• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1288-1293
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• 2003

This study predicts muscle forces acting on the lower extremity when the knee joint is in deep flexion. The whole bodies were approximated as a link model, and then the moment equilibrium equations at the lower extremity joints were derived for given reaction forces against the ground. Measurement of deep flexion was carried out by placing ten markers on the body. This study calculated the moment acting at each joint from the equations of force and moment, classified the complicated muscles around the knee joint. and then predicted the muscle forces to balance the joint moment. Two models were proposed in this study: the simpler one that consists of three groups of muscle and the more detailed one of nine groups of muscle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.3
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• pp.91-96
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• 2006

The aim of this paper is to clarify the structural compliance of the constrained spatial flexible manipulator and to develop the force control by using the compliance of the links. Using the dependency of elastic deflections of links on contact force, vibrations for constrained vertical motion have been suppressed successfully by controlling the position of end-effector. However, for constrained horizontal motion, the vibrations cannot be suppressed by only controlling position of end-effector. We present the experimental results for constrained vertical motion, and constrained horizontal motion. Finally, a comparison between these results is presented to show the validity of link compliance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.10
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• pp.439-445
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• 2002

In this paper force feedback control system is investigated for improving the quality of the haptic feedback in virtual reality applications. We suggested the method of controlling the haptic device and modelling the virtual environment. Haptic device is composed of five bar link structure, voice coil motor, control board, and virtual environment modeling program. We applied voice coil motor in the actuating system for simple structure and easy control. Virtual environment modelling is constructed in PC, and the control signals of the actuators and the encoder data are transferred to the control system through USB. Experiment is performed to evaluate the characteristics of the haptic device.

• Animal cells and systems
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• v.4 no.3
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• pp.201-214
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• 2000

Two quite different types of plant cells are analysed with regard to transduction of the gravity stimulus: (i) Unicellular rhizoids and protonemata of characean green algae; these are tube-like, tip-growing cells which respond to the direction of gravity. (ii) Columella cells located in the center of the root cap of higher plants; these cells (statocytes) perceive gravity. The two cell types contain heavy particles or organelles (sataoliths) which sediment in the field of gravity, thereby inducing the graviresponse. Both cell types were studied under microgravity conditions ($10^{-4}$/ g) in sounding rockets or spacelabs. From video microscopy of living Chara cells and different experiments with both cell types it was concluded that the position of statoliths depends on the balance of two forces, i.e. the gravitational force and the counteracting force mediated by actin microfilaments. The actomyosin system may be the missing link between the gravity-dependent movement of statoliths and the gravity receptor(s); it may also function as an amplifier.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2819-2821
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

• Journal of the Korean earth science society
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• v.32 no.1
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• pp.73-83
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• 2011

A new method was developed to better understand the principle of Coriolis force. We also investigated the understanding of 5 10th grade students and analyzed their responses. Since no clear explanation about the nature of a rotating disk is provided in school textbooks, it tends to be misunderstood as the earth surface revolving on its axis pointing to the North Pole. This study was carried out focusing on the fact that a rotating disk is the tangential plane at arbitrary latitude. Results showed that there are changes in students' conceptions on the principle of Coriolis force with a new understanding of the rotating disk. In conclusion, a new method used in this study helped students better understand the link between Coriolis force and rotating disk. The method would be helpful to clarify the principle of Coriolis force in school science.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.8
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• pp.2783-2804
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• 2021

In the network function virtualization environment, dynamic changes in network traffic will lead to the dynamic changes of service function chain resource demand, which entails timely dynamic adjustment of service function chain resource configuration. At present, most researches solve this problem through virtual network function migration and link rerouting, and there exist some problems such as long service interruption time, excessive network operation cost and high penalty. This paper proposes a dynamic adjustment method of service function chain resource configuration for the dynamic changes of network traffic. First, a dynamic adjustment request of service function chain is generated according to the prediction of network traffic. Second, a dynamic adjustment strategy of service function chain resource configuration is determined according to substrate network resources. Finally, the resource configuration of a service function chain is pre-adjusted according to the dynamic adjustment strategy. Virtual network functions combination and virtual machine reusing are fully considered in this process. The experimental results show that this method can reduce the influence of service function chain resource configuration dynamic adjustment on quality of service, reduce network operation cost and improve the revenue of service providers.

• Journal of the Korea Convergence Society
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• v.7 no.1
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• pp.177-182
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• 2016

In order that the track vehicle utilized on the purpose of heavy industry and military affair may endure the vehicle body with heavy weight, the link surrounding the mobile wheel is affected with the great force by the load transferred at the vehicle body. This happened force gives rise to a decline in the durability throughout the track. In this paper, the models with the shapes of track pads in common use are designed and the model at which the wear of track pad and the damage of link can be decreased effectively is contrived. Also, by applying this study result to the design of track vehicle, it can contribute to the safe design for damage prevention and durability improvement. It is possible to be grafted onto the convergence technique at the designed factor of pad shape and show the esthetic sense.