• 한국정밀공학회지
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• 제14권4호
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• pp.88-96
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• 1997

This paper suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteresis nonlinear element which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. A proper Lyapunov function is selected and the Lyapunov direct method is used to prove the asymptotic stability of the suggested control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.179-179
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• 2000

An adaptive neural network compensator for stick-slip friction phenomena in servo systems is proposed to supplement the traditionally available position and velocity control loops for precise motion control. The neural network compensator plays a role of canceling the effect of nonlinear slipping friction force. This enables the mechatronic systems more precise control and realistic design in the digital computer. It was confirmed that the control accuracy is more improved near zero velocity and the points of changing the moving direction through numerical simulation

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.987-993
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• 1996

This report suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteric nonlinear clement which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. The Lyapunov direct method is used to prove the asymtotic stability of the suggested control, and the stability and the effectiveness are verified analytically and experimentally on a single axis servo driving system.

• 대한간호학회지
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• 제36권6호
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• pp.992-1001
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• 2006

Purpose: This study was done to provide data for a nursing intervention to alleviate newborn pain clinically by investigating the effect of oral glucose. Methods: Subjects were newborns hospitalized in the nursery. Informed consent was obtained from parents of 60 newborns. A heel stick was carried out for a test on 3 groups; the experimental, placebo, and control group. The Neonatal infant pain scale(NIPS), respiration rate, heart rate, peripheral oxygen partial pressure($SpO_2$), and crying duration were measured to assess pain reaction. All neonatal behaviors were recorded on videotape. Results: There were significant differences in pain behavior during stimulus(F=4.195, p=.020), pain behavior immediately after blood-sampling (F=4.114, p=.021), and pain behavior 3 minutes after that (F=3.630, p=.033). However, there were no significant differences in heart rate, respiration rate, peripheral oxygen partial pressure or crying duration after the heel stick among the groups. Conclusions: Oral administration of glucose before a heel stick caused the reduction of neonatal pain behavior, which means that it has an effect of pain relief.

• 대한산업공학회지
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• 제25권1호
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• pp.100-110
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• 1999

The objectives of this study are twofold: (1) to evaluate the cockpit of three Korean air force fighters such as F-4, F-5, and F-16 in an ergonomic perspective and (2) to measure the musculoskeletal discomfort of the fighter pilots. For the study, 369 air force pilots from 7 squadrons were surveyed. The study shows that the cockpit design of F-16 is superior to the others. However, F-4 is the worst among them. Statistical analyses reveal that the seat in the cockpit raised the most complaints, regardless of types of fighter planes. The main problems with the seat included inappropriate designs of the backrest angle, seat cushioning, and parachute harness. Also frequently cited are various control switches, control stick, rudder pedal, and the throttle. That these items lack human integration is found in remote positions and improper dimensions. The implications of these findings are discussed. The self-reported musculoskeletal complaints show that the main discomfort is on the back and neck. Also, the buttocks, shoulders, and the legs/knees are common sites of discomfort. A stepwise regression analysis shows that the back discomfort, is mainly caused by the use of the seat, rudder pedal, control stick, and switches. A Spearman rank correlation coefficient test also reveals that job dissatisfaction of the pilots is related to the complaints with the cockpit and musculoskeletal discomfort. These findings suggest that more comprehensive studies for cockpit design in the aspects of functional anthropometry of Korean pilots are needed to reduce the musculoskeletal discomfort.

• 한국지반환경공학회 논문집
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• 제12권11호
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• pp.59-64
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• 2011

