• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
• /
• pp.368-371
• /
• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• Journal of Mechanical Science and Technology
• /
• 제19권spc1호
• /
• pp.237-254
• /
• 2005

The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.

• 한국자동차공학회논문집
• /
• 제12권4호
• /
• pp.139-145
• /
• 2004

This paper presents human-in-the-loop evaluations of vehicle stability control(VSC) system using a driving simulator. A driving simulator which contains full vehicle nonlinear model is evaluated by using actual vehicle test data on the same driving conditions. Braking control inputs for Vehicle Stability Control system have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. Closed-loop simulation results at realistic driving situations have shown that the proposed controller reduces driving effort of a driver and enhances stability of a vehicle.

• 한국전자파학회논문지
• /
• 제23권3호
• /
• pp.314-319
• /
• 2012

본 논문에서는 MICS(Medical Implant Communication Service, 402~405 MHz)와 ISM(The Industrial, Scientific and Medical, 2.40~2.48 GHz) 대역에서 동작하는 인체 통신 중계용 안테나를 제안하고, 인체의 영향을 고려한 안테나 성능에 대한 분석을 하였다. 제안된 안테나는 loop 안테나와 영차 공진 안테나로 구성되어 있다. Loop 안테나는 ISM 대역에서 동작하며, MICS 대역에서의 동작은 loop 안테나와 영차 공진기의 용량성 결합에 의해 요구 성능을 만족할 수 있도록 구현하였다. 근거리장에 인체가 존재할 때 인체가 안테나에 미치는 영향을 분석하기 위하여 인체 팬텀을 이용하여 시뮬레이션과 측정을 하였다. 시뮬레이션 및 측정 결과, 제안된 안테나는 MICS와 ISM 대역에서 대역폭을 만족하였고, 측정된 이득값은 MICS 대역에서 -28.53 dBi, ISM 대역에서 3.85 dBi였다. 또한, 설계된 안테나의 이중 대역 특성은 인체 내 외부 간의 통신 중계 용도로 적절하다고 사료된다.

• 전기학회논문지
• /
• 제62권8호
• /
• pp.1163-1168
• /
• 2013

The maximum allowable value of loop impedance($Z_s$) to secure the operation of overcurrent protective devices and the safety for indirect contact is a very important in TN-C-S system. The loop impedance is divided into inner loop impedance which consumer can adjust and external loop impedance($Z_e$) which only electric operator can adjust. Thus, an external loop impedance which limits to less than a certain value is a very important factor for human body protection against electric shock in TN-C-S system. The concept of loop impedance($Z_s$) is recently introduced to the domestic, the study about external loop impedance is yet insufficient. However, the study about the reference impedance as specified by the IEC 60725 standard to improve the quality and reliability of the power supply is being made. In this paper, reference value of external loop impedance($Z_e$) to meet domestic environment will be proposed by the nationwide measurement and statistical analysis.

• Journal of Power Electronics
• /
• 제13권4호
• /
• pp.536-545
• /
• 2013

In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
• /
• pp.1147-1156
• /
• 1993

In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권4호
• /
• pp.604-613
• /
• 2016

In this paper, Human-in-the-Loop (HiTL) simulations of Remotely Piloted Aircraft System (RPAS) operations in two different Air Traffic Management (ATM) concepts, conventional radar vectoring and Trajectory Based Operations (TBO), were performed to assess the impacts of RPAS integration in the future ATM environment. TBO concept maximizes the throughput by planning and sharing 4-D trajectories between pilots and controllers, and it is considered one of the key concepts to enable RPASs to operate with manned aircraft in congested airspaces. RPASs are characterized by having communication delay or temporary loss of communication. TBO capability was added to the integrated air traffic simulation system for this study, which was developed in the Inha University. HiTL simulations were performed by a trainee air traffic controller with three scenarios, and the data were analyzed using safety, efficiency, and controller workload metrics. The results suggest that TBO were effective in reducing delays and controller workload while maintaining the level of safety.

• 농업과학연구
• /
• 제47권1호
• /
• pp.173-182
• /
• 2020

Human Astrovirus (HuAstV), known as a waterborne virus, is a group IV positive-sense single-stranded RNA that belongs to Astroviridae. The first outbreak of HuAstV was reported in England in 1975. HuAstV can exist not only among clinical patients but also in various water environments, such as water for agriculture and vegetables. For diagnosis of HuAstV from water samples, a polymerase chain reaction (PCR) system has been developed. However, the PCR-based diagnostic method has problems in field application, such as reaction time, sensitivity and specificity. For this reason, in this study we developed the loop-mediated isothermal amplification assay (LAMP) system, aimed specifically at HuAstV. Three prepared LAMP primer sets were tested by specificity, non-specificity and sensitivity; one LAMP primer set was selected with optimum reaction temperature. The developed LAMP primer set reaction conditions were confirmed at 62℃, and detection sensitivity was 1 fg/μL. In addition, restriction enzyme HaeIII (GG/CC) was introduced to confirm that the LAMP reaction was positive. As a result, selected LAMP primer set was 100 - 1000 times more specific, rapid, and sensitive than conventional-nested PCR methods. For verification of the developed LAMP assay, twenty samples of cDNA from groundwater samples were tested. We expect that the developed LAMP assay will be used to diagnose HuAstV from various samples.

• 한국전자파학회논문지
• /
• 제25권1호
• /
• pp.25-31
• /
• 2014

본 논문에서는 인체 내 외부간 근거리 통신망인 WBAN(Wireless Body Area Network)에서 인체 부착형 기기간 통신링크를 원활하게 구성하기 위한 변형된 Alford 안테나를 제안하였다. 제안된 안테나는 인체의 영향을 고려해 설계하였으며, ISM(The Industrial, Scientific and Medical, 2.4~2.485 GHz) 대역에서 동작한다. 기존 Alford 루프 안테나는 low-profile인 장점이 있지만, 인체 부착용 시스템의 다른 부품을 설치할 접지면이 존재하지 않고 balanced 급전 구조를 사용하기 때문에 on-body 안테나로 적합하지 않다. 따라서 본 논문에서는 on-body 환경에서 동작할 수 있는 접지면이 포함된 unbalanced 급전 구조를 갖는 안테나를 제안하였다. 또한, 안테나가 인체에 부착되어 안테나 성능에 미치는 영향을 고려하기 위해 모의 인체를 통해 모의실험과 측정을 수행하였다. 제안된 안테나는 모노폴 형태의 방사 패턴을 갖는 low-profile 구조이며, ISM 대역 내에서 10 dB 반사 손실을 만족한다. 안테나는 on-body 통신 환경에 적합한 표면지향성 특성을 갖는다.