• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• Journal of Korean Biological Nursing Science
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• 제3권2호
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• pp.69-90
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• 2001

The purpose of this study was to determine the effect of dance sports on physiological variables, depression and quality of life in the elderly. The study was performed on a non-equivalent control group pretest-posttest design for 47 elderly, who were conveniently assigned to experimental group and control group. The experimental group were selected from D-welfare facility and the control group were selected from G-elderly church club in G-city. The data were collected from April 2, 2001 to June 30, 2001, and analyzed by frequency, $x^2$-test, t-test and paired t-test using SAS/PC program. The results of this study were summarized as follows; 1. The first hypothesis, "the experimental group would have improved physiological variables than the control group.". 1-1. The hypothesis, "the experimental group would have lower blood pressure than the control group" was rejected. 1-2. The hypothesis, "the experimental group would have lower heart rate than the control group" was supported(t=-2.031, p=0.048). 1-3. The hypothesis, "the experimental group would have higher peripheral vessel $O_2$ Saturation than the control group" was rejected. 2. The second hypothesis, "the experimental group would have lower depression score than the control group" was supported(t=2.832, p=0.006). 3. The third hypothesis, "the experimental group would have higher quality of life score than the control group" was supported(t=2.604, p=0.012). After 12 weeks of dance sports program, it was shown that the program was effective to improve the physiological varibles, reduce depression and improve quality of life.

• Journal of applied mathematics & informatics
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• 제24권1_2호
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• pp.399-409
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• 2007

In this paper we use iterative dynamic programming in the discrete case to solve a wide range of the nonlinear equations systems. First, by defining an error function, we transform the problem to an optimal control problem in discrete case. In using iterative dynamic programming to solve optimal control problems up to now, we have broken up the problem into a number of stages and assumed that the performance index could always be expressed explicitly in terms of the state variables at the last stage. This provided a scheme where we could proceed backwards in a systematic way, carrying out optimization at each stage. Suppose that the performance index can not be expressed in terms of the variables at the last stage only. In other words, suppose the performance index is also a function of controls and variables at the other stages. Then we have a nonseparable optimal control problem. Furthermore, we obtain the path from the initial point up to the approximate solution.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.271-271
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• 2000

This paper considers guaranteed cost output feedback controller for the uncertain time-varying delay systems with delays in state and control input. The uncertainty in the system is assumed to be norm-bounded and time-varying. The sufficient condition for the existence of controller and the guaranteed cost output feedback controller design method are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be reformulated as LMI forms in terms of transformed variables. Using the obtained LMI variables, we derive guaranteed cost controller gain and guaranteed cost.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.433-440
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• 2000

To flexibly evaluate performance and reliability of a real-time system which is intrinsically characterized by stringent timing constraints to generate correct responses, we propose fuzzyrandom variables and build a discrete event model embedded with fuzzy-random variables. Also, we adapt fuzzy-variables to a path-space approach, which derives the upper and lower bounds of reliability by using a semi-Markov model that explicitly contains the deadline information. Consequently, we propose certain formulas of state automata properly transformed by fuzzy-random variables, and present numerical examples applying the formulas to RTP(Rapid Thermal Process) to show that a complex system can be properly evaluated based on this model by computer simulation.

• 가족자원경영과 정책
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• 제2권1호
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• pp.79-90
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• 1998

The main purpose of this study was to investigate the level of the soundness of home life. This study was focused to analyze the soundness of home life according to the objective variables and the psychological variables. It was not also to provide some fundamental information that helped to elevate the home life soundness, but also to prevent family problems. The subjects of this study was married female teachers living in Seoul area. The sample size was 237. The significant results were as follows: 1) The soundness of home life differed significantly according to age, income, the number of children, and family pattern among the objective variables. 2) The soundness of home life differed significantly according to self-actualization and internal-external of control. 3) The variables such as income, self-actualization and internal-external of control affected the soundness of home life.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.742-752
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• 2009

Engineering design involves the specification of many variables that define a product, how it is made, and how it behaves applied to computer, communication and control fields. Before some variables can be determined, other variables must first be known or assumed. This fact implies a precedence order of the variables, and of the tasks of determining these variables consequently. Moreover, design of complex systems may involve a large number of design activities. In this paper, the activity-activity incidence matrix is considered as a representation of design activity analysis which mainly focuses on the precedence constraint with an object of doing IDEF3 in process-centered view. In order to analyze the activity-activity incidence matrix, a heuristic algorithm is proposed, which transforms an activity-activity, parameter-formula, and parameter-parameter incidence matrix into a lower triangular form. The analysis of the structured matrices can not only significantly reduce the overall project complexity by reorganizing few critical tasks in practice, but also aims at obtaining shorter times considering the solution structure by exploring concurrency.

