• 로봇학회논문지
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• 제17권4호
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• 지역사회간호학회지
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• 제32권4호
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• pp.457-466
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• 2021

Purpose: The purpose of this study was to examine the correlations among emotional perception clarity, emotion regulation, family relationship, non-suicidal self-injury, and depression, and to determine associated factors of non-suicidal self-injury and depression for senior elementary school students. Methods: Data were collected from 150 early adolescences in K region, Korea. A self-report questionnaire consisted of Trait Meta-Mood Scale, Cognitive Emotion Regulation Questionnaire, Family Relationship Assessment Scale, Functional Assessment of Self-Mutilation, and Children's Depression Inventory. The data were analyzed using t-test, Pearson's correlation coefficient, logistic regression, and multiple regression analysis. Results: Non-suicidal self-injury and depression were positively associated with maladaptive emotion regulation strategy and family conflict, but negatively related to emotional perception clarity and family support. Adaptive emotion regulation strategy and family togetherness were only significantly correlated with depression. In logistic regression analysis, significant predictors of non-suicidal self-injury were emotional perception clarity, maladaptive emotion regulation strategy, and family support. Multiple regression analysis found that significant factors of depression were adaptive and maladaptive emotion regulation strategies, which explained 38.0% of the variance. Conclusion: Our study findings suggest that targeted intervention to reinforce the adaptive emotion regulation strategy and family relationship may prevent non-suicidal self-injury, and depression for senior elementary school students.

• Journal of Biosystems Engineering
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• 제21권3호
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• pp.283-292
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• 1996

Automatic guidance of farm tractors would improve productivity by reducing operator fatigue and increasing machine performance. To control tractors within $\pm$5cm of the desired path, fuzzy and adaptive steering controllers were developed to evaluate their characteristics and performance. Two input variables were position and yaw errors, and a steering command was fed to tractor model as controller output. Trapezoidal membership functions were used in the fuzzy controller, and a minimum-variance adaptive controller was implemented into the 2-DOF discrete-time input-output model. For unit-step and composite paths, a dynamic tractor simulator was used to test the controllers developed. The results showed that both controllers could control the tractor within $\pm$5cm error from the defined path and the position error of tractor by fuzzy controller was the bigger of the two. Through simulations, the output of self-tuning adaptive controller was relatively smooth, but the fuzzy controller was very sensitive by the change of gain and the shape of membership functions. Contrarily, modeling procedure of the fuzzy controller was simple, but the adaptive controller had very complex procedure of design and showed that control performance was affected greatly by the order of its model.

• 정보과학회 논문지
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• 제44권1호
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• pp.27-35
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• 2017

사용자 및 기기의 상황을 파악하고 이에 따라 실시간으로 사용자 인터페이스를 변경하는 '적응형 사용자 인터페이스 (Adaptive User Interface)' 연구가 진행되어 왔다. 기존 관련 연구들은 주로 설계 방법론에 초점을 맞추고 있으며, 요구공학 방법론에 대해서는 거의 다루어지지 않았다. 본 연구에서는 적응형 사용자 인터페이스를 요구공학 관점에서 조명하고, 자가 적응 시스템 분야에서 연구되어 온 개념들에 기초한 요구사항 도출 및 명세 방법을 제안한다. 잘 알려진 자가 적응 소프트웨어 개념들을 재정의 및 해석한 후, 적응형 사용자 인터페이스 요구사항을 도출 및 명세하는 방법을 단계적으로 보인다. 사례연구에서는 제안하는 방법에 따라 적응형 사용자 인터페이스 요구사항을 도출 및 명세하여 본 기법이 효과적임을 보인다.

• 아동학회지
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• 제28권3호
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• pp.19-44
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• 2007

This study used the hypothetical path model to investigate individual traits(attachment, reciprocal relationship, and self-esteem), situational evaluation(justification, and intention) and jealousy level in adolescents. Subjects were 853 7th, 9th, 11th grade students in the city of Daegu. Results showed that scores of girls were higher than boys on self-reported and peer-reported jealousy level, attachment, reciprocal relationship, adaptive expression and non-adaptive expression. Scores of boys were higher than girls for self-esteem, justification. Self-reported jealousy level was affected by situation evaluation(justification and intention) and attachment. Peer-reported jealousy level was affected by reciprocal relationship. Jealousy expression modes were affected by self-reported jealousy level and attachment.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.611-616
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• 2002

Bearing diagnostics is difficult in a gearbox because bearing signals are masked by the strong gear signals. Self adaptive noise cancellation(SANC) is useful technique to seperate bearing signals from gear signals. While gear signals are correlated with a long correlation length, bearing signals are not correlated with a short length. SANC seperates two components on the basis of correlation length. Then we can find defect frequency component in the envelope spectrum of the bearing signals.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2003년도 춘계학술발표논문집 (중)
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• pp.1161-1164
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• 2003

본 논문은 ALAN(Application Level Active Network)상에서 GME(Generic Modeling Environment)라고 불리는 컴포지션 메커니즘을 이용하는 AWCS(Adaptive Web Caching Service)에 관하여 언급하였다. ALAN상의 웹 캐싱의 요구사항은 자치 구성성(self-configuration)과 자치 적응성(self-adaptation)이다 이러한 요구사항을 지원하기 위해서 본 논문에서는 친AN상에서 IN(Intelligent Inetwork)에서 유래된 SCE(Service Creation Environment)와 유사한 서비스 컴포지션 메커니즘인 GME를 이용하여 AWCS 의 설계 및 구현에 관하여 언급하였다

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.362.2-362
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• 2002

Bearing diagnostics is difficult in a gearbox because bearing signals are masked by the strong gear signals. Self adaptive noise cancellation(SANC) Is useful technique to seperate bearing signals from gear signals. While gear signals are correlated with a long correlation length, bearing signals are not correlated with a short length. SANC seperates two components on the basis of correlation length. (omitted)

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.