• Child Health Nursing Research
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• 제10권3호
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• pp.340-349
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• 2004

Purpose: The quasi-experimental study was conducted to investigate the effects of the integrated NICU hospitalization education on maternal attachment, maternal self-esteem, and EPDS in the 26 mothers of high-risk infants(HRI). Method: The subjects were divided into the experimental group to received the integrated NICU hospitalization education included the enforced direct education of NICU and HRI to the mothers using a booklet and the provision of the neomaternal exposure as soon as possible after delivery. The control group received the routine education of the NICU hospitalization, mostly including the admission process and the NICU rules delivering to the husband. The research variables were maternal attachment, maternal self-esteem, and EPDS. Result: The results showed the increases in these variables after the integrated education in experimental group compared to the control group. Conclusion: It supports the benefits of the early direct NICU education and the neomaternal exposures on maternal adaptation process in the mothers of HRI.

• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.419-421
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• 2015

미래 NCW의 핵심은 전투상황에 대한 정보를 데이터 특성에 따라 얼마나 신속 정확하게 공유하느냐가 중요하다. 이를 위해 대한민국 육군은 다양한 개인병사부터 합참에 이르기까지 각종 상황인식과 지휘통제에 필요한 데이터를 수집, 종합, 타격하는 체계를 구축하고 있다. 하지만, 통신장비와 전장단말기가 분리되어 있음에 따라 운용상 많은 제한사항이 있다. 이를 극복하기 위해 통신장비와 전장단말기를 통합하는 형태의 통합형 단말기가 강구되고 있으며, 이는 개인병사체계 및 무인지상감시 센서 등에서 개념 연구가 되어지고 있다. 하지만, 가장 중요한 부분인 데이터 송수신에 대한 최적의 방안이 미정립되어 있음에 따라 본 연구에서는 전송지연시간 단축 및 재전송 알고리즘 개선 등을 통한 효율적인 전송방안을 제안하고, 이를 시험을 통해 검증함으로써 미래 통합형 전장단말기의 데이터 전송관련 설계 방향을 제시하고자 한다.

• 로봇학회논문지
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• 제15권4호
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• pp.330-340
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• 2020

The purpose of this study was to develop Dementia-Care-Robot integrated program based on group customization and to identify effects on IADL, depression, and attitudes toward robot. This study was nonequivalent control group pre-post test design. The subjects were 40 elders diagnosed with mild dementia participating in the dementia center daily program (20 in the experimental group and 20 in the control group). Each session lasted for 30 minutes, twice a week during 6 weeks. Data were collected from July 16 to November 7, 2019, and were analyzed using SPSS WIN 22.0 program to identify differences between groups for variables. After the program, the experimental group improved in IADL, depression, but there were no significant differences between the two groups. In attitude toward robot, the experimental group showed positive change to the robot, but the control group showed negative change to it, also there was a significant difference between the two groups. Findings indicate that integrated program using Dementia-Care-Robot has potential as a strategy to improve the symptoms of dementia and to delay the progression. It needs to be applied in the medical field through convergent approach of engineering.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.93-97
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• 2005

This paper proposes a design of stepper motor control in microstep driven mode using FPGA (Field Programmable Gate Array) for hardware implementation. The methods to drive stepper motor in microstep excitation mode are to control of the controlling currents in each phase windings of stepper motor with reference signals. These reference signals are used for controlling the current levels, the required variation of current levels with rotor position can be obtained from the ideal linear or sinusoidal approximations to the static torque-displacement ($T-{\theta}$) characteristic curve. In addition, the hardware implementation of stepper motor controller can be designed uses VHDL (Very high speed integrated circuits Hardware Description Language) and synthesis using an Altera FPGA, FLEX10K family, EPF10K20RC240-4 device as target technology and use MAX+PlusII program for overall development. A multi-stack variable-reluctance stepper motor of Sanyo Denki is used in the experiments.

