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An Uncertainty Analysis of a Compensation Method for the Positioning Error of Three-DOF Manipulator (3 자유도 위치 결정 기구의 위치 오차 평가 및 보정법에 대한 불확도 분석)

  • Park Jae-Jun;Eom Hyung-Wook;Cho Nahm-Gyoo
    • Journal of the Korean Society for Precision Engineering
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    • v.23 no.7 s.184
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    • pp.51-58
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    • 2006
  • This study analyzes the uncertainty of the compensation method of a sensing error of three-DOF measuring system. This compensation method utilizes a reference coordinate system using a three point by moving a position of an endpoint of a three-DOF manipulator. The coordinate transformation between the three-DOF manipulator and the measuring system is identified by the reference coordinate system. According to the concept of this compensation method, each positioning error at any position of the end-point of the manipulator is derived. Uncertainty analyses of the compensation values on the basis of sensitivity analysis and Monte Carlo simulation are used to investigate a feasibility and effectiveness of the compensation method.

The Differential Benefits of Reputed Generalists CEOs over Tenure

  • Koo, Kwang-Joo
    • Asia-Pacific Journal of Business
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    • v.12 no.4
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    • pp.87-105
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    • 2021
  • Purpose - The purpose of this study was to explores how CEO general human capital, one of the most critical issues in recent research, affects compensation schemes. Design/methodology/approach - This study collected the CEOs of S&P500 companies from 2001 to 2009 and contains 4,155 CEO-firm-year observations and 704 different CEOs. Findings - First, only contingent bonus is affected by general human capital and reputation. Second, the career concerns of CEOs are relevant, especially when explaining CEO tenure. Third, we offer an alternative view of what determines the level of cash compensation schemes and the factors that affect the running of a firm. Fourth, we also suggest that the increase in general human capital can be explained by the increase in its relative importance in managing a modern firm. Overall, the results of this study do not only contribute to academics but also important to boards and shareholders. Research implications or Originality - This study intends to fill the gap in the extant literature by examining the relationship between general human capital and compensation schemes.First, we add to the compensation literature by arguing that a cash compensation scheme is efficient for generalist CEOs. We break down CEO cash compensation schemes into fixed and contingent bonus compensation and investigate whether general human capital differentially affects CEO cash compensation schemes, and thus, the sensitivity to unequal pay for human capital. Second, we contribute to the reputation literature by arguing that CEO perceived reputation also affects CEO compensation schemes.

Bias Compensation Algorithm of Acceleration Sensor on Galloping Measurement System

  • Kim, Hwan-Seong;Byung, Gi-Sig;So, Sang-Gyun
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.127.6-127
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    • 2001
  • In this paper, we deal with two bias compensation algorithms of acceleration sensor for measuring the galloping on power transmission line. Firstly, the block diagram of galloping measurement system is given and a galloping model is presented. Secondly, two compensation algorithms, a simple compensation and a period compensation, are proposed. A simple compensation algorithm use the drafts of velocity and distance at fixed periods, so it is useful for constant bias case. Next, a period compensation algorithm can compensate a periodic bias. This algorithm use the previous measured data and compensated data for constant period, where the period is obtained by FFT method. Lastly, the effectiveness of proposed algorithms is verified by comparing between two algorithms in simulation, and its characteristics and the bias error bound are shown, respectively.

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An analysis of direct financial compensation of hospital personnel in Korea (병원의 직종별 임금수준에 관한 연구)

