• Transactions on Control, Automation and Systems Engineering
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• 제2권3호
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• pp.157-162
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• 2000

The inverted pendulum is a typical example of unstable systems and has been used for verification of designed control systems. It is also very popular in control education in laboratories, serving as a good example to show the utility of the state space approach to the controller design. This paper shows two kinds of experiment using inverted pendulum: one is the stabilization of a single spherical inverted pendulum by a plane manipulator using visual feedback, and the other is the state transfer control of a double pendulum. In the former experiment, the feedback stabilization using a CCD camera has major importance as an example of controller implementation with non-contact measurement. The latter involves the standard stabilizing regulation method and nonlinear control techniques. The details of the experimental systems, the control algorithms and the experimental results will be given.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.23-25
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• 2014

This paper is concerned with design and control of semi-active tuned mass damper. The equipment consists of permanent magnet and coil. If current flowing in coil is changed, the natural frequency of the semi-active tuned mass damper is changed. In previous research, a current flowing in coil was changed manually. In this time, we design the feedback control system. The experiment proceed that the excitation frequency is shifted from 4Hz to 9Hz. The result of experiment proves that semi-active tuned mass damper is better than passive tuned mass damper in performance of absorbing vibration.

• 대한한의학회지
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• 제21권3호
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• pp.166-173
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• 2000

Objectives : These experiments were undertaken to evaluate the effect of the administration on Korean herbal medicines, Kyoaekungkue-tang, Bojungykki-tang, Kungso-san, Antae-eum, and Antaegumchul-tang, on the reproductive functions in pregnant mice. Methods : Prepared herbal medicines(Kyoaekungkue-tang, Bojungykki-tang, Kungso-san, Antae-eum, Antaegumchul-tang) were administered to three different pregnant staged mice. We designed 3 experiments as follows; prepared herbal medicine administered from ovulation to embryo implantation (Experiment I), or administered after implantation to fetal organogenesis (Experiment II) and lastly administered from end of organogenesis to parturition (Experiment III). At day 14 of pregnancy, the whole uteri of half of the treated mice were retrieved from the Experiment I and in the Experiment II the implantation and mean weight of the fetuses were examined. The mean numbers of offspring, sex ratio and mean birth weight were examined in the other half of the mice. Results : The results from these studies were summarized as followed; 1. From the experiment I (administered from ovulation to embryo implantation), the no. of implantation between control and herbal medicine treated groups were shown similar results. Litter size after parturition was significantly decreased in the herbal medicine treated groups, except for Antaegumchul-tang. However, the mean weight of offspring after parturition showed a tendency to increase in the three herbal medicine treated groups. 2. From the experiment II (administered after implantation to fetal organogenesis), the implantation rates from the herbal medicine treated groups increased more significantly than that of the control Also, litter size and birth weight in the herbal medicine groups, except Antaeeum, increased more significantly than that of the control group. 3. From the experiment III group (administered after organogenesis to parturition), the mean number of offspring in Kyoaekungkue-tang and Antaegumchul-tang treated groups were significantly increased than that of control However, the litter size of the Kungso-san treated mice was significantly decreased compared with that of the control group. Compared with the control and other herbal treated groups, the mean weight of fetuses after parturition in the Kyoaekungkue-tang and Antaegumchul-tang treated groups increased significantly. Conclusions : From these results, it can be concluded that Antaegumchul-tang showed more beneficial effects on the reproductive functions, implantation, maintenance of pregnancy, litter size and mean weight than other herbs.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1000-1003
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• 1996

Nonlinear unified predictive control(UPC) algorithm was applied to the temperature control of a batch polymerization reactor for polymethylmethacrylate(PMMA). Before the polymerization reaction is initiated, the parameters of the process model are determined by the recursive least squares(RLS) method. During the reaction, nonlinearities due to generation of heat of reaction and variation of heat transfer coefficients are predicted through the nonlinear model developed. These nonlinearities are added to the process output from the linear process model. And then, the predicted process output is used to calculate the control output sequence. The performance of nonlinear control algorithm was verified by simulation and compared with that of the linear unified predictive control algorithm. In the experiment of a batch PMMA polymerization, nonlinear unified predictive control was implemented to regulate the temperature of the reactor, and the validity of the nonlinear model was verified through the experimental results. The performance of the nonlinear controller turned out to be superior to that of the linear controller for tracking abrupt changes in setpoint.

• 한국기계가공학회지
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• 제2권4호
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• pp.46-52
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• 2003

For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

• 수산해양기술연구
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• 제55권2호
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• pp.172-180
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• 2019

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

• 대한물리의학회지
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• 제1권1호
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• pp.23-36
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• 2006

Purpose : The purpose of this study was to evaluate the effects of back muscle stretching on the flexibility of spinal column. Methods : The subjects were consisted of healthy adults (18 of females, 22 males ; mean aged 21.83) from 18 to 29. All subjects randomly assigned to the control group, back muscle stretching group. back muscle stretching group received back muscles stretching for 20 minutes per day and 3 times a week during 3 week period. Spine motion analyzer (Spinal Mouse) was used to measure the flexibility of spinal column. All measurement of each subjects were measured at pre-experiment, after 10 days, and after 21 days. Results : The results of this study were summarized below 1. The sacral tilt angle of the hip joint of control group, back muscle stretching group was no significantly differences at pre-experiment and after 10 days(p>0.5), but differency of each group occurred at after 21 days(p<0.5). the sacral tilt angle significantly increased at the back muscle stretching group rather than the control group. 2. The thoracic vertebral tilt angle of the control group, back muscle stretching group was no significantly differences at pre-experiment, after 10 days, after 21 days(p>0.5). 3. The lumbar vertebral tilt angle of the control group, back muscle stretching group was no significantly differences at pre-experiment, after 10 days, after 21 days(p>0.5). 4. The spinal tilt angle of control group, back muscle stretching group was no significantly differences at pre-experiment and after 10 days(p>0.5), but differency of each group occurred at after 21 days(p<0.5). the spinal tilt angle significantly increased at the back muscle stretching group rather than the control group(p>0.5). 5. The length of the spinal column of control group, back muscle stretching group was no significantly differences at pre-experiment and after 10 days (p>0.5), but differency of each group occurred at after 21 days(p<0.5). the length of the spinal column significantly increased at the back muscle stretching group rather than the control group(p<0.5). Conclusion : These data suggests that 3-week back muscle stretching improved the flexibility of sacrum, spinal column, and also improved spinal column lengthening. Additional randomized controlled trials to more fully investigate treatment effects and factors that may mediate these effects are needed.

