• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.2-119
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• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.12
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• pp.5748-5758
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• 2011

The purpose of this study was to evaluate the perceived patient safety, type of errors related to patient safety, importance awareness and compliance on patient safety for operating room nurses and to identify factors influencing compliance. Data were collected using a structured questionnaire from 191 perioperative nurses. Data were analyzed using descriptive statistics, t-test, paired t-test, ANOVA, Pearson correlation coefficients, and multiple regression. The perceived patient safety score was 6.3 as moderate level. Types of errors were mostly happened in patient injury (39.8%), counts (18.4%) and infection control (17.5%). The level of compliance on patient safety was significantly lower than that of importance awareness (t=18.01, P<.001). Compliance on patient safety showed significantly positive correlations to importance awareness (r=.56, p<.001). Experience of patient safety education, experience of errors in colleague, job position and working experience in hospital explained 13.9% of variance compliance on patient safety(F=8.407, P<.001). In conclusion, Hospital should develop education program related to patient safety, encourage nurses to manage safety protocol and ensure cultivating patient safety culture in the perioperative practice setting.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.82-90
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• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.10
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• pp.204-209
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• 2014

The purpose of this study is to produce a simulator that can control a pulse pressure keeping the pulse wave transfer phenomenon. For this, the elastic tube is combined with a compliance chamber for the vessel part. The simulator is comprised of four parts; a pressure generation part with slider-crank mechanism, a vessel part with resistance controller, water reservoirs and a measurement part. The changes of waveform depending on the location of a chamber is examined to determine the position of a chamber. The effects of a chamber on the pulse pressure and the pulse wave transfer phenomenon were investigated. It showed that the simulator which had the chamber in upstream of tube produces pressure wave, being more similar to the clinical waveform than in downstream of tube. Furthermore, with the chamber, the simulator generates a pulse pressure, being more similar to the normal physiological values than without one. The chamber had little effect on the pulse wave velocity.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1144-1148
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• 1991

The problems occurred when developing a automatic wheel deburring system are to make effective flexibility in model change and the irregularity of the position/shape of the burr, to select optimal robotic manufacturing process and to develope optimal end effector. The locations where burr exists are on flange, rim and spoke. Here will be discussed the optimal solution for the removal of rim burr by using robot. The research can be summarized as the automatic robot path generation by recognizing rim contour and automatic deburring process technique. Various rim contour data is generated automatically when the sensor which is fixed to robot is moving with the parallel motion to the wheel center axis and this generated data is transferred to the data storage system and converted to the robot path data. The robotic tool system which is suitable to the rim deburring process is developed by integrating tool, compliance function and sensor. And factory automation system controlled by robot controller and PC is developed. This system shows good productivity and flexibility.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_1
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• pp.545-551
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• 2023

In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.7
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• pp.466-475
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• 2017

The purpose of this study was to investigate the status of infection control in long term care hospitals. Data were gathered from 156 long term care hospitals that received certification evaluation from May 1, 2016 to July 31, 2016. We used a questionnaire consisting of 85 items regarding the status and perceived importance of infection control. The data were analyzed using the SPSS / WIN 21.0 program. All of the hospitals have infection control regulations, 80.4% of them have an infection control committee and 86.0% of them employ an ICP(infection control practitioner) who holds this position in addition to another. Hand hygiene showed the highest score at 4.47 in the perceived importance of infection control. Employee education and compliance with the validity period of sterilized products showed the highest frequency and perceived importance among the infection control activities. The above results show that almost all of the long term care hospitals have infection control regulations, but that these regulations are not properly implemented, because of the lack of applicable regulations on the policy level. Therefore, it is necessary to develop infection monitoring standards and infection control guidelines for long term care hospitals and provide the infection control practitioners with training in how to apply them.