• Title/Summary/Keyword: Control via application

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Laparoscope Manipulator Control for Minimally Invasive Surgery (최소침습수술을 위한 복강경 매니퓰레이터 제어)

  • Kim, Soo-Hyun;Kim, Kwang-Gi;Jo, Yung-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.7
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    • pp.685-696
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    • 2011
  • An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

Development of Low-Cost Automatic Flight Control System for Unmanned Target Drone

  • Lee, Jang-Ho;Ryu, Hyeok;Kim, Jae-Eun;Ahn, Iee-Ki
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.367-371
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    • 2004
  • This paper describes development of automatic flight control system for an unmanned target drone which is operated by Korean army as for anti-air gun shooting training. Current target drone is operated by pilot control of on-board servo motor via remote control system. Automatic flight control system for the target drone greatly reduces work load of ground pilot and can increase application area of the drone. Most UAVs being operated now days use high-priced sensors as AHRS and IMU to measure the attitude, but those are costly. This paper introduces the development of low-cost automatic flight control system with low-cost sensors. The integrated automatic flight control system has been developed by integrating combining power module, switching module, monitoring module and RC receiver as an one module. The performance of automatic flight control system is verified by flight test.

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Vehicle Tests of a Longitudinal Control Law for Application to Stop-and-Go Cruise Control

  • Moon, Ilki;Yi, Kyongsu
    • Journal of Mechanical Science and Technology
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    • v.16 no.9
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    • pp.1166-1174
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    • 2002
  • This paper presents the implementation and vehicle tests of a vehicle longitudinal control scheme for Stop and Go cruise control. The control scheme consists of a vehicle-to-vehicle distance control algorithm and throttle/brake control algorithm for acceleration tracking. The desired acceleration of a vehicle for vehicle-to-vehicle distance control has been designed using Linear Quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. A millimeter wave radar sensor has been used for distance measurement. A stepper motor and an electronic vacuum booster have been used for throttle/brake actuators, respectively. It has been shown that the proposed control algorithm can provide satisfactory performance.

Carbon and Nitrogen Responses of Litterfall Components by NPK and PK Fertilizers in a Red Pine (Pinus densiflora S. et Z.) Stand

  • Park, Seong-Wan;Baek, Gyeongwon;Kim, Seongjun;Yang, A-Ram;Kim, Choonsig
    • Journal of Korean Society of Forest Science
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    • v.108 no.1
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    • pp.21-28
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    • 2019
  • This study was conducted to determine the carbon (C) and nitrogen (N) response of litterfall components as affected by N addition in compound fertilizer in a Korean red pine (Pinus densiflora S. et Z.) stand in southern Korea. Litterfall in a mature red pine stand was collected for two years following compound fertilizer application ($N_3P_4K_1$; $P_4K_1$) and no fertilization (control). The C concentration of litterfall components was not significantly (P > 0.05) different between the $N_3P_4K_1$ and the control plots, whereas the N concentration of the litterfall components was significantly higher in the $N_3P_4K_1$ plot than in the control plot. The $N_3P_4K_1$ and $P_4K_1$ additions induced a lower C/N ratio of litterfall components compared with the control plot. Annual C and N fluxes via litterfall components were not affected by the $N_3P_4K_1$ addition over the study period, except for reproduction litter. Annual N fluxes via reproduction litter were significantly higher in the $N_3P_4K_1$ plot than in the control plot. Thus, the $N_3P_4K_1$ and $P_4K_1$ additions could modify differently nutrient distribution of the forest floor and mineral soils in a red pine stand. These results indicate that N concentration and C/N ratio in litterfall components are more susceptible to fertilizer application than the C response in litterfall components.

Methods for an application of real-time network control on distributed storage facilities (분산형 저류시설의 실시간 네트워크 제어기술 적용시 고려 사항)

  • Beak, Hyunwook;Ryu, Jaena;Oh, Jeill;Kim, Tae-Hyoung
    • Journal of Korean Society of Water and Wastewater
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    • v.27 no.6
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    • pp.711-721
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    • 2013
  • Optimal operation of a combined sewer network with distributed storage facilities aims to use the whole retention capacity of all reservoirs efficiently before overflows take place somewhere in the considered network system. An efficient real-time network control (RTNC) strategy has been emerging as an attractive approach for reducing substantially the overflows from a sewer network compared to the conventional fixed or manually adjusted gate setting method, but the related concrete framework for RTC development has not been throughly introduced so far. The main goal of this study is to give a detailed description of the RTNC systems via reviewing several guidelines published abroad, and finally to suggest methods for the proper application of RTNC on distributed storage facilities. Especially, this study is focused on emphasizing the importance of hierarchical structure of RTNC system that consists of three control layers (management, global control and local control). Further, with regard to the global control layer which is responsible for the central overall network control, the wide-ranging details of two components (adaption and optimization layers) are also presented. This study can provide the valuable basis for the RTNC implementation in the particular sewer network with distributed multiple storage facilities.

Recursive State Space Model Identification Algorithms Using Subspace Extraction via Schur Complement

  • Takei, Yoshinori;Imai, Jun;Wada, Kiyoshi
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.525-525
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    • 2000
  • In this paper, we present recursive algorithms for state space model identification using subspace extraction via Schur complement. It is shown that an estimate of the extended observability matrix can be obtained by subspace extraction via Schur complement. A relationship between the least squares residual and the Schur complement matrix obtained from input-output data is shown, and the recursive algorithms for the subspace-based state-space model identification (4SID) methods are developed. We also proposed the above algorithm for an instrumental variable (IV) based 4SID method. Finally, a numerical example of the application of the algorithms is illustrated.

