• Journal of the Korean Academy of Child and Adolescent Psychiatry
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• v.8 no.1
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• pp.22-33
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• 1997

The objective of this study is to understand disordered parent-child relationships of Reactive Attachment Disorder(RAD) systematically through the mother’ internal working model of child. In this study, RAD mothers’internal representations of the child were compared with mothers’of control group and association between mothers’ representation classifications and children’ attachment classifications was examined. Also individual differences in mother-child interaction by mothers’representation classifications was observed. The subjects of this study were 40 2-5 year-old children and their mothers, 20 attachment disordered dyads and 20 normal dyads of control group. Mothers were interviewed using the Working Model of the Child(Zeanah, Benoit & Barton 1986) to classify internal representations of child. Children’ attachment patterns were assessed by the Strange Situation Procedure. For observation of motherchild interaction, Each dyad was seen in DPICS devised by Eyberg and Robinson(1983). The results of the study were as follows：1) Among RAD group, 55% of mothers were classified as disengaged and 45% classified as distorted, while all mothers of control group were classified as balanced. In rating scales, there were significant differences in all 3 representation classifications in Intensity of involvement and Coherence. In Intensity of involvement disengaged representations had the lowest score and distorted representations had the lowest score in Coherence. 2) Mothers’representation classifications were related to children’ attachment classifications. All mothers of control group whose children were classified as secure were classified as balanced. Among RAD’ mothers, by contrast, 82% of mothers classified as disengaged had children classified as anxious-avoidant, 56% of mothers classified as distorted had children classified as disorganized / disoriented and 33% of mothers classified as distorted had children classified as anxious-resistant. 3) There were individual differences in mother-child interactions by mothers’representation classifications. In the child-centered play, mothers classified as disengaged used discriptive statement, reflective statement and discriptive-reflective question less than balanced mothers. Mothers classified as distorted used direct command and indirect command more than balanced mothers. In the clean-up task, mothers classified as disengaged and distorted used direct command and indirect command more than balanced mothers. The results of this study suggest that parents’working model of the child is an important factor to understand parent-child attachment relationships and their interactions. The understanding of parents’ working model of the child is thought to enrich our understanding of disordered parent-child relationships and to provide useful informations for specific and successful treatments.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.1618-1628
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• 2011

The Train Diagnostic and Control System(TDCS) has been equipped on the modern Metro Vehicle, Locomotive and High Speed Train. The main purpose of this system is to support the identification of train status by real-time, the fast action against such failure events during revenue service and the fast convenient maintenance processes. Some of newest TCMS, a kind of control and monitoring system, has participated in the main control functions such as pantograph up and down, powering and braking command and so on. But these kind of control functions of the high speed train which has the operating speed over 300km/h are conducted by the train electrical logic circuits. The KTX-I and KTX-II - the local high speed train, are the typical example. The next generation TDCS for the ongoing project of distributed high speed train(HEMU) is designing with the target to increase main train control functions, to increase the reliability/avalibility and to increase the convenient driving. This paper introduces the overall configurations and functions of the new generation TDCS.

• Aerospace Engineering and Technology
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• v.13 no.2
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• pp.18-28
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• 2014

We assume that two control moment gyros are installed for space qualification in a satellite with four reaction wheels, and study the high agile maneuver method. Using high torque control moment gyros, we reduce the satellite's attitude error. After that, we activate reaction wheels to control remaining attitude error. This proposed method can avoid singularity problem of control moment gyros, and do not require gimbals' angle to calculate torque command. Through numerical simulations, we show that our method's agile performance is similar to previous method and reduce the reaction wheels' required momentum.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.660-663
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• 1997

In recent manufacturing process, the increase of productivity is required by reducing machining time with the increase of cutting force. However, the excessive increase of cutting force can cause tool breakage, and have a bad effect on both the manufacturing machine and the workpiece. Thus, it is necessary to estimate and control cutting force in real time during the process. In this study, use of disturbance observer is proposed for the indirect cutting force estimation. The estimated cutting force is used for the real time control of feedrate, making the actual cutting force follow the reference force command. Since the suggested method does not need an expensive sensor like a dynamometer, the method is expected to be used practically. By reducing the machining time resulting from making the actual cutting force follow the reference force, the increase of productivity are also expected, and the quality of cutting surface has been improved due to the adjusted feedrate. Besides, an actual constant cutting force guarantees the prevention of tool breakage. To show the effectiveness of the suggested cutting force control method, an experimental setup has been made without the force sensor, applied to several workpieces. Experiments show that the suggested method is superior to the conventional method operated by constant feedrate.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1915-1919
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• 2004

In this paper, we propose a new discrete-time predictive current controller for a PMSM(Permanent Magnet Synchronous Motor). The main objectives of the current controllers are to ensure that the measured stator currents tract the command values accurately and to shorten the transient interval as much as possible, in order to obtain high-performance of ac drive system. The conventional predictive current controller is hard to implement in full digital current controller since a finite calculation time causes a delay between the current sensing time and the time that it takes to apply the voltage to motor. A new control strategy in this paper is seen the scheme that gets the fast adaptation of transient current change, the fast transient response tracking and is proposed simplified calculation. Moreover, the validity of the proposed method is demonstrated by numerical simulations and the simulation results will be verified the improvements of predictive controller and accuracy of the current controller.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2011-2016
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• 2004

Study of human-robot communication is one of the most important research areas. Among various communication media, any useful law we find in voice communication in human-human interactions, is significant in human-robot interactions too. Control strategy of most of such systems available at present is on/off control. These robots activate a function if particular word or phrase associated with that function can be recognized in the user utterance. Recently, there have been some researches on controlling robots using information rich fuzzy commands such as "go little slowly". However, in those works, although the voice command interpretation has been considered, learning from such commands has not been treated. In this paper, learning from such information rich voice commands for controlling a robot is studied. New concepts of the coach-player model and the sub-coach are proposed and such concepts are also demonstrated for a PA-10 redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.438-443
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• 2003

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.3
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• pp.42-50
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• 2002

In this paper, we have designed and implemented lamp control system in underground parking place using WWW. The proposed system consists of lamp control system which is connected by RS-485 communication bus and monitoring system (WebPL) which can provide web interface using the web server. The lamp control system is controlled through a user command within the monitoring system (WebPL), senses moving object and turns lamps in underground parking place on or off. The monitoring system displays the status values of on or off received from lamp control system on the web browser and can real-timely control lamps in underground parking place on the web browser. 

• Journal of the Korean Society of Industry Convergence
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• v.20 no.4
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• pp.299-305
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• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.102-110
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• 1999

The aim of this paper is to suggest a design method of the optimal model following control system using gerelic algoritlun (GA). This control system is designed by applying GA with reference model to the optimal determinination of weighting matrices Q, R that are given by LQ regulator prooblem. The method to do this is that all the diagooal elements of weighting matrices are optimized simultaneously by GA, in the search domain selected adequately. And, we design the mxiel following control system to boiler-turbine equipment by the proposed mothod. The model following control system designed by this mothod has the better command tracking perfannaoce than that of the control system designed by the trial-and-error method. The effectiveness of this cootrol System is verified by computer simulation.