• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.519-519
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• 2000

Since the dynamics of the slave manipulator with high reduction ratio joints is likely to be much slower than that of the master manipulator, the control input the slave manipulator is so frequently saturated. This paper proposes a bilateral teleoperation control scheme for 2-DOF manipulators with high reduction ratio joints, which can effectively compensate the control input saturation. In the proposed scheme, the controllers of the slave manipulator are designed with an anti-windup feature and forces caused by the saturation are reflected to the operator holding the operating handle of the master manipulator. When the control input of the slave manipulator is saturated, the master manipulator moves slowly file to tile reflected forces. In this way, the position tracking performance of the slave manipulator with high reduction ratio joints can be enhanced regardless of saturation. The proposed scheme is shown to give excellent position tracking performance through a series of experiments.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2525-2527
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• 2002

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using adaptive fuzzy sliding mode control. In a bilateral control system, the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper a proposed controller applied to the system. Adding a switching control term to the input robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed adaptive fuzzy sliding mode controller.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.11a
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• pp.1528-1531
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• 2013

본 논문은 스테레오 시각에서 3차원 정보를 얻기 위해 bilateral filter를 이용한 그래프 컷 기반의 다해상도 스테레오 영상 정합 방법을 제안하고자 한다. 제안한 방법은 변위도에서 물체의 경계를 명확히 구분하기 위해 bilateral filter를 이용하여 그래프의 각 노드들을 연결하는 경로의 가중치를 결정하고 정합 비용을 통합한다. 정합 과정에서 계산복잡도를 줄이기 위해 계층적 다해상도 구조를 적용하여 영상 피라미드를 만들고, 정합의 정확성을 향상시키기 위해 정합 영역에 변위 평활성과 같은 제약 조건을 적용하여 변위를 전파하는 방법을 사용한다. 실험을 통해 제안한 방법이 변위 탐색 시간을 감소시킬 뿐만 아니라 기존의 그래프 컷의 단점을 보완할 수 있음을 확인하고자 한다.

• The Korean Journal of Pain
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• v.21 no.3
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• pp.211-216
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• 2008

Background: Postoperative pain after bilateral total knee replacement (TKR) is expected to be more severe than unilateral TKR. Intravenous patient-controlled analgesia (IV PCA) is less effective than other methods of pain management especially immediately after an operation even though it is an easily controlled method for managing pain. This study was designed to evaluate the effect of femoral nerve blocks combined with IV PCA after bilateral TKR for postoperative pain control. Methods: The patients in group I (n = 20) were given only IV PCA with morphine and group II (n = 20) were given bilateral femoral nerve blocks with 12 ml of 0.25% bupivacaine and epinephrine 1 : 400,000 before extubation followed by an IV PCA. Main outcome measures included numerical rating pain score, cumulative opioid consumption, hourly dose during each time interval, and side effects. Results: The pain score in group II was significantly lower than that in group I immediately after recovery of awareness and at 3, 6, 12 hours postoperatively. Cumulative opioid consumption was significantly decreased in group II during the first 48 hours postoperatively. The hourly dose in group II was also significantly lower than that in group I until 12 hours postoperatively. There was no difference in side effects between the groups. Conclusions: We concluded that bilateral femoral nerve blocks improve analgesia and decrease morphine use during IV PCA after bilateral TKR.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.10
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.1-51
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• 2001

Teleoperation is a rapidly progressing field promising to have significant application in space, mining, medical, and other areas. Unfortunately, significant communication delays are expected in teleoperation. With this problem, the two major issues in teleoperation are stability robustness and transparency performance. Recent work in bilateral teleoperation in the two-channel showed that for any two-channel control architecture, stability robustness is enhanced if the feedforward control parameters are lowered. In this paper, we analyze the stability and performance robustness of the three channels control architectures using the passivity-based Llewellyn´s absolute stability criterion as wall as the minimum values and Z-width´s of the operator and environment transmitted impedances. And the stability and the performance robustness of two and three channels control architectures are quantitatively compared.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.122-124
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• 2007

Master and slave of teleoperation control system through internet or long distance cable must keep stable. If one part becomes unstable or time delay happens in network, the all system can become unstable. Usually stability of teleoperation control system can distinguish by passivity. In this paper, we implemented bilateral teleopcration control system that load passivity controller to keep stability of system. Composed by manipulator that trillion this sricks and horizontal manufacturing that have force reflecting function are available and embodied so that control through wireless LAN may be available. And distinguished stability through an experiment and manufacturing performance.

