• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_1
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.64-71
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• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.410-415
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• 2012

An experimental study is carried out to investigate the near-wake characteristics of a NACA 0018 foil with a flat plate. Two-frame grey-level cross correlation PIV method is used to measure the local flow characteristic around a pitch damping foil to control the vertical motion of high speed crafts in a circulating water channel. The analysis also includes angles of attack 10 and 20 degrees respectively. Reynolds number $Re{\fallingdotseq}3.5{\times}10^4$ based on the chord length(C=100mm) of NACA0018 has been applied during the whole experiments. The distance between the foil and the flat plate is D/C=0.5, 1.0 and 1.5 respectively. The channel effect according as the distance between the foil and the flat plate has a close relation with the velocity distributions around the foil. In the wake of 20-degree of attack, the complex turbulent flow and a thick boundary layer are formed due to the processes of vortex generation and dissipation.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.1
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• pp.52-57
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• 1987

In this paper, a methodology is developed to remove the reaching phase and the high frequency chattering phenomenon which are the common drawbacks of variable structrue control (VSC) system. A time varying switching surface is proposed to achieve sliding motion during the entire control process and a continuous control law whose terms are continuous functions inside a boundary layer neighbouring the time varying switching surface is developed to remove the high frequency chattering phenomenon of VSC. The methodology developed in this paper is applied to the 2'nd order time varying system and the simulated results are compared with those of typical VSC methodology.

• Journal of the Korean Society of Safety
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• v.9 no.1
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• pp.146-154
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• 1994

A series of numerical calculations are performed in order to investigate the dispersion mechanism of toxic gaseous and solid pollutants in extremely short-term and short range. The calculations are carried out in an open space characterized by turbulent boundary layer. The simulation is made by the use of numerical model, in which a control-volume based finite difference method is used together with the SIMPLEC algorithm for the resolution of the pressure-velocity coupling problem. The Reynolds stresses are solved by two-equation, k-$\varepsilon$ model modified for buoyancy. The major parameters consider-ed in this study are temperature, velocity and Injection height of toxic gases, environmental conditions such as temperature and velocity of free stream air, and topographic factor. The results are presented and discussed in detail. The flow field is commonly characterized by the formation of a strong recirculation zone due to the upward motion of the hot toxic gas and ground shear stress. The driving force of the upward motion is explained by the effect of thermal buoyancy of hot gas and the difference of inlet velocity between toxic gas and free stream.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.3
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• pp.113-119
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• 2020

This paper proved the reason why the Batdam does not collapse in the 50m/s typhoon by the Circulation of the Stack Effect and traced the correlation with crops in spring, summer, autumn and winter. Batdam, which is built with oedam, is a magic wall wich is played the role of 3rd layer over 22,000km, when stacked in a field, has the inertia like a linear motion of constant velocity and resists winds no matter how strong it blows. We analyzed the reason of Batdam 1.5 meters, Oreum 200 times of Batdam, and Hallasan 1,300 times Batdam, and analyzed the resonance of the characteristic function. In this paper, we adapted to natural climate change, and we built a batdam to derive the height of the batdam and neutral plane for farming according to the seasonal characteristics, and designed the relationship between natural intelligence control.

• Journal of KSNVE
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• v.11 no.3
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• pp.416-421
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• 2001

The flexural vibration of laminated composite beams with an electro-rheological(ER) fluid has been investigated to design a structure with maximum possible damping capacity. The equations of motion are derived for flexural vibrations of symmetrical, mu1ti-layer laminated beams. The damping radio and modal damping of the first bending mode are calculated by means of iterative complex eigensolution method. Finite element method is used for the analysis of dynamic characteristics of the laminated composite beams with an ER fluid. For the validation of modeling methodology using viscoelastic theory the predicted dynamic properties are compared to the measured ones by author's previous work. They are in good agreement. This paper addresses a design strategy of laminated composite under flexural vibrations with an ER fluid.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.249-251
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• 2022

In this paper, we present machine learning to control drone flight using EEG signals. We defined takeoff, forward, backward, left movement and right movement as control targets and measured EEG signals from the frontal lobe for controlling using Fp1. Fp2 Fp2 two-channel dry electrode (NeuroNicle FX2) measuring at 250Hz sampling rate. And the collected data were filtered at 6~20Hz cutoff frequency. We measured the motion image of the action associated with each control target open for 5.19 seconds. Using Matlab's classification learner for the measured EEG signal, the triple layer neural network, logistic regression kernel, nonlinear polynomial Support Vector Machine(SVM) learning was performed, logistic regression kernel was confirmed as the highest accuracy for takeoff and forward, backward, left movement and right movement of the drone in learning by class True Positive Rate(TPR).

• Tribology and Lubricants
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• v.20 no.3
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• pp.145-151
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• 2004

A modified surface layer by ion implantation is very thin (under 1 $\mu\textrm{m}$) but has superior mechanical characteristics. therefore ion implantation has been used successfully as a surface treatment technology to improve the wear, fatigue, and corrosion resistances of materials. MEVVA which is a kind of ion beam apparatus has merits of low cost and is usable to various metals, but occurs a droplet ranging from micron to tens of micron on the implanted surface at ion implantations. wear is a dynamic phenomenon on interacting surfaces with rotative motion. Since wear changes in condition of the surface, we should control to surface. In order to improve a wear resistance of Ti ion implanted 1C-3Cr steel(material for roller in the cold working process), it is essential to investigate the effect of the droplets on the wear characteristics. In this study, we investigate the effect of the droplets on the wear characteristics of 1C-3Cr steel using SEM Tribosystem as in-situ system. Results show that the droplet occurred at ion implantation becomes the cause of severe wear. Therefore, the ion-implanted surface should be removed the droplet to improve wear resistance.

• Restorative Dentistry and Endodontics
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• v.42 no.2
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• pp.105-110
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• 2017

Objectives: This study investigated the cleaning ability of ultrasonically activated irrigation (UAI) and a novel activation system with reciprocating motion (EC, EasyClean, Easy Equipamentos $Odontol\acute{o}gicos$) when used with a relatively new chelating agent (QMix, Dentsply). In addition, the effect of QMix solution when used for a shorter (1 minute) and a longer application time (3 minutes) was investigated. Materials and Methods: Fifty permanent human teeth were prepared with K3 rotary system and 6% sodium hypochlorite. Samples were randomly assigned to five groups (n = 10) according to the final irrigation protocol: G1, negative control (distilled water); G2, positive control (QMix 1 minute); G3, QMix 1 minute/UAI; G4, QMix 1 minute/EC; G5, QMix 3 minutes. Subsequently the teeth were prepared and three photomicrographs were obtained in each root third of root walls, by scanning electron microscopy. Two blinded and pre-calibrated examiners evaluated the images using a four-category scoring system. Data were statistically analyzed using Kruskal-Wallis and Dunn tests (p < 0.05). Results: There were differences among groups (p < 0.05). UAI showed better cleaning ability than EC (p < 0.05). There were improvements when QMix was used with auxiliary devices in comparison with conventional irrigation (p < 0.05). Conventional irrigation for 3 minutes presented significantly better results than its use for 1 minute (p < 0.05). Conclusions: QMix should be used for 1 minute when it is used with UAI, since this final irrigation protocol showed the best performance and also allowed clinical optimization of this procedure.