• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1140-1146
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• 1999

In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

• Korean Journal of Applied Biomechanics
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• v.33 no.2
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• pp.62-72
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• 2023

Objective: Although balance training has been used as an effective ankle injury rehabilitation program to restore neuromuscular deficits in patients with chronic ankle instability, it is not effectively used in terms of motor learning. Attentional focusing can be an effective method for improving ankle kinematics to prevent recurrent ankle injuries. This study aimed to 1) evaluate the effects of attentional focus, including internal and external focus, and 2) determine a more effective focusing method for patients with chronic ankle instability to learn balance tasks. Method: Twenty-four patients with chronic ankle instability were randomly assigned to three groups (external focus, internal focus, and no feedback) and underwent four weeks of progressive balance training. The three-dimensional ankle kinematics of each patient were measured before and after training as the main outcomes. Ensemble curve analysis, discrete point analysis, and post hoc pairwise comparisons were performed to identify interactions between groups and time. Results: The results showed that (1) the external focus group was more dorsiflexed and everted than the internal focus group; (2) the external focus group was more dorsiflexed than the no feedback group; and (3) the no feedback group was more dorsiflexed than the internal focus group. Conclusion: Because dorsiflexion and eversion are ankle motions that oppose the mechanism of lateral ankle sprain, using the external focus method during balance training may be more effective in modifying these motions, thereby reducing the risk of ankle sprain.

• The Journal of Internal Korean Medicine
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• v.22 no.4
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• pp.659-667
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• 2001

Objectives: The purpose of this study was to explore some new therapies to control clinical symptoms of patients with terminal cancer by using external applications. Methods: We investigated some literatures on the external applications for cancer patients and made diagrams. Results: The results are summarized as follows. External applications are one of the traditional oriental medical methods and these are effective for pain control, ascites & pleural effusion and palpitable mass. It has some characteristics which are simple, safe and popular, but we must pay attention carefully to allergic reaction and toxicity in using external applications. The therapeutic portion of external applications are decided by discipline of syndrome and disease differentiation, and the prescriptions are composed of antitumor herb medicines. Conclusions: From the above results, it is expected that external applications are useful to improve clinical symptoms and quality of life(QOL) for patients with terminal cancer who cannot intake foods or medicines.

• Journal of Information Technology Services
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• v.12 no.3
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• pp.179-193
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• 2013

E-Government refers to government to use ICT (information and communications technology) to work more effectively, share information and deliver better services to the public. With ICT, e-Government has increased transparency of governments. However even there has been much trial for transparency, corruption has been growing with the form of e-corruption. While external threats such as hackers and viruses can have serious consequences, currently most crime involving emerging technology is carried out by insiders i.e. employees in the e-government. Among the many tools being developed to fight e-corruption, there has been much focus lately on internal control system. So, South Korea developed and test-operated "Barum e-system" for internal control last year. This research establishes legal basis, information system link and privacy policy for settlement of this information system through legal review.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.385-394
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• 2004

This paper proposes the generalized structure of a model-based disturbance rejection controller called a Robust Internal-loop Compensator (RIC). The framework consists of the RIC in the internal-loop to eliminate disturbances and a feedback controller in the external-loop to achieve nominal control performance. As the main contribution of this paper, we redefine the design problem of the RIC as a regulation control problem, then show that this new definition with the RIC structure provides more design flexibility and less implementation constraints. This is verified through a comparative structural analysis with Disturbance Observer (DOB) and Adaptive Robust Control (ARC). Two design examples of the RIC are given, along with practical issues that should be considered in the design procedure. The proposed framework is demonstrated by simulations of a rotary-type motor and experiments with a linear-type motor system.

• Journal of Korea Multimedia Society
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• v.8 no.3
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• pp.336-344
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• 2005

In this paper, we extracted the contour of lung parenchyma on EBT images with the improved active contour model. The objects boundary in conventional active contour model can be extracted by controlling internal energy and external energy as energy minimizing form. However, there are a number of problems such as initialization and the poor convergence about concave part. Expecially, contour can not enter the concave region by discouraging characteristic about stretching and bending in internal energy. We controlled internal energy by moving local perpendicular bisector point of each control point in the contour and implemented the object boundary by minimizing energy with external energy The convergence of concave part could be efficiently implemented toward lung parenchyma region by this internal energy and both lung images for initial contour could also be detected by multi-detection method. We were sure this method could be applied detection of lung parenchyma region in medical image.

