• Journal of the Institute of Convergence Signal Processing
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• v.3 no.2
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• pp.76-82
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• 2002

The objective of this paper is to design a robust controller for a flexible robot arm manipulator using LMI(Linear Matrix Inequality) theory, and confirm its effectiveness through experimentation. We first describe a modeling Process of the flexible arm in order to get a mathematical model, and then discuss how to approximately obtain the uncertainty of the model for robust control. As to the control system design, we adopt the LMI-based H$_{\infty}$ synthesis algorithm which has the merits of eliminating the regularity restrictions attached to the Riccati-based methods. As a result of this, we can cope with the parameter variation (that is, modeling uncertainty) due to the tip-load variation. Finally we confirm the effectiveness of the controller through experiment and simulation.

• Journal of Power System Engineering
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• v.2 no.1
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• pp.73-79
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• 1998

In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

• Journal of Korean Academy of Nursing
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• v.30 no.6
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• pp.1389-1399
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• 2000

Massage therapy is a traditional, alternative and nonphamacological means of promoting rest and relaxation. However, nursing intervention by massage for middle-aged women is rarely practiced by nurses. The purpose of this research was to examine the effects of the hand and arm massage as an independent nursing intervention tool for middle- aged women. The data used in this research were collected from forty-nine subjects using a nonequivalent control group non- synchronized design. Twenty-four persons for the experimental group and Twenty-five persons for the control group were selected from D city and C city from July 1997 to September 2000. Subjects' ages were between forty and fifty-six years old with mean the age of 45.6. Hand and arm massage developed by Cayce and Reilly was applied to the experimental group for a session of 15 minutes two or three times a week for four weeks. The instruments used for the measurement of the subjects' stress, anxiety, depression and the middle-life crisis were Langners's 22-item Self-rating Depression Scale, and Kim's Middle Life Crisis Scale(1988). These psychological factors were measured before and after the implementation of hand and arm massage. The data were analyzed with mean$\pm$s.d, percent, t-test, and a paired t-test. The results were summarized as follows; 1. Before the treatment, there were no significant differences between the two groups. 2. After the treatment, there were significant differences in the stress and the occurrence of mid life crisis between the two groups. The findings suggest that the use of the life crisis. Therefore, it is recommended that hand and arm massage be used as an independent nursing intervention tool for middle-aged women. For further research, is needed replication of this concept of research with different subjects in a larger population. Also, it is recommended to investigate the effects of massage with aroma therapy for the berefit of decreasing womens' stress level further.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.6
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• pp.648-657
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• 2014

This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed and test for 10m waterproofness. The closed-form solution for the robot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equation including the damping force due to the mechanical seal for waterproofness is derived using Newton-Euler method. Using derived dynamics equation, a sliding mode controller is designed to track the desired path of the developed robot arm, and its performance is verified through a simulation.

• Archives of Reconstructive Microsurgery
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• v.17 no.1
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• pp.28-35
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• 2008

The purpose of this study was to present the clinical analysis of the results of lateral arm free flap for small sized and infected diabetic foot ulcer around toes. From May 2006 to December 2007, Seven patients were included in our study. Average age was 52.8 years, six were males and one was female. All had infected diabetic foot ulcer and had exposures of bone or tendon structures. Ulcers were located around great toe in four patients, 4th toe in one and 5th toe in two. Three patients had osteomyelitis of metatarsal or phalanx. After appropriate control of infection by serial wound debridement and intravenous antibiotics, lateral arm flap was applied to cover remained soft tissue defects. Posterior radial collateral artery of lateral arm flap was reanastomosed to dorsalis pedis artery of recipient foot by end to side technique in all cases in order to preserve already compromised artery of diabetic foot. All flaps were designed over lateral epicondyle to get longer pedicle and averaged pedicle length was 8 cm. Two cases were used as a sensate flap to achieve protective sensation of foot. All flaps survived and provided satisfactory coverage of soft tissue defects on diabetc foot ulcers. All patients could achieve full weight-bearing ambulation. No patients has had recurrence of infection, ulceration and further toe amputations. There were three complications, a delayed wound healing of flap with surrounding tissue, a partial peripheral loss of flap and a numbness of forearm below donor site. All patients were satisfied with their clinical results, especially preserving their toes and could return to the previous activity levels. Lateral arm free flap could be recommend for infected diabetic foot ulcers around toes, to preserve toes, coverage of soft tissue defect and control of infection with low donor site morbidity.

• The KIPS Transactions:PartD
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• v.11D no.2
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• pp.339-350
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• 2004

A broadcast method in mobile computing environments which have very large client populations solves the problem of low bandwidth. But most of previous proposed concurrency control protocols are restricted to read-only transactions from mobile client. In this paper, we propose the UTSM-ARM method which uses caching and broadcast method, and allows update transactions in mobile client. The UTSM-ARM decides the validation of cache data consistency with the dynamic update pattern ratio of accessed cached data. Also, the timestamps of accessed cached data and transaction in mobile client guarantee the serializable execution of mobile transactions. As a result, UTSM-ARM makes efficiently use of the asymmetric bandwidth of broadcast environment and can Increase the transaction throughput.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.247-254
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• 2006

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.

• Journal of Nutrition and Health
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• v.30 no.2
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• pp.177-186
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• 1997

To evaluate the effectiveness of nutritional supplements for cancer patients, the study was performed in 30 cncer patients, receiving chemotherapy. Patients were randomly divided into two groups -15 patients for the nutritionally supplemented group and 15 patients for the control group. Patients of the supplemented group were nutritionally supported with a commercial product for 9 weeks. Nutritional status of the patients was detrmined by dietary intake data, anthropometric measurements and hematological analysis at the beginning and after 3, 6 and 9 weeks of supplemental priod. Mean daily intake levels of energy, protein, calcium, phosphorus, thiamin, riboflavin, niacin and asorbic acid for the supplemented group were significantly higher than those of control group. Significant increase in mid-arm circumference, triceps skinfold thickness and arm fat area were observed in supplemented group during the study period. However, the changes of body weight, body mass index and arm muscle area were not significantly increased. Serum transferrin level improved slightly by nutritioal support, but serum albumin levle did not change significantly. There data show that nutritional status of cancer patients receiving chemotherapy can be improved by utritional supplementation for 9 weeks.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.5-161
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• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.4-41
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• 2002

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. Here we consider two coordinate systems, the world coordinate system and the camera coordinate one and we use a pinhole camera model as the camera one. First of all, the essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. And these plays an important role in designing visual servoing in the later chapters. Statement of the problem is giver. Provided two a priori...