  • 홍상진;김한중
    • Health Policy and Management
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    • v.8 no.1
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    • pp.15-51
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    • 1998
  • compensation is a major function of human resources management. The hospital industry is characterized by its remarkable labor intensity and human resource input by unit. That is why the hospital industry has a higher level of wage/cost ration. The issues of how much the hospital personnel's direct financial compensation amounts to and how the organizational and other factors generate compensation differentiation, are central problems for research in hospitals. But there have been few approaches to study staff compensation in hospitals, its magnitude and inter-hospital relative compensation amounts for the same personnel. A worker who moves from low-wage to a high-wage employer can usually increase his or her pay without change in job description. This means in the cases of same jobs, relative importance is different for each hospitals. The purpse of this study were to find the compensation levels of hospital personnel and to determine the factors affecting compensation levels of hospital personnel. The unit of analysis is the hospital and 145 hospitals were studied for nurse(RN), medical technoloist(MT), managerial personnel(MP) and 100 hospitals for medical doctor(MD). In this study the definitions of direct financial compensation are before tax, excluding employer's contriution and total annual remuneration received by the employee. Main findings of the research can be summarized as follows. 1. Direct financial compensation of hospital personnel are MD 45,056,000 won, RN 9,222,000 won, MT 9,513,000 won and MP 9,185,000 won in the starting year's employment in hospital. 2. According to determinants of hospital personnel compensations, there are no statistical significant variables to determine the level of MD's compensation. Wlith RN and MT's compensation level, the greater the patient revenue per 100 hospital beds, the higher the RN compensation and the tertiary hospital's compensation is much more than other types of hospitals. The location of hospital is another determinant factor for the MT's compensation level. Hospitals that are in the uban area have lower compensation level than rural area. There are the same results in MP with MT. Conclusions can be drawn from the results of the study. First, the wage differentiation of MD and other health personnel still remains and the differentiation existed in inter and intra job personnel of hospitals. Second, determinants of hospital personnel personnel compensation level are patient revenue, location, and type of hospital level.

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Friction Compensation Scheme using a Fuzzy Logic (퍼지논리를 이용한 마찰력 보상에 관한 연구)

  • Cho, Y.D.;Yang, S.S.
    • Proceedings of the KIEE Conference
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    • 1995.07b
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    • pp.679-681
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    • 1995
  • In this paper, a friction compensation scheme using a fuzzy logic is presented. For the precision positioning and tracking control, the proper friction compensation is essential. Friction compensation schemes based on velocity and controlling input or desired velocity, have limitations because the compensation values are fixed. In this paper, a fuzzy friction compensation scheme adjusts the compensation value depending on the velocity and the position error. The proposed fuzzy friction compensator is implemented in a linear positioning system. The performance is illustrated by simulations and experiments.

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Automatic Tool Compensation for an UHSS Automotive Component Using a Compensation Module (금형보정 모듈을 이용한 초고강도강 자동차부품용 프레스금형의 자동보정)

  • Lee, J.H.;Kim, S.H.
    • Transactions of Materials Processing
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    • v.25 no.2
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    • pp.109-115
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    • 2016
  • In the current study, automatic tool compensation is accomplished by using a finite element stamping analysis for a center roof rail made of UHSS in order to satisfy the specifications for shape accuracy. The initial blank shape is calculated from a finite element inverse analysis and potential forming defects such as tearing and wrinkling are determined by the finite element stamping analysis based on the initial tool shape. The blank shape is optimized to meet the shape requirements of the final product with the stamping analysis, and die compensation is determined with the information about springback. The specifications for shape accuracy were successfully achieved by the proposed die compensation scheme using the finite element stamping analysis. The current study demonstrates that the compensation tendency is similar when the proposed scheme is used or when the compensation is performed by trial and error in the press-shop. This similarity verifies that the automatic compensation scheme can be used effectively in the first stage of tool design especially for components made from UHSS.

Analysis and Specifications of Switching Frequency in Parallel Active Power Filters Regarding Compensation Characteristics

  • Guopeng, Zhao;Jinjun, Liu
    • Journal of Power Electronics
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    • v.10 no.6
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    • pp.749-761
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    • 2010
  • The switching frequency of a power device is a very important parameter in the design of a parallel active power filter (PAPF), but so far, very little discussion has been conducted on it in a quantitative manner in previous publications. In this paper, an extensive analysis on the effects of the switching frequency on the performance of a PAPF is made, and a specification of the switching frequency values with different compensation results is presented. A first-order inertia element and a second-order oscillation element are considered as approximate models of a PAPF, respectively. The compensation characteristic for each order of harmonic current is obtained at different switching frequencies. Then, the THDs of each model for the system loads of a rectifier with resistance and inductance loads are proposed. The compensation results of a PAPF controlled as a first-order inertia element are better than those of a PAPF controlled as a second-order oscillation element. With two types of system loads which are rectifier with resistance and inductance loads and rectifier with resistance, inductance and capacitance loads, the THDs of the source current after compensation are presented with different switching frequencies. The compensation characteristics for the most widely used digital control system are investigated. The situation with an analog control is the theoretical characteristic and it is the best situation. The compensation characteristic of the digital control is worse than the compensation characteristic of the theoretical characteristic. Based on these analyses, the specifications of compensation characteristics with different switching frequencies are quite straightforward. Finally, a practical design example is studied to verify the application.