배수공의 막힘 현상은 노후화된 터널의 가장 큰 문제점으로 보수 대책 공법이 시급한 실정이다. 현재는 Water Jet Cleaning과 배수공내 초고압수를 분사하는 방식 등으로 배수공내 생성된 스케일을 제거하고 있다. 하지만 이러한 공법은 비용이 비싸고 주기적으로 관리가 필요하다는 단점을 가지고 있다. 본 연구에서는 이러한 문제점을 해결하고 영구적으로 배수공내 침전물 생성을 방지하기 위하여 자화장치와 퀀텀스틱 신기술을 적용하여 배수공내 스케일의 주성분인 탄산칼슘($CaCO_{3}$) 침전물을 SEM분석과 XRD분석을 통하여 관찰하였다. SEM분석과 XRD분석 결과, 자화장치를 적용하였을 경우 탄산칼슘($CaCO_{3}$)의 생성입자가 Calcite에서 Aragonite로 변화하는 것을 볼 수 있었으며, 퀀텀스틱의 경우에도 육안으로 관찰하였을 경우 스케일의 생성량이 확연히 줄어들었음을 볼 수 있었다. 전반적으로, 자화장치와 퀀텀스틱을 이용하여 배수공 내 침전물 생성을 방지하는데 효과가 있음을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.889-893
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• 1991

This paper describe the mathematical model of helicopter rotor, which is suitable for the calculation of trim condition to develop the stability and control. The mathematical model is a nonlinear, total force and moment model of a single main rotor helicopter. The effects of fuselage, tail rotor, horizontal tail, and vertical tail are included. The phase angle and stick displacement are obtained and compared at the trim condition.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.1327-1328
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• 2015

본 논문에서는 스틱 모델을 사용하여 외바퀴 로봇의 수직 방향에서 생기는 파라메트릭 진동을 시뮬레이션 분석하고, 분석된 결과를 바탕으로 제어 법칙을 유도한 다음, 실험을 통해 성능을 검증한다. 실험에 활용된 외바퀴 로봇은 수평 방향에 대해서는 비례미분제어기를 사용하고, 수직 방향에 대해서는 진동제어기를 활용한다.

• 산업경영시스템학회지
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• 제42권4호
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• pp.69-75
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• 2019

Remotely Piloted Aircraft (RPA) controls as a type of unmanned aerial vehicle (drone) is growing rapidly and its flight controller stick disposition is required standardization. We should standardize RPA drone flight control disposition because the flight pilot of RPA is hard to be trained so the flight controller stick differences impairs safety and wastes time and effort of flight controller industry. So this study researches the on-going standardization of RPA drone flight control disposition in Korea and foreign countries. Also this paper analyzes and researches of expert about RPA drone flight controller function and application of flight control mode. I accomplished expert research about standardization plan of unmanned flight control mode and confirm the necessity. Nowadays mode1 and 2 are mostly used in Korea so I carried out preference investigation for two modes. There were 4 preferences choices of RPA drone control mode necessity (importance) and recommendation of standardization modes. They answered that necessity of standardization is important considering pilot training, flight safety and positive development of drone industry. The result of standardization mode preference is that they prefer mode 2 (drone maker 86%, training facilities and research facilities 58%, government bureau 60%). Overall preference result shows that mode 1 24%, mode 1&2 16%, mode 2 60%. So they preferred mode 2 by 60%. The differences between two modes are the direction of throttle and pitch. Direction of throttle and pitch operate opposite way. They prefer mode 2 because mode 2 has similarities of manned flight control mode. Significance of this study is that it showed the necessity of standardization and flight control preference in a quantitative way. It will help drone standardization in related industries and development direction near future.

• 중소기업융합학회논문지
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• 제4권2호
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• pp.33-39
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• 2014

본 논문에서는 효율적인 제어를 위하여 캡슐 앤도스코피에 대한 모델링을 실시하였다. 방법론적으로 루그레 모델에 대한 시스템 특성파악을 위한 수학적 모델링을 이용하였다. 비선형 마찰 모델인 루그레 모델에 바탕을 둔 stick-slip 모션 시스템이 인체내에서의 캡슐 앤도스코피의 활동을 묘사하는 시뮬레이션 모델로 이용하였다. 다양한 상황을 고려하여 루그레 마찰모델에 대한 시뮬레이션을 Matlab Simulink 를 작성하여 수행하였다. 전체적인 모션과 파라미터의 영향이 엔도스코피의 속도에 미치는 영향에 대한 것에 주안을 두어 실시하였다.