• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Science of Emotion and Sensibility
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• v.16 no.4
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• pp.503-508
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• 2013

This study aims to analyze using RQA(Recurrence Quantification Analysis) about difference of electroencephalogram between inattention and attention among nonlinear methods for school age children who need attention. The experiments were conducted by 21 healthy subjects(12 males and 9 females). Inattention state is 500msec before the beginning of the auditory stimuli, attention state is 500msec after the beginning of auditory stimuli. The results of RQA parameters are greater in attention state than inattention state. It showed a statistically difference(p < 0.05). According to two states, auditory evoked potentials are displayed RP and CRP in diagram form to confirm nonlinear characteristics and The brain dynamics in the attention is more complex than the inattention. It is feasible that the RQA can be useful for the analysis of complex brain dynamics associated during auditory attentional task.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.19 no.4
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• pp.328-334
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• 2009

There are various methods for welding fume control. These methods can be divided into local exhaust system, general ventilation system and integrated control system. With the general ventilation system, we should have a good prediction tool for testing various appropriate control options. But, until now there are not many studies about how to predict the welding fume concentrations. Especially, the prediction of welding fume concentration is not a very easy task because welding fume is the particulate matters. In this study, we tried to measure $CO_2$ concentrations and welding fume concentrations in a small single room with a small ventilation opening. Using commercially available CFD (Computational Fluid Dynamics) software, we tried to predict $CO_2$ concentrations under the exactly same conditions. Then, we tried to compare the numerical $CO_2concentrations$ with the experimental results to know whether we could predict $CO_2$ concentrations. Then we tried to compare $CO_2$ concentrations with experimental welding fume concentrations to know whether we can use the numerical $CO_2concentrations$ to predict the welding fume concentration indirectly.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.105-110
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• 1990

In this paper, a compliance robot control algorithm using a PID adaptive controller is proposed. The compliance robot is suitable for the tasks in contact with environment, such as assembly operation or surface processing. A hybrid robot control method can control force and position simultaneously and two independant feedback closed loops are formed in this method. Because the compliance robot is operated in contact with environment, it is very difficult to obtain linear model of dynamics for this robot. In order to overcome this difficulty, a PID adaptive controller independant of robot dynamics is applied to the compliance robot. The proposed control algorithm for the compliance robot was analyzed and conformed by simulating the surface processing task by a two-joint robot.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.11
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• pp.195-205
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• 2013

The analysis of electroencephalographic signal associated with the attention is essential for the understanding of human cognition. In this paper, the characteristic differences between the attention and inattention status in the brain were inspected by nonlinear analysis. The recurrence quantification analysis was applied to the relatively small number of samples of evoked potential having time varying characteristics, where the recurrence plot (RP), the color recurrence plot (CRP), and mean and time-sequential trend parameters were extracted. The dimension and the time delay in phase transformation can be determined by the paired set of extracted parameters. It is observed from RP, CRP, and parameters that the brain dynamics in attention is more complex than that in the inattention, as well as the synchronized brain response is stable in the mean sense but locally time varying. It is feasible that the non-linear analysis method can be useful for the analysis of complex brain dynamics associated during visual attentional task.

• Earthquakes and Structures
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• v.3 no.5
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• pp.719-747
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• 2012

In this paper a novel approach is proposed to address the problem of deriving non-stationary stochastic processes which are compatible in the mean sense with a given (target) response (uniform hazard) spectrum (UHS) as commonly desired in the aseismic structural design regulated by contemporary codes of practice. The appealing feature of the approach is that it is non-iterative and "one-step". This is accomplished by solving a standard over-determined minimization problem in conjunction with appropriate median peak factors. These factors are determined by a plethora of reported new Monte Carlo studies which on their own possess considerable stochastic dynamics merit. In the proposed approach, generation and treatment of samples of the processes individually on a deterministic basis is not required as is the case with the various "two-step" approaches found in the literature addressing the herein considered task. The applicability and usefulness of the approach is demonstrated by furnishing extensive numerical data associated with the elastic design UHS of the current European (EC8) and the Chinese (GB 50011) aseismic code provisions. Purposely, simple and thus attractive from a practical viewpoint, uniformly modulated processes assuming either the Kanai-Tajimi (K-T) or the Clough-Penzien (C-P) spectral form are employed. The Monte Carlo studies yield damping and duration dependent median peak factor spectra, given in a polynomial form, associated with the first passage problem for UHS compatible K-T and C-P uniformly modulated stochastic processes. Hopefully, the herein derived stochastic processes and median peak factor spectra can be used to facilitate the aseismic design of structures regulated by contemporary code provisions in a Monte Carlo simulation-based or stochastic dynamics-based context of analysis.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.5
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• pp.86-94
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• 2008