• Microbiology and Biotechnology Letters
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• v.1 no.1
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• pp.25-30
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• 1973

Experiments were carried out to clarify changes of intercellular gas composition, respiration and ethylene evolution by controlled external atmospheric pressure and external gas composition on apples. Jonathan apples, harvested 25, in September and Rolls apples, harvested 25, in October, 1971 and 1972 were used. Results obtained were as follows: 1. Intercellular gas volumes were proportionally changed by the given pressure, and the given pressure remarkably affected internal gas composition and volume of apples. As intercellular gas volumes were reached in their equilibrium within 5 min. after treatment, the internal atmospheric conditions became constant rapidly. 2. The increase of internal $CO_2$ production was co-related with an amount of internal $O_2$ consumption, therefore, the decreasing period of internal $O_2$ consumption was equalled to the period of climacteric rise in respiration. 3. The increasing of $CO_2$ production followed evolution of $C_2$H$_4$ and this phenomenon on SAP part. was subsequent to NAP part 4. In sub-atmospheric storage, CA effect was also obtained by control of low $O_2$ and high $CO_2$ concentration.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.21
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• pp.9191-9197
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• 2014

The aims of this study were to assess whether Indonesian women with breast cancer havea higher external health locus of control (HLC) than healthy women, and to explore the association between HLC and symptoms of anxiety and depression. In this study, 120 consecutive women with breast cancer were recruited at the outpatient surgical oncology clinic at the Hasan Sadikin Hospital in Bandung. One hundred and twenty two healthy women were recruited from the Bandung area as controls. A standard demographic form, Form C of the Multidimensional Health Locus of Control, as well as the Hospital Anxiety and Depression Scale and patients' medical records were used. Data were analyzed using descriptive statistics, t-test, Pearson's correlation, MANOVA and multiple linear regressions. Women with breast cancer had higher scores on all external HLC subscales, i.e. chance, doctor, powerful others and God, and lower internal HLC compared to healthy women. High God LHC scores were associated with a high level of anxiety (${\beta}=0.21$, p<0.05), whereas none of the HLC subscales were associated with depression. Our results suggest that women with breast cancer tend to have high external HLC, while healthy women tend to have high internal HLC. A strong belief in an external source of control, i.e. God, might be negatively associated with patient emotional adjustment. Further research is needed to give an insight into the direction of this association.

• Journal of Korean Philosophical Society
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• v.116
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• pp.181-206
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• 2010

It is widely recognized that human beings have moral responsibility for their actions because they have free will to choose and control their acts. Unlike natural phenomena, however, human acts cannot be interpreted with simple, visible ones. Human acts are quite different from natural phenomena because they come about through a number of complicated, invisible phases taking place in our mind. In addition, human actions are under the influence of internal and external factors. Those various internal and external factors are divided into four sectors as follows; (1) the factors that can fall under control of our free will, (2) the factors in the interim phase that could come under our control, (3) the factors that are partially determined that we cannot choose or control over, and (4) the factors that completely determined, and can't be chosen or controlled. we have to pay attention to the fact that we can choose or control the internal and external factors that influence human action. However, there are still factors that are impossible to choose or control with our will. So it is highly unreasonable to hold accountable for actors by means of the factors that can't be chosen or controlled. Hence, the society should be also accountable for the acts of actors influenced by heredity and environment. For this, Politics should affect the external, undesirable, and uncontrollable factors beyond actors power. Education has to exert its influence over the internal and genetic factors by instilling sound values in human mind, too. It is because happy and desirable future will be possible by giving equal opportunities to us including the youth.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.10a
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• pp.361-365
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• 1995

P.C box bridges is divided into internal prestressing and extermal prestressing based on arrangement of tendon. In this research the method of establishment of dviation block in advance and analysis of block and the control relationship of tension of external tendon and displacement should be examined by practical example of high speed rail way in aspects of maintenance and repairment.