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Development of Remote Control Laboratory for Radiation. Detection via Internet (인터넷을 통한 방사선 측정 원격 제어 실험실 개발)

  • Park, Sang-Tae;Lee, Hee-Bok;Yuk, Keun-Chul
    • Journal of Radiation Protection and Research
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    • v.27 no.1
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    • pp.59-66
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    • 2002
  • The role of experiments in science education is essential for understanding the natural phenomena and principle related to a subject. Therefore, the remote control experiment via Internet is one of key solution for distance learners in science education. The remote experiments ate also necessary for the time-consuming experiment which takes several days, collaborative experiment between distance learners, expensive laboratory equipment which is not usually available to students, experimental procedure which is dangerous, etc. In this study, we have developed a general method for a remote control laboratory system using internet and interlace techniques. It is possible for students to learn the nuclear physics to control the real instruments and conduct physics experimentation with internet techniques. We proposed the remote control radiation measurement system as a sample application. This system could be useful for the monitoring near a nuclear power plants in order to improve the environment data credibility to the public.

Application of Bovine Viral Diarrhoea Virus as an Internal Control in Nucleic Acid Amplification Tests for Hepatitis C Virus RNA in Plasma-Derived Products

  • Yoo Si Hyung;Hong Seung Hee;Jung Sa Rah;Park Su Jin;Lee Nam Kyung;Kim Soon Nam;Kang Sang Mo;Min Hong Ki;Park Sue Nie;Hong Seung Hwa
    • Journal of Microbiology
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    • v.44 no.1
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    • pp.72-76
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    • 2006
  • Plasma-derived products are produced from plasma via fractionation and chromatography techniques, but can also be produced by other methods. In the performance of nucleic acid amplification tests (NAT) with plasma-derived products, it is necessary to include an internal control for the monitoring of all procedures. In order to avoid false negative results, we confirmed the usefulness of the bovine viral diarrhoea virus (BVDV) for use as an internal control in the detection of hepatitis C virus (HCV) RNA in plasma-derived products. These products, which were spiked with BVDV, were extracted and then NAT was performed. Specificity and sensitivity were determined via the adjustment of primer concentrations and annealing temperatures. BVDV detection allows for validation in the extraction, reverse transcription, and amplification techniques used for HCV detection in plasma-derived products.

Biological Control of Oomycete Soilborne Diseases Caused by Phytophthora capsici, Phytophthora infestans, and Phytophthora nicotianae in Solanaceous Crops

  • Elena Volynchikova;Ki Deok Kim
    • Mycobiology
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    • v.50 no.5
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    • pp.269-293
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    • 2022
  • Oomycete pathogens that belong to the genus Phytophthora cause devastating diseases in solanaceous crops such as pepper, potato, and tobacco, resulting in crop production losses worldwide. Although the application of fungicides efficiently controls these diseases, it has been shown to trigger negative side effects such as environmental pollution, phytotoxicity, and fungicide resistance in plant pathogens. Therefore, biological control of Phytophthora-induced diseases was proposed as an environmentally sound alternative to conventional chemical control. In this review, progress on biological control of the soilborne oomycete plant pathogens, Phytophthora capsici, Phytophthora infestans, and Phytophthora nicotianae, infecting pepper, potato, and tobacco is described. Bacterial (e.g., Acinetobacter, Bacillus, Chryseobacterium, Paenibacillus, Pseudomonas, and Streptomyces) and fungal (e.g., Trichoderma and arbuscular mycorrhizal fungi) agents, and yeasts (e.g., Aureobasidium, Curvibasidium, and Metschnikowia) have been reported as successful biocontrol agents of Phytophthora pathogens. These microorganisms antagonize Phytophthora spp. via antimicrobial compounds with inhibitory activities against mycelial growth, sporulation, and zoospore germination. They also trigger plant immunity-inducing systemic resistance via several pathways, resulting in enhanced defense responses in their hosts. Along with plant protection, some of the microorganisms promote plant growth, thereby enhancing their beneficial relations with host plants. Although the beneficial effects of the biocontrol microorganisms are acceptable, single applications of antagonistic microorganisms tend to lack consistent efficacy compared with chemical analogues. Therefore, strategies to improve the biocontrol performance of these prominent antagonists are also discussed in this review.

A Proposal of Guidelines for Developing the Mobile Application of Infection Controls for the Elderly -Focused on the Aspects of the Universal Design (노인 감염관리를 위한 모바일 어플리케이션 개발의 가이드라인 -유니버셜 디자인(Universial Design) 관점에서)

  • Kim, Ho-Da;Joo, Ae-Ran
    • The Journal of the Korea Contents Association
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    • v.18 no.4
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    • pp.1-9
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    • 2018
  • The worldwide population is aging rapidly. In this circumstance, Korean society is in need of the urgent comprehensive countermeasures that will help the elderly with their health problems and infection control in their daily life. Universal design has supportive, adaptable, accessible and safety-oriental design standards for the elderly. Is this study, we propose the guidelines of the mobile application development based on the application of the universal design for infection control in the elderly. From the perspective of the universal design, there are several important guidelines including 'generalized access', 'simple and intuitive usage', 'low physical effort', and 'visualized language' based on the KCDC(Korea centers for disease control and prevention) principles for the elderly. These findings show that the guidelines for improving the health literacy of the mobile application via universal design are necessary to enhance the health behavior of infection control for the elderly.