• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.315-316
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• 2012

• 한국정밀공학회지
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• 제29권9호
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• 산업기술연구
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• 제18권
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 한국도로학회논문집
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• 제9권2호
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• pp.101-114
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• 2007

줄눈 콘크리트 포장에서 다웰바는 하중을 전달해주는 역할과 단차를 감소시켜줌으로써 궁극적으로 포장의 공용성을 높여주는 역할을 수행한다. 그러나 다엘바의 시공상태가 불량할 경우에는 오히려 줄눈잠김 등을 유발하여 스폴링이나 균열을 초래하여 공용성을 떨어뜨릴 수 있다. 다웰바의 시공방법은 다웰바 어셈블리 시공방법과 다웰바자동삽입기를 이용한 시공방법이 있는데 국내에서는 어셈블리를 이용한 시공방법만이 사용되고 있다. 본 연구에서는 비파괴 조사장비인 MIT-SCAN2를 이용하여 한국도로공사 시험도로에 시공된 다웰바자동삽입 시공구간과 다웰바 어셈블리 시공구간에 대한 다웰바 시공상태 및 Joint Score와 Running Ave. Joint Score를 산출하여 비교 분석해 보았다. 그 결과, 다웰바자동삽입 시공방법이 다웰바 어셈블리 시공방법에 비해 깊이변화, 수평/수직엇갈림에서 매우 우수한 시공상태를 보이는 것으로 나타났으며 줄눈잠김의 위험 또한 다웰바 어셈블리 시공방법에 비해 매우 낮다는 점을 발견했다. 또한 국내 다웰바 어셈블리 시공방법의 문제점을 다웰바 어셈블리의 생산, 보관, 시공 측면에서 분석하였다. 문제점 분석을 토대로 다웰바의 체어형태, 고정방법을 개선하여 시험시공을 수행한 결과, 모든 시공상태 항목이 개선되었음을 알 수 있었으며, 특히 수평/수직엇갈림이 크게 개선되어 줄눈잠김에 대한 위험성이 줄어듦을 알 수 있었다.

• 응용통계연구
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• 제30권6호
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• pp.931-941
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• 2017

반복이 있는 랜덤화 블록 계획법(randomized block design with replications)에서의 대표적인 검정법은 Mack이 제안한 방법과 Mack과 Skillings이 제안한 방법이 있다. 이 방법은 각 블록의 처리에서 반복된 각 관측값 대신에 반복된 관측값들의 평균을 이용하여 순위를 매기기 때문에 정보의 손실이 발생할 가능성이 있다. 이를 보완하기 위해 본 논문에서는 Chung과 Kim (2007)이 제안한 결합위치(joint placement) 방법에 점수함수(score function)를 적용한 선형위치통계량(linear placement statistics)을 이용한 검정방법을 제안하였다. 또한 Monte Carlo simulation study를 통해 기존의 방법들과 검정력을 비교하였다.

• Hip & pelvis
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• 제36권2호
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• pp.77-86
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• 2024

Knowledge of the relationship between the hip and spine is essential in the effort to minimize instability and improve outcomes following total hip arthroplasty (THA). A detailed yet straightforward preoperative imaging workup can provide valuable information on pelvic positioning, which may be helpful for optimum placement of the acetabular cup. For a streamlined preoperative assessment of THA candidates, classification systems with a capacity for providing a more personalized approach to performance of THA have been introduced. Familiarity with these systems and their clinical application is important in the effort to optimize component placement and reduce the risk of instability. Looking ahead, the principles of the hip-spine relationship are being integrated using emerging innovative technologies, promising further streamlining of the evaluation process.

• Communications for Statistical Applications and Methods
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• 제19권5호
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• pp.721-729
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• 2012

Various methods control the influence of a covariate on a response variable. These methods are analysis of covariance(ANCOVA), RANK ANCOVA, ANOVA of (covariate-adjusted) residuals, and Kruskal-Wallis tests on residuals. Covariate-adjusted residuals are obtained from the overall regression line fit to the entire data set that ignore the treatment levels or factors. It is demonstrated that the methods on covariate-adjusted residuals are only appropriate when the regression lines are parallel and covariate means are equal for all treatments. In this paper, we proposed the new nonparametric method on the ANCOVA model, as applying joint placement in a one-way layout on residuals as described in Chung and Kim (2007). A Monte Carlo simulation study is adapted to compare the power of the proposed procedure with those of the previous procedure.

• 응용통계연구
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• 제30권2호
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• pp.291-299
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• 2017

반복이 있는 랜덤화 블록 계획법을 검정하는 비모수 검정방법에는 Mack과 Skillings (1980), Mack (1981)가 제안한 방법이 있다. 본 논문에서는 Hodges와 Lehmann (1962)의 정렬 방법과 Chung과 Kim (2007)이 제안한 결합위치 검정법을 확장하여 반복이 있는 랜덤화 블록 모형에서 새로운 비모수적 방법을 제시하였다. 또한 모의실험을 통해 모수적 방법과 기존의 비모수적 방법과의 검정력을 비교하였다.