• 전자공학회논문지B
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• 제32B권8호
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• pp.1119-1126
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• 1995

The construction of rule-base for a nonlinear time-varying system, becomes much more complicated because of model uncertainty and parameter variations. Furthemore, FLC does not have an ability of adjusting rule- base in responding to some sudden changes of control environments. To cope with these problems, an auto-tuning method of the fuzzy rule-base is required. In this paper, the GA-based Fuzzy-Neural control system combining Fuzzy-Neural control theory with the genetic algorithm(GA), which is known to be very effective in the optimization problem, will be proposed. The tuning of the proposed system is performed by two tuning processes(the course tuning process and the fine tuning/adaptive learning process). The effectiveness of the proposed control system will be demonstrated by computer simulations using a two degree of freedom robot manipulator.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.336-345
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• 2011

In this paper, we introduce software development process for autonomous mobile robot with LEGO RCX. The software is designed from course analysis and a series of software design processes are applied for the development. Various control methods are devised to identify robot's location and to optimize the running strategy. To assure realtime property and reliability of the software, we adopted software engineering processes during the development. In this paper, we report the detailed software design processes and the implementation result that we have experienced with our practical LEGO robot platform.

• 대한인간공학회지
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• 제35권1호
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• pp.11-27
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• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.

• 한국조경학회지
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• 제35권5호
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• pp.64-72
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• 2007

This study investigated the types, forms, and origination of litter found along one hiking course in Moaksan Provincial Park, 'Jungin-ri Course'(entrance-ridge-valley-peak). In addition, a survey was conducted to understand hikers' litter control awareness in order to determine possible backcountry litter control measures. The following are the results of this study: 1. For the litter Sequency investigation, 199 recyclable pieces of litter were found on the mid-slope(61.6%), 89 by the entrance(27.6%), 19 in the valley(5.9%) and 16 on the peak(4.9%). A total of 323 pieces of litter were found. Paper materials were the most common, followed by plastic containers such as PET bottles and yogurt containers. Of particular interest, 288 papers and cans were found on the mid-slope(46.9%). By the entrance, more plastics and bottles were found. 2. There were 614 pieces of flammable litter collected and only 19 pieces of non-flammable. Most of the flammable litter, including snack pacts, plastic bags, processed lumber, cigarette butts, tissues, cigarette boxes, and fabric was found on the mid-slope. 3. Very little food waste was found throughout the whole site proving that the policy prohibiting hikers from cooking and eating at the designated sites has been effective. However, food waste is difficult to find because it naturally decays with time. 4. $X^2$-test was used to find different types of litter and their verified origination frequency. It was found that recyclable litter, and food waste took about 1%. In addition, recyclable litter, especially bottles, was found relatively frequently by the entrance. Flammable litter was found most often at the peak. 5. The questionnaire results showed that 48.2% of the respondents "shorten their hiking journey and purchase food outside the entrance" and 29.6% said that they "bring a packed meal from home". Only 8.2% said that they "cook something when an appropriate location is found". At the Jungin-ri course, a few hikers brought their own food to eat or cook, but most hikers purchased something to eat onsite. 6. The results of the question about having experience littering while hiking showed that 19.3% litter and 79.2% do not. Those that responded "yes" gave various reasons for littering. 63.6% claimed, "there are no designated trash containers". 15.9% said they litter subconsciously. Finally, 3.2% insist that they litter "because food naturally decomposes". 7. As a result of the overall satisfaction according to the Likert scale and the analysis with an average of 14 variables, it was found that the average "toxic litter control convenience" was 2.41 with very low satisfaction. Thus, the results indicate the importance of providing appropriate back country litter control facilities.