• The Korean Journal of Emergency Medical Services
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• v.11 no.1
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• pp.11-25
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• 2007

Objective: The purpose of this study was to investigate the effects of combined exercise on the change of postural control, functional status in patients with osteoarthritis of the knee. Methods : The subjects were consisted of 24 women patients fifties and sixties with knee osteoarthritis. Each group had a exercise for 30 minutes per day and three times a week during 8 weeks period. Was used to measure muscular function(60, $180^{\circ}/sec$), postural control. functional capacity(15 M walking test, Rising form a chair test, stair climbing and descending test) and the functional state of a joint(WOMAC). Results: This study results in following 1. In case of muscular function have significantly increased in both groups. 2. There was no significant difference in the postural control of the bilateral between two groups. However, the postural control of a isokinetic exercise program group showed a significant difference in the bilateral side(overall, $M{\cdot}L$ stability index). Especially, the change of postural control in the isokinetic plus postural control exercise program group decreased more significantly in the bilateral(overall, $A{\cdot}P$ stability index). 3 It was significantly decreased in climbing and descending the stairs, and rising from the chair, although functional capacity decreased in lam walking in both groups. 4. The functional state of a joint(WOMAC) showed a significant decrease in both groups. Conclusion : In order to improve the functional status and postural control of patients with osteoarthritis of the knee, performing exercise programming of isokinetic plus balance will be more effective than the exercise program composed of only the isokinetic exercise program.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.33 no.5
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• pp.524-529
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• 2007

Objective: Autologous transfusion is frequently used with orthognathic surgery. The necessity of autologous transfusion has begun to question alone in bilateral sagittal split ramus osteotomy. The aim of this study was to evaluate the availability of autologous transfusion. Methods: The chart reviews of sixty patients who had undergone bilateral sagittal ramus osteotomy were done. The subjects were divided into two groups: In experimental group, 30 patients who autodonated 320ml in the preoperative 3 weeks actually received a transfusion in the postoperative 6 hours were included. In control group, 30 patients who underwent the same operation without preoperative donation and any other transfusion were included. Hemoglobin, hematocrit, and changes of these values in both groups were evaluated. Results: 1. From postoperative 3 hours to postoperative 1 day, the increases of hemoglobin(0.8g/dL in experimental group, 0.2g/dL in control group) and hematocrit(0.3% in experimental group, 0.6% in control group) were not statistically significant between both groups. 2. From postoperative 1 day to postoperative 1 week, the increase of hemoglobin(0.6g/dL in experimental group, 0.3g/dL in control group) was not statistically significant between both groups. But the increase of hematocrit(2.5% in experimental group, 1.0% in control group) was statistically significant between both groups over the same period(hematocrit p=0.043). 3. On postoperative 1 week, the values of hemoglobin(12.3% in both groups) and hematocrit(35.6% in experimental group, 36.8% in control group) were not statistically significant between both groups. Conclusion: The autologous transfusion in surgery of just a little blood loss was not effective. The most results show that there is little availability of autologous transfusion according to changes of hemoglobin and hematocrit in bilateral sagittal split ramus osteotomy.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.70-77
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• 2002

Necessity of the tole-operation has been increased in many fields. Since the Internet is inexpensive and available all over the world, it is a strong candidate for the transmission media of the tole-operation. However, the Internet has random time delays that may cause instability in the system especially if the tole -operation is bilateral. In the past few years many attempts have been made to overcome the random time delay, So far, they are still insufficient in terms of performance. The ‘Variable holding time’ is introduced to improve the performance of the ‘Event based tole-operation’ which controls a system with a non-time action reference. By holding each event for proper time, the system can quickly respond and be stabilized. The proper holding time should be selected based on the characteristics of the task that the system performs. The factors that reflect those characteristics are investigated. The fuzzy logic is employed to obtain the proper holding time for each event while the tole-operation system is in operation. The experimental results presented in this paper verify effectiveness of the proposed method.