• 대한정형도수물리치료학회지
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• 제12권1호
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• pp.1-15
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• 2006

Purpose: The purpose of this study was to evaluate the effects of abdominal muscle strengthening exercises and back muscle stretching on the flexibility of spinal column. Methods: The subjects were consisted of healthy adults ( 28 of females, 32 males; mean aged 21.6) from 18 to 29. All subjects randomly assigned to the control group, back muscle stretching group, abdominal muscle strengthening exercises group. back muscle stretching group received back muscles stretching for 20 minutes, abdominal muscle strengthening exercises group received abdominal muscle strengthening exercises for 30 minutes per day and 3 times a week during 3 week period. Spine motion analyzer (Spinal Mouse) was used to measure the flexibility of spinal column. All measurement of each subjects were measured at pre-experiment, after 10 days, and after 21 days. Results: The results of this study were summarized below 1. The sacral tilt angle of the hip joint of control group, back muscle stretching group, abdominal strengthening exercises group was no significantly differences at pre-experiment and after 10 days(p>0.5), but differency of each group occurred at after 21 days(p<0.5). the sacral tilt angle significantly increased at the back muscle stretching group, abdominal muscle strengthening exercises group, rather than the control group. 2. The thoracic vertebral tilt angle of the control group, back muscle stretching group, abdominal muscle strengthening exercises group was no significantly differences at pre-experiment, after 10 days, after 21 days(p>0.5). 3. The lumbar vertebral tilt angle of the control group, back muscle stretching group, abdominal muscle strengthening exercises group was no significantly differences at pre-experiment, after 10 days, after 21 days(p>0.5). 4. The spinal tilt angle of control group, back muscle stretching group, abdominal muscle strengthening exercises group was no significantly differences at pre-experiment and after 10 days(p>0.5), but differency of each group occurred at after 21 days(p<0.5). the spinal tilt angle significantly increased at the back muscle stretching group, abdominal muscle strengthening exercises group, rather than the control group(p<0.5). 5. The length of the spinal column of control group, back muscle stretching group, abdominal muscle strengthening exercises group was no significantly differences at pre-experiment and after 10 days (p>0.5), but differency of each group occurred at after 21 days(p<0.5). the length of the spinal column significantly increased at the back muscle stretching group, abdominal muscle strengthening exercises group, rather than the control group(p<0.5). Conclusion: these data suggests that 3-week abdominal muscle strengthening exercises and back muscle stretching improved the flexibility of sacrum, spinal column, and also improved spinal column lengthening. Additional randomized controlled trials to more fully investigate treatment effects and factors that may mediate these effects are needed.

• Fisheries and Aquatic Sciences
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• 제15권4호
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• pp.305-311
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• 2012

We investigated compensatory growth of Nile Tilapia Oreochromis niloticus in structural size and live weight in response to different deprivation periods and refeeding. Four treatments were assigned randomly to fish in 12 glass tanks, with each treatment performed in triplicate. The control group was fed to satiation three times a day throughout the experiment. The other three treatment groups were starved for 1 week (S1), 2 weeks (S2), or 4 weeks (S4) and then fed until the end of the experiment. After the experiment, no significant differences were observed among S1, S2, and the control group in average weight or length, whereas the weight and length of S4 were significantly reduced. Relative condition factors of the three starved groups decreased significantly until the end of the restricted period but recovered rapidly after refeeding. The specific growth rate in weight ($SGR_W$) of the three restricted groups recovered quickly upon refeeding and were significantly higher than the control group, but these differences disappeared gradually until the end of the experiment. No significant difference in specific growth rate in length ($SGR_L$) was noted between the control group and the three restricted groups after refeeding. All three groups showed hyperphagia for a short period upon refeeding, and no statistical differences were observed in feeding efficiency among the four groups.

• The Journal of Korean Physical Therapy
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• 제15권4호
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• pp.90-102
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• 2003

Purpose: The purpose of this study is to search effect that GCM joint treatment gets to range of motion of cervical, lumbar, trunk and anke. And cervical gets in ankle joint. Methods: Estimated body deformity using GCM body type assesment chart then measured range of motion of each region. After control group did as act freely after do experiment pre measurement control group did post measurement. After control group did as act freely after do experiment premeasurement, control group did postmeasurement. Each region was measured by measurer who each subject person differs. Experimental group did GCM joint treatment and all measurements each region by measurer who each subject person differs three times measure postmeasurement after premeasurement. When measure with each measurement, measured after leave and walk time interval for 10 minutes. Result: For the analysis of the result of experiment, the results is change amount comparison increased to keep in mind except cervical flexion and both ankle joint's dorsiflexion after experiment of experimental group. In experimental group, cervical, lumber and ankle joint of range of motion was significantly increased(p<.05).