In this paper proposed the solar tracking system to use a fuzzy based on PC in of order to increase an output of the PV(Photovoltaic) array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studies. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up, nonlinear altitude and azimuth. In this paper designed a fuzzy controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• Earthquakes and Structures
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• v.3 no.3_4
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• pp.581-609
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• 2012

In this paper a novel non-iterative approach is proposed to address the problem of deriving non-stationary stochastic processes which are compatible in the mean sense with a given (target) response (uniform hazard) spectrum (UHS) as commonly desired in the aseismic structural design regulated by contemporary codes of practice. This is accomplished by solving a standard over-determined minimization problem in conjunction with appropriate median peak factors. These factors are determined by a plethora of reported new Monte Carlo studies which on their own possess considerable stochastic dynamics merit. In the proposed approach, generation and treatment of samples of the processes individually on a deterministic basis is not required as is the case with the various approaches found in the literature addressing the herein considered task. The applicability and usefulness of the approach is demonstrated by furnishing extensive numerical data associated with the elastic design UHS of the current European (EC8) and the Chinese (GB 50011) aseismic code provisions. Purposely, simple and thus attractive from a practical viewpoint, uniformly modulated processes assuming either the Kanai-Tajimi (K-T) or the Clough-Penzien (C-P) spectral form are employed. The Monte Carlo studies yield damping and duration dependent median peak factor spectra, given in a polynomial form, associated with the first passage problem for UHS compatible K-T and C-P uniformly modulated stochastic processes. Hopefully, the herein derived stochastic processes and median peak factor spectra can be used to facilitate the aseismic design of structures regulated by contemporary code provisions in a Monte Carlo simulation-based or stochastic dynamics-based context of analysis.

• Atmosphere
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• v.32 no.3
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• pp.235-246
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• 2022

A large number of MJO skill metrics and process-oriented MJO simulation metrics have been developed by previous studies including the MJO Working Group and Task Force. To assess models' successes and shortcomings in the MJO simulation, a standardized set of diagnostics with the additional set of dynamics-oriented diagnostics are applied. The Global Coupled (GC) model developed for the operation of the climate prediction system is used with the comparison between the GC2 and GC3.1. Two GC models successfully capture three-dimensional dynamic and thermodynamic structure as well as coherent eastward propagation from the reference regions of the Indian Ocean and the western Pacific. The low-level moisture convergence (LLMC) ahead of the MJO deep convection, the low-level westerly and easterly associated with the coupled Rossby-Kelvin wave and the upper-level divergence are simulated successfully. The GC3.1 model simulates a better three-dimensional structure of MJO and thus reproduces more realistic eastward propagation. In GC2, the MJO convection following the LLMC near and east of the Maritime Continent is much weaker than observation and has an asymmetric distribution of both low and upper-level circulation anomalies. The common shortcomings of GC2 and GC3.1 are revealed in the shorter MJO periods and relatively weak LLMC as well as convective activity over the western Indian Ocean.

• Science of Emotion and Sensibility
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• v.25 no.4
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• pp.77-94
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• 2022

Social interactions often involve encountering inconsistent information about social others. We conducted a functional magnetic resonance imaging (fMRI) study to comprehensively investigate voxel-wise temporal dynamics showing how impressions are anchored and/or adjusted in response to inconsistent social information. The participants performed a social impression task inside an fMRI scanner in which they were shown a male face, together with a series of four adjectives that described the depicted person's personality traits, successively presented beneath the image of the face. Participants were asked to rate their impressions of the person at the end of each trial on a scale of 1 to 8 (where 1 is most negative and 8 is most positive). We established two hypothetical models that represented two temporal patterns of voxel activity: Model 1 featured decreasing patterns of activity towards the end of each trial, anchoring impressions to initially presented information, and Model 2 showed increasing patterns of activity toward the end of each trial, where impressions were being adjusted using new and inconsistent information. Our data-driven model fitting analyses showed that the temporal activity patterns of voxels within the ventral anterior cingulate cortex, medial orbitofrontal cortex, posterior cingulate cortex, amygdala, and fusiform gyrus fit Model 1 (i.e., they were more involved in anchoring first impressions) better than they did Model 2 (i.e., showing impression adjustment). Conversely, voxel-wise neural activity within dorsal ACC and lateral OFC fit Model 2 better than it did Model 1, as it was more likely to be involved in processing new, inconsistent information and adjusting impressions in response. Our novel approach to model fitting analysis replicated previous impression-related neuroscientific findings, furthering the understanding of neural and temporal dynamics of impression processing, particularly with reference to functionally segmenting each region of interest based on relative involvement in impression anchoring as opposed to adjustment.