• 전자공학회논문지B
• /
• 제29B권10호
• /
• pp.59-68
• /
• 1992

In this paper, we proposed coordinator description and ambiguity on the hybrid controller for position/force control of robot manipulator. When the hybrid controller is desiged based on the PID control conception, the parameter sharing problem must be considered. However, selection problem of coordinate system on n-DOF robot manipulator control is unsolved. Moreover, contact force on object and change of shape make another problems. And it is very difficult to figure out the accurate mathematical model of manipulator on account of ambiguity and nonlinearity of actuator. Therfore, we design a new hybrid controller, FPID(Fuzzy PID). For verifying the validity of the controller, we tried computer simulation of this system. As a result, we can get remarkable improvement of overdamping and overshooting. Also we can solve compicance problem effectively. Furthermore, ambiguity problem is solved by adding control knowledge based compensator. So robust controller can be acheived, too.

• 조형예술학연구
• /
• 제2권
• /
• pp.239-293
• /
• 2000

The paper aims to study how to describe the rigorous position on which semantic elements are laid, within the visual space. This purpose is, first of all, for the construction of visual syntactical semantics of the visual space. For this aim, the preliminary research begins with some definitions on : 1) visual space, visual design, visual syntactical semantic meaning, 2) position, sequence of position, 2-dim. sequence of position, and 3) 2-dim. numerical series of position, harmonious dynamic values. Here, The main issue is to define the position in general. To solve this problem, the researcher surveyed the positions on which the sets of pixemes are set up. The results are as follows ; 1. As far as the positions in visual space are concerned, they are the possible locations permitted in the visual patches. They are not the factual but the possible positions. 2.The position value that the sequential point has is not arithmetical but harmonious-dynamic, for it is not permitted for its own sake, but for the person, that is to say, for the viewer's visual perception. 3. The harmonious-dynamic value of positional sequence can be composed of the 2-dimensional successive numerical series which is, in turn, composed of the primordial 3 values x0, $\mu0$, y0. Here, the $\mu0$ is the harmonious mean value of x0 and y0. The x0 and y0 are, therefore, of the mutual dynamic relationship. 4. From this, the 2-dim general $\Delta-TABLE$ of the numerical series of position in visual design could be acquired through development of the primordial 3 values into the $X_i,\;Y_i$, orbit values.

• 한국지능시스템학회논문지
• /
• 제19권3호
• /
• pp.388-397
• /
• 2009

로봇 매니퓰레이터를 이용한 대부분의 작업은 환경과의 상호작용을 요구하며, 위치제어, 충돌제어 그리고 힘제어로 구성된다. 위치제어는 환경에 도착하는 방법을 의미하고, 환경에 접촉하는 순간은 충돌제어 문제를 야기하며, 힘제어는 환경과의 충돌후에 원하는 힘궤적을 유지하는 것이다. 이러한 세 가지 제어문제는 순차적으로 발생하므로, 각각의 제어 알고리즘은 독립적으로 개발되어야 한다. 특히 여자유도 매니퓰레이터에서 이러한 세 가지 제어문제는 독립된 중요한 연구 주제이다. 예를 들어, 관절 토크 최소화와 충격힘 최소화는 여자유도 매니퓰레이터의 대표적인 연구주제이다. 본 논문에서는 단일 작업을 통하여 세 가지 제어문제를 구성하였다. 위치제어는 각 관절의 토크와 토크변화 그리고 충돌 시의 충돌힘 최소화를 위하여 개발되었다. 따라서 충돌제어의 초기조건은 이전의 위치제어 알고리즘으로부터 최적화 되고, 그러한 제어 전략은 충돌제어의 결과를 개선시킨다. 유사하게, 힘제어 문제의 초기조건은 이전의 위치제어와 충돌제어로부터 간접적으로 최적화된다. 힘제어 알고리즘은 각 관절 토크와 힘외란 최소화시키는 개념을 사용하였다. 모의실험 결과는 제안된 알고리즘의 타당성을 보여준다.

• 패션비즈니스
• /
• 제25권3호
• /
• pp.144-158
• /
• 2021

The purpose of this study is to develop a bodice block suitable for women in their 20s with turtle neck syndrome. The problem of turtle neck syndrome body type was derived through the evaluation of bodice blocks. First, the length of the front bodice was longer and the length of the back bodice was shorter. Second, the front neck point, back neck point, and the shoulder line were not in place. Third, the side neck was pushed up. Fourth, the length of armhole was long and it floated. Fifth, the front hem was attached to the body and the back hem was away from the body. A finally developed pattern was designed by developing four test patterns to solve the problem that appeared in a selected bodice pattern, and a t-test was conducted to determine the difference in the appearance evaluation by virtual clothing between the two patterns, bodice block and the development pattern. According to the result, the fit was not good from the side body because the position of the side neck point was not in a place due to the characteristics of the body shape of turtle neck syndrome, but the problems of the anterior neck position, the position of the back neck point, the shoulder line position, and the armhole shape were improved in the developed pattern.

