• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.568-576
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• 1998

In this thesis discuss with a flexible robotic finger design and controller which is used for the micro flexible robotic finger. So, miniaturization, precision, controller for the control of grasping force and actuator were needed. And, even if we develop a new actuator and controller, in order to use on real system, we must considerate of a many side problem. In a force control of micro flexible finger for grasping an object, the fingertip's vibration was more important task of accuracy control. And, controller were adopt the PD/PI mixed type fuzzy controller. The controller were consist of two part, one is a PD type fuzzy controller for increase the rising time response, the other is a PI type fuzzy controller for decrease of steady-state error. Especially, in a PD type fuzzy controller, we used only seven rules. And, for a PI controller, we adopt a reset factor for the control of input values. so, we have overcome the exceed of controller's input range. For the estimate of ontroller's utility and usefulness, we have experiment and computer simulation of three cases. First, we consider of unit force grasping control for a task object, which is 0.03N. Second, bounding grasping force control which is add to a sinusoidal force on the unit force. At this cases the task force is (0.03+0.01 sin wt N). And consider of following of rectangular forces.

• Journal of Periodontal and Implant Science
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• v.37 no.sup2
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• pp.325-338
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• 2007

The purposes of this study were to compare and quantify the expression of IL-6, e1stase and ${\alpha}_1-PI$ in the gingival tissues of patients with type 2 diabetes mellitus and healthy adults with chronic periodontitis. Gingival tissue samples were obtained during periodontal surgery or tooth extraction. According to the patient's systemic condition & clinical criteria of gingiva, each gingival sample was devided into three groups. Group 1 (n=8) is clinically healthy gingiva without bleeding and no evidence of bone resorption or periodontal pockets, obtained from systemically healthy 8 patients. Group 2 (n=8) is inflammed gingiva from patients with chronic periodontitis. Group 3 (n=8) is inflammed gingiva from patients with chronic periodontitis associated with type 2 diabetes. Tissue samples were prepared and analyzed by Western blotting. The quantification of IL-6, elastase and ${\alpha}_1-PI$ were performed using a densitometer and statistically analyzed by one-way ANOVA followed by Tukey test. 1. The expression levels of IL-6 showed increasing tendency in group 2 and 3, and It was highest in group 3. 2. The expression of elastase showed increasing tendency in group 2 and 3, and It was highest in group 3. 3. The expression of ${\alpha}_1-PI$ showed increasing tendency in group 3 compared to group 1. 4. The ${\alpha}_1-PI$/elastase ratio was decreased in group 2 and 3 compared to group 1, especially most decreased in group 3. 5. As IL-6 levels were increasing, elastase showed increasing tendency in group 3, and although IL-6 and elastase levels were increasing, ${\alpha}_1-PI$ level in group 3 showed slightly increasing pattern comparing to group 1. In conclusion, this study demonstrated that the expression levels of IL-6 and elastase will be inflammatory markers of periodontal inflammed tissue and DM. The ${\alpha}_1-PI$/elastase ratio also may be important measuring inflmmatory factors in the progression of periodontal inflammation associated to type 2DM.

• Journal of Life Science
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• v.32 no.10
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• pp.762-770
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• 2022

Hyperglycemia in type 2 diabetes can be alleviated by promoting cellular glucose uptake. Betulinic acid (3β,-3-hydroxy-lup-20(29)-en-28-oic acid) is a pentacyclic lupane-type triterpenoid compound. Although there have been studies on the antidiabetic activity of betulinic acid, studies on cellular glucose uptake are lacking. We investigated the effects of betulinic acid on glucose uptake and its mechanism of action in 3T3-L1 adipocytes. Betulinic acid significantly stimulated glucose uptake in 3T3-L1 adipocytes by increasing the phosphorylation of the insulin receptor substrate 1-tyrosine (IRS-1tyr) in the insulin signaling pathway, which in turn stimulated the activation of phosphoinositide 3-kinase (PI3K) and the phosphorylation of protein kinase B (Akt). The activation of PI3K and Akt by betulinic acid translocated glucose transporter 4 to the plasma membrane (PM-GLUT4), thereby increasing the expression of PM-GLUT4 and thus stimulating cellular glucose uptake. Betulinic acid also significantly increased the phosphorylation/activation of AMP-activated protein kinase (AMPK) and acetyl-CoA carboxylase. The activation of PI3K and AMPK by betulinic acid was confirmed using the PI3K inhibitor wortmannin and the AMPK inhibitor compound C. The increase in glucose uptake induced by betulinic acid was significantly decreased by wortmannin and compound C in the 3T3-L1 adipocytes. These results suggest that betulinic acid stimulates glucose uptake by activating PI3K and AMPK in 3T3-L1 adipocytes.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.577-580
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• 1996

LQ-servo is a stability-robustness guaranteed multivariable controller design method based on the LQR structure to improve command following performance with output feedback. In this paper, a new type of PI controller based on LQ-servo is introduced. Then, Command following performance is improved using the limiting behavior of the control gain and weighting factors on the low frequency part of design parameter Q that is the state weighting matrix in the cost function.

• Communications of the Korean Mathematical Society
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• v.18 no.2
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• pp.367-374
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• 2003

Let N be a Closed n-manifold with residually finite, torsion free $\pi$$_1$(N) and finite H$_1$,(N). Suppose that $\pi$$\_$k/(N)=0 for 1 < k < n-1. We show that N is a codimension-n PL fibrator if and only if N does not cover itself regularly and cyclically up to homotopy type, provided $\pi$$_1$(N) satisfies a certain condition.

• Journal of applied mathematics & informatics
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• v.31 no.3_4
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• pp.533-544
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• 2013

The multiplicative version of Wiener index (${\pi}$-index), proposed by Gutman et al. in 2000, is equal to the product of the distances between all pairs of vertices of a (molecular) graph G. In this paper, we first present some sharp bounds in terms of the order and other graph parameters including the diameter, degree sequence, Zagreb indices, Zagreb coindices, eccentric connectivity index and Merrifield-Simmons index for ${\pi}$-index of general connected graphs and trees, as well as a Nordhaus-Gaddum-type bound for ${\pi}$-index of connected triangle-free graphs. Then we study the behavior of ${\pi}$-index upon the case when removing a vertex or an edge from the underlying graph. Finally, we investigate the extremal properties of ${\pi}$-index within the set of trees and unicyclic graphs.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1725_1726
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• 2009

The purpose for this paper is to obtain the ��$H_{\infty}$ LMI with fuzzy PI controller for induction motor which is nonlinear system. The controller type is PI and the control gains are obtained based on $H_{\infty}$ control problem. The PI controller is considered a part of a plant and the problem is changed to get controller with static gains. The nonlinear system is approximated as several linear systems and combined by using fuzzy technique.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.12
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• pp.629-637
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• 2005

This paper proposes a new anti-windup strategy to suppress integrator windup for PI speed controller and to be implemented on the existing system with minimal modification. When the speed control mode is changed from P controller to PI controller. an appropriate initial value for integrator is assigned. This value restricts overshoot and high settling time. Also, the proposed method guarantees the designed performance independent on operating conditions, i.e. different set-point change and load torque. Simulation and experimental results for PMSM speed controller have shown its superior performance compared with the conditional integration and tracking back calculation.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.86-94
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• 1997

This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1088-1092
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• 2003

This paper presents a combined lookup table technique and PI-type controller. The purpose of the designed controller is applied to control the nonlinear system as thermal process. The proposed controller is easy and convenient to design based on a commercial controller. The performances of the proposed controller were studied using the thermal plant model under temperature control. The experimental results included demonstrate the good performance of the proposed controller.