• The Journal of Asian Finance, Economics and Business
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• 제7권8호
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• pp.95-102
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• 2020

The purpose of this study is to test both the alignment theory and entertainment theory on family firms listed on the Pakistan Stock Exchange. To achieve these goals, we collected secondary data from 164 non-financial family firms in various sectors during 2014-18. These family firms are classified into two categories: family control firms and family owned firms. We take the audit fee and the audit quality as dependent variables while family control firms, family-owned firms, and family CEOs as independent variables. In addition, the study uses leverage, profit and export as control variables. To test the effect of the explanatory variables on the output variables, we use two econometric models, Ordinary Least Square and the Probit regression model. In addition, Huber Sandwich test is used to check the non-normality and heteroscedasticity of panel data. Contrary to the alignment effect, the study supports the entrenchment effect and advocates that family-controlled firms as well as family-owned firms are not conscientious regarding the selection of external auditors during their contracts with audit firms. They are less likely to pay high audit fees for good quality audit in Pakistan. Furthermore, the study shows a statistically significant and positive relationship between audit quality and audit fees.

• 조명전기설비학회논문지
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• 제12권4호
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• pp.136-145
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• 1998

본 논문에서는 몰드변압기 예방진단을 위해 정상상태와 비정상상태 몰드변압기의 진동신호의 FFT 및 시계열 분석에 관해 연구하였다. 실험올 위한 제어변수들로 공급전압, 부하전류 및 주위온도를 변화시키면서, 진동신호 크기, 주파수 스펙트럼 및 시계열 계수와 같은 측정변수들을 분석하였다. 제어변수 변화에 의한 진동선호는 권선표변과 철섬에 부착된 가속도센서로 측정되었으며, 이 신호들은 중폭기를 거쳐 데이터 수집장치에서 측정변수들로 계산되었다. 또한, 정 상상태 분석 후, 몰드변압기의 구조적 변형올 모의하였다. 비정상상태 진동신호는 정상상태와 같은 제어변수 변화 에 의해 측정되었다. 연구 결과, 정상상태와 비정상상태 진동신호는 수직진동신호와 수평진동신호를 비교하여 분석함으혹써 구별이 가능하였다.

• 대한통합의학회지
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• 제10권4호
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• pp.229-240
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• 2022

Purpose : In this study, using Oyster Shell Thermal Therapy for metabolic diseases, we analyzed the effect of immune and inflammation-related variables and respiratory health-related variables of test subjects to verify the effect of improving respiratory health. Methods : In this study, 26 patients with metabolic diseases were divided into an experimental group (N=13) and a control group (N=13). After Oyster Shell Thermal Therapy (four weeks/three times a week/1 hour per time), metabolic disease-related variables and immune and respiratory health-related variables were measured and compared between the two groups. The conclusion of this study is as follows: Results : After the four-week Oyster Shell Thermal Therapy, in terms of changes in the metabolic disease-related variables, the control group exhibited a higher increase in TC and LDL-C levels than the experimental group. In the case of glucose, the experimental group showed a decrease after the experiment (p<.05). After the four-week thermotherapy, a statistically significant interactive effect occurred in natural killer (NK) cells among the immune-related variables. According to the results of a post-experimental analysis, the control group showed a higher decrease in NK cells than the experimental group (p<.05). After the 4-weeks thermotherapy, the experimental group showed a greater increase in maximum oxygen intake of the respiratory health-related variables than the control group. Conclusion : Based on a comprehensive review of the study results, the subjects who underwent the four-week Oyster Shell Thermal Therapy exhibited positive physical changes in metabolic disease-related variables as well as immune and respiratory health-related variables, which demonstrates the effectiveness of Oyster Shell Thermal Therapy on immune and respiratory health. Accordingly, it is recommended to conduct long-term Oyster Shell Thermal Therapy with various models in terms of the size and shape.