The Impact of the Land Compensation Act to the Outcome of Land Compensation: a Case Study of Gyeongsan DAEIM Public Housing District (경산 대임공공주택지구의 대토보상결과를 통해 살펴본 대토보상제도 문제점과 개선방안 연구)

  • Park, Chang-Yul;Park, Jung-Jun;Son, Sun-Gum
    • Land and Housing Review
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    • v.11 no.4
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    • pp.75-92
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    • 2020
  • This study explores the outcome of the current Land Compensation Act for the indigenous residents of DAEIM Public Development Project Zone in Gyeongsan City. The purpose of the law is to return part of the development gains to the native residents and to support the re-settlement of the native residents. As the Land Compensation Act applies to each area with different standards, the monetary terms of land compensation which the native residents eventually receive varies across the region and development sites. That means the development gain is not fairly shared with the native residents of the redevelopment area and it does not necessarily support the settlement of the existing residents. It is supposed that the actual compensation for the native residents should be in full cash value but it is not in reality. The study demonstrates the outcomes of the land compensation that the residents received are far from the original purpose of the Compensation Act using the case example of DAEIM Public Development Zone in Gyeongsan, Gyeongsangbukdo. Only a small proportion of the natives managed to achieve the development gains. Accordingly the majority of the native residents has lost re-settlement opportunity. It suggests that the Compensation Act and the implementation procedure should be reviewed and revised accordingly. The details of compensation plan should be tested and set up in line with the characteristics of the project area. In particular, the compensation details in terms of the size and types of land, average value of land for indigenous residents receive, and the amount of compensation per household should be clearly demonstrated to the resident.

Active/Reactive Compound Compensation in Distribution System

  • Sul, Yong-Tae
    • Journal of Electrical Engineering and information Science
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    • v.2 no.4
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    • pp.46-52
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    • 1997
  • In this paper th use of compensation based on a combination of active plus reactive power at distribution model system is proposed. The basic voltage-power relationships for the linearized case on an infinite bus are used and the compensation angle is defined based on the voltage magnitude response to small power injection. Compensation is supplied at several locations, and the system is subjected to varying fault scenarios, with its response observed under different system conditions. As number of control issues for a storage-based active/reactive power compensator as a bus voltage regulator are explored to compare the effectiveness of active/reactive again reactive-only compensation.

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A Study on the ICSID Arbitration Cases for Compensation of Indirect Expropriation (간접수용의 보상에 관한 ICSID 중재사례 연구)

  • OH, Won-Suk;HWANG, Ji-Hyeon
    • THE INTERNATIONAL COMMERCE & LAW REVIEW
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    • v.66
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    • pp.149-170
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    • 2015
  • State's compensation obligation accompanied in case of indirect expropriation of foreign investor's investment asset has been established definite principle under international investment law. But the concrete and unified application criterion regarding valuation methods for measuring compensation have not been established yet. The World Bank investment guideline is adopting the Hull's Formula, which is understood as the full compensation standard with prompt adequate effective compensation and Fair Market Value method. It is a general principle that compensation should be equal to the fair market value of investment asset just before indirect expropriation date. However, there is a problem of the valuation method of fair market value of investment asset. In general, discounted cash flow, liquidation value, replacement value, book value, etc. can be the applicable standards. Arbitral tribunals determine compensation by adopting proper valuation method on a case-by-case basis according to the discretion based on the arbitration parties' experts' review on the presented opinion and by considering fact relevance of the issued dispute. This compensation includes also interest, recently it tends to award according to compound interest rather than simple interest. Beginning of the period to generate interest is the next day of the indirect expropriation occurrence date. And it should be considered that interest until the payment of compensation is also included. In addition, it should be considered that mental damages is available only when there's a basis to prove this or special case. Therefore, this study suggests to review of precedents related to indirect expropriation and concretely specify compensation valuation standard and method of indirect expropriation on investment agreements through enough consultation beforehand.

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