• 대한기계학회논문집A
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• 제28권12호
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• pp.1823-1832
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• 2004

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

• 대한전기학회논문지
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• 제39권1호
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• 한국공작기계학회논문집
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• 제12권1호
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• pp.1-7
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• 2003

In this paper, we discuss the control scheme on active compliance control of flexible manipulators. The active compliance control scheme is extended from the scheme for rigid manipulators. To illustrate the validity of the proposed control scheme, we show experimental results for the case when the end-effector is not moving and when it is moving while applying force. Although flexible manipulators show some problems of stability yet it is clear from these results that flexible manipulators are more effective to reduce damage of environment because of link flexibility than rigid ones.

• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1088-1094
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• 2006

In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.323-331
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• 1997

A new probing mechanism and an active compliance control algorithm have been developed for the in-circuit test of a PCB( printed circuit board ). Commercially available robotic probing devices are incapable of controlling contact force generated through rigid probe contacts with a solder joint, at high speed. The uncontrollable excessive contact force often brungs about some defects on the surface of the solder joint, which is plastically deformable over some limited contact force. This force also makes unstable contact motions resulting in unreliable test data. To overcome these problems, we propose that a serially connected macro and micro device with active compliance provide the best potential for a safe and reliable in-circuit test. This paper describes the design characteristics, modeling and control scheme of the newly proposed device. The experimental results clearly show the effectiveness of the proposed system.

• 대한간호학회지
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• 제42권2호
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• pp.258-268
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• 2012

Purpose: The purpose of this study was to identify the effects of the program to promote self management for patients with chronic hepatitis B. Methods: The research was a quasi-experimental design using a non-equivalent control group pre-post test. The participants were 61 patients, 29 in the experimental group and 32 in the control group. A pretest and 2 posttests were conducted to measure main variables. For the experimental group, the self-management program, consisting of counseling- centered activities in small groups, was given for 6 weeks. Data were analyzed using $X^2$, t-test, and repeated measures ANOVA with PASW statistics program. Results: There were statistically significant increases in knowledge, self-efficacy, active ways of coping, and self-management compliance but not in passive ways of coping in the experimental group compared to the control group over two different times. Conclusion: The results of this study indicate that the self-management program is effective in increasing knowledge, self-efficacy, active ways of coping, and self-management compliance among patients with chronic hepatitis B. Therefore, it can be usefully utilized in the field of nursing for patients with chronic disease as a nursing intervention for people with chronic hepatitis B.

• Journal of Preventive Medicine and Public Health
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• 제33권1호
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• pp.109-116
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• 2000

Objectives : Routine vaccination against influenza is recommended for all people aged 65 years or more. Without active encouragement to receive the vaccine, the rate of compliance is generally low. A study was undertaken to assess and compare the effectiveness of two reminder systems in improving the influenza vaccination rate. Methods : A total of 2,017 patients aged 65 or over in a tertiary care hospital family practice center were randomly assigned to a control, a telephone reminder, or a postcard reminder group before the influenza season in 1998. The outcome measure, receipt of vaccination, was determined by telephone interview. Demographic and clinical characteristics were checked through the medical chart review. Results : Among the 1,312 patients who actually received reminders and interviewed, the vaccination rate was 46.7% in the control group, 56.3% in the postcard reminder group, and 63.3% in the telephone reminder group. Vaccination compliance was significantly higher in people reminded by telephone (Odds ratio [OR], 2.00; 95% confidence interval [CI], 1.52-2.64) and postcard (OR, 1.55; 95% CI, 1.18-2.02) compared to that in the control group. Of the characteristics investigated, number of high risk co-morbidity was positively associated with vaccination compliance while current smoking was negatively associated. Conclusions : This result suggests that telephone and postcard reminders can significantly improve compliance with influenza vaccination in this group of Korean elderly. However, additional strategies need to be developed to encourage vaccination among noncompliant.

• 통상정보연구
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• 제13권4호
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• pp.297-321
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• 2011

수출자에게 이중용도 품목의 최종용도와 수요자 확인의무를 부여하는 상황허가(Catch-all) 제도가 본격 시행되면서 대량살상무기 (WMD) 확산 방지 등을 위한 기업의 전략물자 수출통제 자율준수제도(Compliance, Program: CP)에 대한 관심이 높아지고 있다. 일본은 아시아 최고의 전략물자 수출통제 국가로서 현재 1,600개 이상의 기업이 자율준수무역거래자로 지정되어 있다. 반면 한국은 2005년 자율준수무역거래자 제도가 도입되었음에도 불구하고 2011년 10월말 현재 148개 기업만이 자율준수무역거래자로 지정되어 있다. 본 논문은 한국과 일본의 전략물자 수출통제 자율준수제도의 발전과정, 주요 내용 및 현황에 대한 비교 분석을 통해 한국의 자율준수제도 개선방안을 다음과 같이 제시한다. 첫째, 전략물자 수출기업의 자율준수제도에 대한 긍정적인 인식 전환 노력이 시급하다. 둘째, 자율준수제도에 대한 신속한 정보 제공과 함께 홍보 및 교육이 강화되어 야 한다. 셋째, 자율준수제도 관련 정부 기업 간 커뮤니케이션이 활성화되어야 한다. 넷째, 자율준수제도의 발전 및 정착을 위한 한 일간 다각적인 협력방안의 모색이 필요하다.

• 한국정밀공학회지
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• 제12권10호
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• pp.25-31
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• 1995

In this paper, a direct drive scalar robot manipulator is constructed and its mechanical machanism for operation is explained. Also, a motion controller board for the direct drive robot manipulator was developed where the IBM 486 computer is the main controller. For the developed direct drive robot, a force/motion control algorithm based on an active compliance scheme is developed. A preliminary experiment using the developed direct drive for a peg-in-hole job was done by implementing the control algorithm.

• International Journal of Automotive Technology
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• 제6권6호
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• pp.599-604
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• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.