• 대한의용생체공학회:의공학회지
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• 제38권2호
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• pp.74-81
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• 2017

The purpose of this study was to investigate the EMG characteristics of driver's upper extremity and driving performance for manipulating brake and accelerator pedal by using left and right hand control devices during simulated driving. The people with disabilities in the lower limb have problems in operation of the motor vehicle because of functional loss for manipulating brake and accelerator pedal. Therefore, if hand control device is used for adaptive driving controls in people with lower limb impairments, the disabled people can improve their quality of life by driving a motor vehicle. Six subjects were participated in this study to evaluate driving performance and muscle activities for operating brake and accelerator pedal by using two different hand controls (steering column mounted hand control and floor mounted hand control) in driving simulator. We measured EMG activities of six muscles (posterior deltoid, middle deltoid, triceps, biceps, flexor carpi radialis, and extensor carpi radialis) during pushing and pulling movement with different hand controls for acceleration and braking. STISim Drive 3 software was used for the performance test of different hand control devices in straight lane course for time to reach target speed and brake reaction time. While pulling the hand control lever toward the driver, normalized EMG activities of middle deltoid, triceps and flexor carpi radialis in subjects with disabilities were significantly increased (p < 0.05) compared to the normal subjects. It was also found that muscle responses of posterior deltoid were significantly increased (p < 0.05) when using the right hand control than left hand control. While pushing the hand control lever forward away from the driver, normalized EMG activities of posterior deltoid, middle deltoid and extensor carpi radialis in subjects with disability were significantly increased (p < 0.05) compared to the normal subjects. It was shown that muscle responses of middle deltoid, biceps and extensor carpi radialis were significantly increased when using the right hand control than left hand control. Brake reaction time and time to reach target speed in subjects with disability was increased by 12% and 11.3% on average compared to normal subjects. The subjects with physical disabilities showed a tendency to relatively slow acceleration at the straight lane course.

• 정신신체의학
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• 제25권2호
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• pp.120-128
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• 2017

연구목적 섬망의 증상을 조절하기위해 일반적으로 항정신병약물이 사용되지만, 투약 기간 및 용법과 같은 처방 양상과 환자의 임상 경과 사이의 연관성에 대한 연구는 아직 부족한 상태이다. 이 연구를 통해 섬망을 경험한 환자에서 항정신병약물의 처방 양상에 따라 임상 경과에 차이가 있는지 확인하고자 하였다. 방 법 서울의 일 종합병원에서 섬망으로 자문조정이 의뢰된 입원 환자 중 2016년 7월부터 2017년 2월까지 퇴원한 212명을 대상으로 하였다. 환자의 전자의무기록을 후향적으로 검토하여 입원 기간, 사망, 인구통계학적 자료 및 임상적 요인을 조사하였고, CAM-ICU를 통해 섬망 지속 기간을 측정하였다. 항정신병약물의 처방 유형에 따라 지속투약군, 최적투약군, 필요투약군으로 나누어 임상 경과를 비교하였다. 결 과 항정신병약물을 섬망 회복 후에도 지속적으로 투약 받은 지속투약군은 섬망 증상이 있는 기간에만 투약 받은 최적투약에 비하여 입원 기간 및 섬망 이환기간에 유의한 차이가 없었으며, 퇴원시 불필요한 항정신병약물 처방을 받은 비율이 높았다. 섬망 이환기간에 비해 짧은 기간 항정신병약물을 사용한 필요투약군은 다른 두 군에 비해 섬망 이환기간이 길고 사망률이 높았다. 결 론 이 연구의 결과는 섬망 이환기간에만 항정신병약물을 투여하는 것이 적절함을 시사한다. 또한 섬망이 회복된 후에 불필요하게 항정신병약물이 처방되는 것을 최소화하기위한 정신건강의학과 자문의의 적극적인 개입이 필요하겠다.

• Journal of Hospice and Palliative Care
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• 제22권4호
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• pp.166-173
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• 2019

