as consequent part is used to model nonlinear systems. Generally, the linear parameters in ANFIS can be effectively utilized to control a nonlinear systems. In this paper, we propose new ANFIS-based IMC controller for nonlinear systems. Numerical simulation results show that the proposed control scheme has good performances.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.