• 한국항공우주학회지
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• 제45권7호
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• pp.600-609
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• 2017

탐색기의 센서 영상을 이용하여 최종 표적에 대한 선정을 수동 또는 자동으로 할 수 있는 표적 관리 모의 시스템을 개발하였다. 모의 시스템은 비행체 시스템과 지상 시스템으로 구성하였다. 비행체 시스템은 비행체의 운동역학과 센서 영상을 모의하고 지상 시스템은 표적 템플릿 모의와 지상 제어기를 모의를 수행한다. 비행체의 운동역학은 의사 6자유도를 기반으로 비례항법유도기법을 사용한다. 탐색기의 센서 영상은 알려진 적외선 영상 렌더링 기법을 이용하여 직접 개발하였으며 상용 프로그램과 비교하여 검증하였다. 지상제어기는 사용자 편의를 위해 임무에 관련된 정보를 가능한 많이 전시할 수 있는 사용자 인터페이스로 구성하였다. 최종적으로 표적 격추 임무 모의를 통해 요구하는 성능에 만족함을 확인하였다.

• 한국기계가공학회지
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• 제19권7호
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• pp.41-51
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• 2020

This paper presents the development of a robotic system for rehabilitation of the trunk's ability to maintain postural control under different balance conditions. The system, developed with extensive input from rehabilitation and biomedical engineering experts, consists of a seat mounted on a robotic mechanism capable of moving it with four degrees of freedom (3 rotational and 1 translational). The seat surface has built in instrumentation to gauge the movements of the user's center of pressure (COP) and it can be moved either to track the movements of the COP or according to operator given commands. The system allows two types of leg support. A ground mounted footrest allows participation of legs in postural control while a seat connected footrest constrains the leg movement and limits their involvement in postural control. The design evolution over several prototypes is presented and computer aided structural analysis is used to determine the feasibility of the designed components. The system is pilot tested by a stroke patient and is determined to have potential for use as a trunk rehabilitation tool. Future works involve more detailed studies to evaluate the effects of using this system and to determine its efficacy as a rehabilitation tool.

• Current Optics and Photonics
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• 제5권3호
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• pp.311-321
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• 2021

Indocyanine green (ICG) is a dye approved for use in clinical diagnostics. ICG remains in the intravascular space following intravenous administration, due to its ability to rapidly bind to the plasma proteins, and its therapeutic potential has been studied in well-vascularized cutaneous tumors. Here we have evaluated the clinical response of a subconjunctival tumor to photothermal therapy (PTT) using an ICG-enhanced near-infrared diode laser and its adverse effects, in a rabbit. 22 male New Zealand white rabbits with subconjunctival tumors were enrolled (control group 6, laser-only group 8, laser-with-ICG group 8). Rabbits in the laser-with-ICG group received ICG (twice, 2 mg/kg each time, intravenously) directly followed by irradiation with a diode laser (λ = 810 nm). Rabbits in the laser-only group were irradiated with the diode laser. ICG angiography, ultrasonography, and pathologic examination were performed to evaluate PTT response at specific time points (0, 2, and 4 weeks after PTT). Two weeks after initial treatment, the eight rabbits treated by laser with ICG showed a 100% response rate. There was no clinical response in both laser-only and control groups. ICG-PTT is a potential and effective palliative therapeutic modality for subconjunctival tumors.

• 대한임베디드공학회논문지
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• 제11권1호
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• pp.15-20
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• 2016

Recently, the u-IT applications for plants and livestock become larger and control of livestock farm environment has been used important in the field of industry. We implemented wireless sensor networks and farm environment automatic control system for applying to the breeding barn environment by calculating the THI index. First, we gathered environmental information like livestock object temperature, heart rate and momentum. And we also collected the farm environment data including temperature, humidity and illuminance for calculating the THI index. Then we provide accurate control action roof open and electric fan in of intelligent farm to keep the best state automatically by using collected data. We believed this technology can improve industrial competitiveness through the u-IT based smart integrated management system introduction for industry aversion and dairy industries labor shortages due to hard work and old ageing.

• 제어로봇시스템학회논문지
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• 제2권3호
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• pp.188-193
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• 1996

In this paper, an integrated navigation system based on GPS(Global Positioning System) and Dead-Reckoning (DR) is designed. For the calibration of DR, a self-calibration method and a GPS-based calibration method are proposed. From the field-test results, it is shown that DR can be successfully calibrated by the two proposed calibration methods. Also, a cascaded filter approach and a mixed-measurement algorithm are employed for GPS/DR integration. By using the newly proposed mixed-measurement algorithm, it is shown in simulation that the position error becomes smaller than by using only DR even if the number of visible GPS satellites is less than 4.