• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.19-24
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• 1992

Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilities include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.

• Journal of the Korea Society of Computer and Information
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• v.9 no.4 s.32
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• pp.215-220
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• 2004

Production management confronted the environment of infinite competition should be prepared to abrupt variations of management environment and have the ability to be changed in short term. It has to be studied, the control method of products that correspond to multi-functionalization and reduced product life which is caused by high-quality and varied customers demands. As a process control method, we most be able not only to control varies characteristic in a control at once but also to detected special values quickly for high-quality. In this paper a control method referred above is presented.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.9
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• pp.2232-2245
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• 2013

The present study proposes efficient procedural modeling methods for enabling the growth and creation of various trees with minimal user control. Growth volume algorithms are utilized in order to easily and effectively calculate many parameters that determine tree growth, including branch propagation. Procedural methods are designed so that users' interactive control structures can be applied to these algorithms to create unique tree models efficiently. First, through a two-line-based interactive growth volume control method, the growth information that determines the overall shape of the tree is intuitively adjusted. Thereafter, independent branch control methods designed to control individual branches are added to the growth deformation in order to enable the growth of unique trees. Whether the growth processes of desired trees can be easily and intuitively controlled by the proposed method is verified through experiments. Methods that can apply the proposed methods are also verified.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.103-114
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• 2018

The operational concept of control systems on surface combatants has been changed from individual control for each system to integrated control for all systems due to computing technology development and crew reduction policy of navy. The purpose of this study is to identify current status of control technology, to analyze user requirement and to develop an architecture to support the conceptual change of ship control. An architecture, which integrates several control and monitoring systems on naval surface combatant, is proposed. The proposed architecture is focused on sharing network and computing resources related to user command, and reducing systems complexity. The architecture can be adopted to next surface combatants in Korean navy.

• ETRI Journal
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• v.38 no.5
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• pp.1008-1018
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• 2016

This paper presents a control scheme for the leader-following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader-following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB-based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC-based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second-order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.

• Journal of Aerospace System Engineering
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• v.6 no.2
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• pp.23-27
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• 2012

The evaluation of simulation models against ADS-33 quantitative rotorcraft handling qualities metrics has, in the past, been a time consuming effort, involving many individual analyses in both the time and frequency domains. Manual tuning of control system parameters to meet handling qualities and performance specifications has been cumbersome and complicated. Performing rigorous trade-off studies for numerous variations in the control system is too time consuming to be practicable. With the complex interaction of time- and frequency based specifications for the closed- and broken-loop responses, it is difficult to know if the design makes the most effective use of the available control power. The Control Designer's Unified Interface (CONDUIT) software makes possible rapid optimization and trade-offs of design configurations against handling qualities specifications.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1196-1201
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• 2014

This paper presents an exploration on the effect of wind turbine contribution to the frequency control of individual systems that can be used for efficient power production in India. The research includes the study of Permanent Magnet Synchronous Generator (PMSG), in wind farms. The WTs are tested for inertia and for droop responses with intelligent fuzzy logic controllers (FLC) that choose Double Input Single Output (DISO) strategy that automatically sets gain constants, as well as combined responses for the WTs. Quantitative analyses are presented for the WTs for benefits and drawbacks including appropriate selection parameters. The analysis includes inertia, droop and combined inertia, droop schemes. The reconnaissance also incorporates inertia with FLC, droop with FLC, inertia and droop with FLC schemes for detailed study of WTs, so as to forecast and achieve proper frequency control. Moreover, the analysis provides the best suited method for frequency control in PMSG.

