• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.205-212
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• 2018

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

• Journal of the Korean Geotechnical Society
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• v.23 no.12
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• pp.117-124
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• 2007

This study investigates the effect of spatial averaging and compliance taken account of in the analysis of earthquake-induced permanent deformation of slopes. At present, the rigid block analysis originally proposed by Newmark is widely used in the deformation analysis, mainly because of its computational efficiency. This type of approach, however, adopts the so-called decoupled approach, in which seismic response and deformation analyses are carried out separately. Original Newmark block analysis assumes the potential sliding mass to be noncompliant, and has been criticized to be potentially unconservative. This paper reviews the impact of the noncompliance assumption of the potential sliding mass in the Newmark-type analysis. The gross effects of earthquake shaking on the potential sliding mass are estimated by spatial averaging method and analyzed in frequency domain. The results indicate that there is a simple criterion that can be used to determine the level of compliance of the potential sliding mass.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Korean Journal of Community Nutrition
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• v.20 no.5
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• pp.351-361
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• 2015

Objectives: The purpose of this study was to investigate the relations between diabetic dietary compliance and dietary intake, physical activity and prevalence of metabolic syndrome (MS) in type 2 diabetic patients. Methods: Seventy five subjects diagnosed with type 2 diabetes visiting the D hospital in Dongducheon from May 2014 to Dec 2014 were included in this study. The subjects were divided into two groups according to their diabetic dietary compliance score (median 39); low diabetic dietary compliance (LDDC) group (n=44) and high diabetic dietary compliance (HDDC) group (n=31). Survey data collection was carried out by direct interview method. The nutrient intake, food intake and KDDS (Korean's dietary diversity score), DVS (dietary variety score) and GMVDF (grain, meat, vegetable, dairy and fruit) were analyzed using data from the 24-recall method. Metabolic parameters were obtained from the hospital records. Data was analyzed using Chi-square test and general linear model adjusted for sex. Results: The prevalence of MS was 59.7% in the participating diabetic patients. The prevalence of MS of the HDDC (39.3%) was significantly lower than that of the LDDC (72.7%). The distribution of physical activity showed a significant difference between the groups (p=0.006). The intakes of seeds and nuts of the HDDC were significantly lower than those of the LDDC. Fat and vegetable fat intakes and % fat of energy in the HDDC were significantly lower than those in the LDDC. But, carbohydrate (CHO) and potassium intake and %CHO of energy in the HDDC were significantly higher than those in the LDDC. KDDS and GMVDF showed significant differences between groups (p=0.033; p=0.012). Conclusions: Continuous intervention by specialized nutritionists for long-term self-regulation is needed for diabetic patients, and the high compliance to diabetic diet and increasing physical activity may be effective in the prevention of metabolic syndrome.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.5 no.2
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• pp.313-323
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• 1998

This study was a descriptive research on the level of self-care available to continous ambulatory peritoneal dialysis patients (hereinafter referred to as 'CAPD patient') related to the specific area of infection management. The method employed for the collection of data was a modified instrument of the self-care survey essentially based on Young Sook Choi's instrument. The relevant data was collected from september 1, 1996 to september 30, 1996. The subjects were provided with an open-ended question regarding the reasons behind why they did not seek self-care. The answers provided about self-care compliance were analyzed by SPSS for frequency, percentage, mean, t-test, ANOVA. Reasons for non-compliance were analyzed by content analysis. The results of the study were as follows : 1. The percentage of patients engaging in self-care were according to the following self performed tasks : preparation of dialysis : 30.58 points Dialysate exchange procedures : 49.40 points - Two bag type : 50.50 points - Spike type : 48.80 points - Neo type : 48.90 points Catheter exit site care : 25.13 points More specifically, in relation to the preparation of dialysis as referred to above, those patients engaging in self care was relatively high with respect to the cleaning of the dialysis before use and for the preservation of peritosol. However, in dialysate exchange procedures, data revealed that those patients engaging in self-care are relatively low with respect to putting on a mask during the performance of peritosol exchange. Similary in peritosol exchange procedure and catheter exit care, low levels of self-care performance were found in the area of putting on a mask during the peritosol exchange procedures and catheter line testing procedures, respectively. 2. In general characteristics, there appeared to be no distinction in self-care compliance among CAPD patients. 3. The main reasons for non-compliance were based in the following factor : intellectual, attitude, enviromental surrounding and physical. As a result of the foregoing finding, nurses should provide adequate assistance to promote self-care compliance by CAPD patients by checking the preparation of dialysis, dialysate exchange procedure, and catheter exit site care which recieved low point in this research.