목적: 높은 수준의 호스피스 및 완화의료 교육은 한국 의과대학 교육과정에 필요하다. 하지만 이와 연관된 연구는 많지 않은 실정이며 이에 본 연구는 호스피스와 완화의료 교육 과정을 마친 의과 대학생의 호스피스와 완화의료에 대한 인지 및 태도 변화를 연구하기 위해 수행 되었다. 또한 의과대학의 기본 교육 과정 안에서 호스피스 교육과정의 역할에 대해서도 탐구하고자 한다. 방법: 호스피스와 완화의학에 대한 통합적인 교육과정을 마친 총 76명의 의학과 4학년 학생이 자기 기입 형태의 설문조사에 참여 하였다. 교육 과정을 마친 후 수업 전과 비교하여 수업 후의 후의 호스피스 및 완화의료에 대한 지식과 태도를 조사하였다. 결과: 교육 과정을 이수한 이후 가장 큰 변화는 호스피스 및 완화의료 세팅에서 적절한 마약성 진통제를 사용할 수 있는가 하는 부분에서 나타났다(3.50점 vs 5.32 점; P≤0.001). 수업 전과 비교하여 수업 이후 호스피스와 완화의료에 대한 태도를 나타내는 질문인 "나는 호스피스와 완화의료의 목표와 역할을 바르게 알고 있다"고 답한 학생은 17명(22.4%)에서 65명(85.6%)으로 증가하였다. 또한 "예비의사로서 나는 호스피스와 완화의료의 바른 적용 시점을 알고 있다"고 답한 학생은 수업 전의 22명(28.9%)과 비교하여 65명(85.6%)으로 증가하였다. 결론: 통합적인 호스피스 완화의료 교육과정은 의과 대학생의 호스피스 및 완화의료에 대한 인식과 태도를 긍정적인 방향으로 변화시킬 수 있다.

• 농업생명과학연구
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• 제43권3호
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• pp.55-62
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• 2009

본 연구에서는 비점오염원 설치신고 대상 개발사업장 중 골프장 개발사업장의 배출특성 및 관리실태를 파악하고, 이를 토대로 골프장 개발사업장의 비점오염 관리 방안을 마련하는 데 그 목적이 있다. 본 연구에서는 먼저 비점오염의 정의에 대하여 살펴보고 비점오염을 관리하기 위한 방법으로 발생억제와 배출억제 방안들에 대해 고찰하고 현재 골프장 개발사업장에서 운영되고 있는 비점오염 저감시설의 특징과 이에 대한 문제점을 분석하였다. 골프장 비점오염 관리를 위한 모니터링 방안을 조사한 결과, 골프장 건설전, 건설중, 건설후로 구 분하여 모니터링을 실시할 필요가 있으며, 골프장 건설중 모니터링은 유사량과 토양유실에 집중할 필요가 있는 것으로 조사되었다. 골프장에서 발생하는 비점오염을 저감하기 위한 방법으로 골프장 건설단계에 따라 대책을 마련하는 방법과 비점오염의 발생원인에 따라 침식 억제와 유사운송억제로 구분하여 대책을 마련하는 방법, 오염물질의 저감을 위한 방법에 따라 구조적, 비구조적 대책으로 구분하여 대책을 마련하는 것이 있다. 골프장 건설사업장에서 발생하는 비점오염을 저감하기 위해 체계적인 모니터링을 통해 비점오염의 거동을 분석하고 골프장 건설단계, 발생원인, 비점오염 저감을 위한 방법등을 고려하여 적절한 비점오염 저감시설을 설치하여 효과적으로 비점오염을 저감하는 대책을 마련하는 것이 필요하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.107-110
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• 1996

Continuing advances in the formulation and solution of risk-sensitive control problems have reached a point at which this topic is becoming one of the more intriguing modern paradigms of feedback thought. Despite a prevailing atmosphere of close scrutiny of theoretical studies, the risk-sensitive body of knowledge is growing. Moreover, from the point of view of applications, the detailed properties of risk-sensitive design are only now beginning to be worked out. Accordingly, the time seems to be right for a survey of the historical underpinnings of the subject. This paper addresses the beginnings and the evolution, over the first quarter-century or so, and points out the close relationship of the topic with the notion of optimal cost cumulates, in particular the cost variance. It is to be expected that, in due course, some duality will appear between these notions and those in estimation and filtering. The purpose of this document is to help to lay a framework for that eventuality.

• Structural Engineering and Mechanics
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• 제26권4호
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• pp.377-392
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• 2007

A discrete sliding mode control (SMC) method based on hybrid model of neural network and nominal model is proposed to reduce the vibration of flexible structures, which is a robust active controller developed by using a sliding manifold approach. Since the thick boundary layer will reduce the virtue of SMC, the multilayer feed-forward neural network is adopted to model the uncertainty part. The neural network is trained by Levenberg-Marquardt backpropagation. The design objective of the sliding mode surface is based on the quadratic optimal cost function. In course of running, the input signal of SMC come from the hybrid model of the nominal model and the neural network. The simulation shows that the proposed control scheme is very effective for large uncertainty systems.