• 대한가정학회지
• /
• 제40권6호
• /
• pp.39-51
• /
• 2002

Pregnancies of unmarried women are one of the most serious sex problems because they can negatively affect the lives and development of both unwed mothers and their extramarital children. The number of unwed adolescent mothers is growing recently, extending the seriousness of the problem. This study was conducted to explore the ego-state, life position and family systems that may cause unmarried pregnancy. The data obtained from the structured questionnaire survey of 79 unmarried adolescent mothers and 82 female adolescents were analyzed in terms of frequency and t-test using the SPSS WIN 8.0 program. The results were as follows: 1. Ego-state elements of unmarried adolescent mothers were distributed evenly in general and this falls under the All B(BBBBB) type of ego-gram, just like the adolescents. As for the subject adolescent mothers, CP was the lowest among the 5 egos. 2. As to the life position, the position of "I′m OK, You′re OK"was the highest for both groups, with slight differences. 3. With regard to the family system types sorted by the combination of family cohesion and family adaptability levels, both the adolescent. mothers and adolescents tended to perceive their families as somewhat-balanced or balanced families. 4. While the two groups of adolescent mothers and adolescents showed, on the whole, the same types for all the indicators like above, statistically significant differences were found in more detailed elements.

• Journal of the Optical Society of Korea
• /
• 제20권1호
• /
• pp.150-155
• /
• 2016

To evaluate the autofocusing performance of recent mobile phone cameras, it is necessary to determine the peak position of the center field MTF (Modulation Transfer Function), -known as the through focus MTF- of the module. However, the MTF peak position found by conventional methods deviates from the ideal position due to the focus scanning resolution of mobile phone cameras. This inaccurate peak position results in false judgements of the optical performance, leading to yield losses or customer complaints. An increase in the focus scanning resolution can address this problem, but the manufacturing UPH (Unit per Hour) level will also unfortunately increase as well, resulting in a loss of manufacturing capabilities. In this paper, several fitting models are studied to find an accurate MTF peak position within a short period of time. With an analysis of a large amount of manufacturing data, it is demonstrated that the fitting methods can reduce false judgements and simultaneously increase the capabilities of the manufacturing system.

• 대한간호학회지
• /
• 제29권3호
• /
• pp.551-562
• /
• 1999

The purse of this study is to identify whether ethical values of Korean nurses are deontological or utilitarian. Nurse's ethical value questionnaire was developed from review of the literature and interview of nurses in the clinical settings. Ethical problem are categorized into four areas 1) human life 2) nurse-patient relationship 3) nurse-nursing task relationship 4) nurse-collegue relationship The data were obtained from 250 nurses in the clinical settings from Jun. to July in 1998 using the ethical value questionnaire developed by Lee (1990). The analysis of data was done by Pearson's correlation coefficient, t-test and anova. The results of this study were as follows : 1. The ethical values of human life slightly took up the position of utilitarian. 2. The ethical value of nurse-patient relationship slightly took up the deontological position. 3. The ethical value of nurse-nursing task relationship slightly took up the deontological position. 4. The ethical value of nurse-collegue relationship greatly took up the deontological position. 5. The ethical values of nurses related to demographic characteristics of age, marital status, position. Therefore it is suggested that new strategies and continuing education programs be established to help clinical nurses formlulate higher ethical values.

• 한국정밀공학회지
• /
• 제16권8호
• /
• pp.193-202
• /
• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads due to crane's acceleration and deceleration. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. So, this swing of the objects is a serious problem and the goal of crane system is transporting to a goal position as soon as possible without the oscillation of the rope. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane whose girder, trolley and hoister move simultaneously is derived. and the Fuzzy logic controller based on the expert experiments during acceleration, constant velocity, deceleration and stop position period is proposed to supress the swing motion and control the position of the crane. The performance of the fuzzy controller for the nonlinear crane model is simulated on the personal computer.

• Journal of Electrical Engineering and Technology
• /
• 제13권1호
• /
• pp.352-361
• /
• 2018

This paper proposes a sensing system of the Halbach array permanent magnet spherical motor(PMSM). The rotor position can be obtained by solving three rotation angles, which revolves around 3 reference axes of the stator. With the development of 3-D hall sensor, the position identification problem of the Halbach array PMSM based on rotor magnetic field is studied in this paper. A nonlinear and serious coupling relationship between the rotation angles and the measured magnetic flux density is established on the basis of the rotation transformation theory and the magnetic field model. In order to get rid of the influence on position detection caused by the harmonics of rotor magnetic field and the stator coil magnetic field, a sensor location combination scheme is proposed. In order to solve the nonlinear equation fast and accurately, a new position solution algorithm which combines the merits of gradient projection and particle swarm optimization(PSO) is presented. Then the rotation angles are obtained and the rotor position is identified. The validity of the sensing system is verified through the simulation.

• Journal of Information Processing Systems
• /
• 제11권4호
• /
• pp.538-555
• /
• 2015

Event detection based on using features from a static grid can give poor results from the viewpoint of two main aspects: the position of the camera and the position of the event that is occurring in the scene. The former causes problems when training and test events are at different distances from the camera to the actual position of the event. The latter can be a source of problems when training events take place in any position in the scene, and the test events take place in a position different from the training events. Both issues degrade the accuracy of the static grid method. Therefore, this work proposes a method called a dynamic grid for event detection, which can tackle both aspects of the problem. In our experiment, we used the dynamic grid method to detect four types of event patterns: implosion, explosion, two-way, and one-way using a Multimedia Analysis and Discovery (MAD) pedestrian dataset. The experimental results show that the proposed method can detect the four types of event patterns with high accuracy. Additionally, the performance of the proposed method is better than the static grid method and the proposed method achieves higher accuracy than the previous method regarding the aforementioned aspects.