• Korean Journal of Occupational Health Nursing
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• v.11 no.2
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• pp.91-107
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• 2002

In order to evaluate the factors related to therapeutic compliance of hypertensive patients in small and medium scale industry, the questionnaire survey and the blood pressure measurement were performed on 138 hypertensive patients who were reported to have C or $D_2$ result of hypertension at the workers' periodic health examination from March to November 2001. The contents of questionnaire included the informations of factors related to therapeutic compliance of hypertensive patients such as, age, sex, marital status, income, education levels, scale, occupation, work duration, smoking and drinking habits, exercise, family history, stress and A type personality, employer's concern, organizational culture, health status, awareness, knowledge and attitude toward the needs of hypertension treatment, and experience of health education. The results of the study were as follows: 1. The proportion of those who were compliant to the treatment of hypertension was 41.3% of subjects. Among small scale industry less than 50 employees, the rate of therapeutic compliance group was 27.5% and therapeutic noncompliance group was 72.5%. Among medium scale industry more than 50 employees, the rate of therapeutic compliance group was 60.3% and therapeutic noncompliance group was 39.7%. 2. Among therapeutic noncompliance group, 95.1% of patients were aware of the fact that workers have hypertension, and 77.8% of patients got 6-10 marks of hypertension related knowledge. For health education, 27.2% were experienced and 34.6% said no intention to participate. And for hypertension treatment, 9.9% said no need to get the treatment and 44.4% said have no idea whether get treatment or not. 3. The significant factors related to therapeutic compliance of hypertensive patients in small scale industry were work duration, A type personality(anger), health status, attitude toward the needs of hypertension treatment, and experience of health education. 4. The significant factors related to therapeutic compliance of hypertensive patients in medium scale industry were age, occupation, subjective symptom, attitude toward the needs of hypertension treatment, and experience of health education. In consideration of above findings, it was suggested that in order to improve the therapeutic compliance in small and medium scale industry hypertensives, it be necessary to change attitude, perception, knowledge and treatment of hypertension by various methods such as effective health education and individually consulting programs by occupational health professional.

• Proceedings of the KIPE Conference
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• 1996.06a
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• pp.47-51
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• 1996

In this paper, we propose a method for compliance control of a SCARA type 2-freedom direct drive(DD) manipulator. Each joint of the manipulator is driven by a travelling ultrasonic motor(USM). The travelling USM has good some characteristics over conventional servo motors such as compact size, light weight, silent motion, high torque and high speed response. By controlling the elasticity and viscosity of robot joints, a robot can work in compliance with external environment. we control the elastic coefficient and the viscous coefficient of joint by adjusting the phase difference of the motor power. And we contemplate transient response of USM with adjusting the elastic coefficient and the viscous coefficient. To use the result, we can control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.192-198
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• 2003

A finite element analysis of end-to-end artery/PTFE anastomosis has been presented in this study to evaluate the distribution of compliance and stresses in the vicinity of the anastomosis due to any mismatch in compliance characteristics. The artery wall was assumed to be made of linear isotropic material in this simplified model and a nonlinear analysis and convergency study with respect to increasing meshed element numbers were performed with a mean artery pressure loading of the artery-PTFE model. Also, sub-modeling method was Introduced to progress the accuracy of the finite element analysis. The results are as follow : 1. A hypercompliant zone on the artery side was observed around 4.Omm from the anastomosis and a high hoop stresses in the wall of artery and PTFE was dominant. 2. An artery displays large deformation so that nonlinear analysis and sub-modeling method was used. 3. An anastomosis with the thinner thickness and larger diameter PTFE (B type) could reduce the compliance disagreement.

• Convergence Security Journal
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• v.22 no.1
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• pp.113-120
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• 2022

Despite the limitations of existing security policies due to technological development, companies are unable to actively respond to changes by maintaining a closed security policy. This study classified information security policy into three types: regulatory type policy, advisory type policy, and informative type policy. For each classified policy type, the effect on the information security policy compliance behavior of organizational members was investigated by applying the extended theory of planned behavior, and the moderating effect of information security stress was investigated. SmartPLS 2.0 and SPSS 21.0, which are structural equation modeling techniques, were used to analyze the relationship affecting each factor. As a result of the study, regulatory type, advisory type, and informative type security policies affected organizational members' information security policy compliance behavior, and security stress had an effect on information security compliance attitudes and subjective norms on information security, which are prerequisites for planned behavior theory. gave. This study suggests that various types of corporate information security policies can be applied and that security stress can affect information security behaviors of members.