• Journal of Korean society of Dental Hygiene
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• v.11 no.2
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• pp.293-301
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• 2011

Objectives : The aim of the trial was to study the effect of plaque control(tooth brushing instruction) for oral health improvement on periodontitis patients. Methods : 30 patients(35~65 years) with advanced periodontal disease were subjected to a baseline examination including assessment of oral hygiene status(O'leary index), gingival condition(bleeding). the assessment were repeated after 2, 4, 6 weeks. cognitive, behavioral and clinical outcomes were assessed in the primary care setting by questionnaire and clinical oral examination. Results : The oral hygiene status expressed as the individual mean percentage of tooth surfaces with plaque 59.3% at baseline and 21.2% after 6 weeks(p<0.001). The gingival bleeding status expressed as the individual mean point of interdental papilla 3.8 at baseline and 1.9 after 6 weeks(p<0.001). Also, the patients self-assessment about correct tooth brushing behavior was 3.9(5-point likert scales), satisfaction of plan practices 4.1(5-point likert scales), efficacy of tooth brushing instruction 8.7(10-point likert scales). Patients wanted to continuous participation. Conclusions : A verification of effect after individualized oral health instruction and repeated dental plaque control represented to significance on plaque control score, oral care practice and oral health recognition. The important oral care step against periodontal disease is to establish good oral health habits. Also, oral health behavior recognition is more important for the practice of oral health. Therefore professional plaque control and tooth brushing instruction absolutely need in improving oral health.

• Journal of Animal Environmental Science
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• v.2 no.1
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• pp.1-11
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• 1996

This study was conducted to analyze the present status and the levels of mechanization and automation for raising, feeding, water supply, propagation, health management, ventilation and heat control, data analysis, and etc, and to establish the guide of the future study on development of the optimum production system models of swine facility from the results of this analysis. The scheme of the future study on the development of the optimum production system model of swine facility was established as follows : 1. A Korean and environmental control type slatted windowless swine housing model would be developed according to the following basis : \circled1 Boars, gilts and sows, delivery sows should be raised individually and piglets, growing pigs, and finishing pigs should be raised in group. \circled2 The arrangement of furrowing house were two rows of furrowing crates facing the center aisle. 2. The environmental control system and waste management system that are suitable to Korean and environmental control type slatted windowless swine housing model would be developed. 3. An electronic identification device would be developed. 4. The automatic individual wet feeding system by electronic identification device and computers would be developed. 5. The individual management system would be developed, which could manage individually the breeding pigs by the electronic identification device. 6. An expert system would be developed, which could manage the health and data base of pigs.

• Korean Journal of Community Nutrition
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• v.3 no.4
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• pp.609-621
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• 1998

Although many people initially enroll in health education programs, there are many instances of erratic participation and dropouts. Inconsistent participation in intervention programs minimizes their impact on health promotion. Therefore, a theoretical understanding of factors influencing participation in these programs can potentially enhance the effectiveness of its educational strategy. This study used the Pender's Health Promotion Model to examine specific factors influencing incentives to participate in an elderly nutrition education program. The Elderly Nutrition Counseling and Education Program was conducted with 147 volunteers (76 males, 71 females), aged 60 to 87, at 5 separate community elderly centers, by public health dietitians from February to April 1997. Some participants dropped out during the program. Overall, 61 people(18 males, 43 females) finished all 7 steps over 2 months. Pre-intervention data were collected by trained dietitians. This data included individual cognitive-perceptual factors(perceived benefits of nutrition improvement, importance of health, perceived control over health by multidimensional health locus of control, self esteem, perceived health status, concern about health, depression scale and social health scale), which were known to influence the likelihood of health behavior, and modifying factors(socioeconomic variables, biological characteristics, behavioral factors, such as smoking, alcohol drinking and exercise). Male finalists had a significantly lower chance for health locus of control, and better social health status with their children and grandchildren, compared to males who dropped out. Female finalists had a significantly higher locus of control regarding food behavior, higher self-esteem, better recognized nutritional status, worse self-recognized health status and lower concern about health than those who dropped out. There was no significant difference between the attendees and dropouts in age, BMI$(kg/m^2)$, Nutritional Risk Index, depression scale and daily nutrient intake. These results suggest that elderly nutrition intervention plans should focus on the individual cognitive and perceptual factors, with interpersonal influences, to increase participation in nutrition in nutrition improvement programs.