• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.1-9
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• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.2
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• pp.35-41
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• 2011

The national police agency has executed the project for the advancement of traffic control and operation systems in order to mitigate chronic traffic problems and to meet the global standards regarding the traffic control and operation systems. This study effort was initiated to evaluate the effects of various policies proposed for the advancement of traffic control and operation systems. The evaluation results indicated that the policies proposed for the advancement of traffic control and operation systems showed apparent and positive effects in terms of transportation mobility and safety. However, there have been many difficulties to overcome in order to settle down the policies proposed for the advancement of traffic control and operation systems as smooth as possible. For example, the violation of intersection passing method has been increased after the implementation of the advancement of traffic control and operation systems in majority of evaluation sites. In addition, lacks of awareness as well as improper operations of the advancement of traffic control and operation systems have caused drivers' confusions, which generated more traffic congestion and risks. Currently, the policies for the advancement of traffic control and operation systems focused on the improvements of traffic signal operations, including leading through movements and permissive left-turns. However, synergy effects may be expected if all of the policies including the improvements of traffic signal operations are executed together.

• Journal of Advanced Navigation Technology
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• v.28 no.5
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• pp.686-697
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• 2024

To ensure stable urban flight of electric vertical take-off and landing(eVTOL) aircraft, securing handling qualities and stability is essential. However, clear handling qualities standards for eVTOL aircraft, which have different characteristics from conventional manned aircraft, have not yet been established. Therefore, this paper identifies handling qualities evaluation criteria suitable for eVTOL aircraft based on the handling qualities standards for manned aircraft and designs a control system that meets the predicted handling qualities criteria through evaluation. simplified vehicle operation(SVO) control laws and stability and control augmentation system(SCAS)-based control laws were applied to the lift-cruise configuration eVTOL aircraft. Using control designer's unified interface(CONDUIT), it was confirmed that the level 1 standard was met, and to validate the system, assigned handling qualities evaluation was performed using handling qualities task elements(HQTE) in an X-Plane based simulation environment, resulting in the design of a control system that ensures handling qualities.

• The Korean Nurse
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• v.35 no.2
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• pp.71-91
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• 1996

The objectives of thes study were to identify the need for equipment development in nursing, and to determine the priorities for that development. The study was descriptive study done between March 2 and May 30, 1995, in which the subjects, including 421 patients, 223 family members, and 198 nurses from neurosurgery, orthopedic, rehabilitation medicine, internal medicine and intensive care units of nine general hospitals in Seoul, completed a questionnarie developed by the research team. The questionnaire consisted of 35 open and closed questions. Data was analyzed using frequencies and percentages. The results ware summarized as follows: 1) The average age of the nurses was 27.9 years, 48% of the patients were between 20 and 40 years of age, and 17% were over 60. The average lingth of experience for the nurse subjects was four years five months with 36.9%. having over five years experience. The most frequent diagnoses of patients were spinal disc(35.9%), internal medicine disease(26.0%), cerebral vascular accident(16.6%) and spinal cord injury(10%) 2) Many of the nurses(96.4%) reported deficiencies with existing equipment and 96.5% of the nurses, but only 79.8% of the patients, nurses' time. Further, 82.3% of the nurses and 75.8% of the patients felt that the development of new equipment would lead to a decrease in the cost of nursing care. 3) Nurses felt that the greatest areas of inconvenience were patient feeding(71.7%), hygiene(71.2%), caring for a patient confined to bed(70.7%), patient clothing(67.2%), mobility transfers(63.5%) and urinary elimination(52.0%). However, patients and family members listed the following as being the most inconvenient: urinary elimination(58.7%), Hygiene(50.5), feeding(48.4%), mobility transfers(47.1%) and bed care(45.2%). 4) Generally the nurses listed more inconveniences and patients and family members listed more demands for the development of equipment. These included utensils with large handles, and regulators for tube feedings; mattresses that provide for automatic position change and massage, which have patient controlled levers and a place for bed pan insertion; automatic lifts or transfer from bed to wheelchair; equipment to facilitate washing and oral hygiene as well as equipment that will allow patients with spinal cord injuries easy access to showers; a bed pan/urinal for women that is comfortable and effective from which urine can be measured and disposed of easily; disposable dressing sets and tracheostomy care sets and a convenient way of measuring changes in wound size; a safe delivery system for oxygen, a variety of mask sizes and better control of humidity, tracheal material than at present, as well as a communication system for patients with tracheostomies; clothing that will allow access to various parts of the body for treament or assessment without patients having to remove all of their clothing; and finally a system that will allow the patient to control lighting, telephones and pagers. Priority areas for equipment development reported by the nurses were, urinary elimination(58. 7%), hygiene(50.5%), feeding(48.4%), mobility transfers(47..1%), bowel elimination(40.8%). Those reported by the patients family members were feeding(71.7%), hygiene(70.0%), bedcare(70.7%), clothing(67.2%), mobility transfers(63.6%), urinary elimination(52.9%) and bowel elimination(50.5%) Altogether, nurses, patients and family members listed the following as priorities; clothing (178), bed care(144), urinary elimination(92), environment(81), hygiene(70). Further, a health professional forum listed urinary elimination, oxygen delivery, medication delivery, mobility transfers, bed care and hygiene in that order as priority areas. From this study it can be concluded that the first need is to develop equipment that will address the problems of urinary elimination. To do (l)This nurses who are interested in equipment development should organize an equipment development team to provide a forum for discussion and production of equipment for nursing.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.5
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• pp.935-941
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• 2009

In this paper, we study the communication based train control technology which has been improved for the railroad operation efficiency. All the signalling systems currently used in Korea are track circuit based train control systems, which train mobility and safety are considered on. When it comes to the recent abroad trend, development for communication based train control system, which arises new paradigm in the field of high density train separation, have been promoted. Considering the urgent necessity to develop the above mentioned technology, we would like to propose the research and development of communication based train control system and the present domestic and foreign statuses of on-board equipment development. In this paper, therefore, we had been developed localization on-board equipment of communication based train control system, which is the key construction of train control systems. For its verification, we accomplished installation and yard test on-board equipment of communication based train control system on Bundang-line's EMU(Electrical Multiple Unit).

• Journal of Advanced Navigation Technology
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• v.27 no.6
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• pp.763-769
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• 2023

Flight control computers for unmanned aerial vehicles are avionics that require high reliability and are generally designed to be multiplexed for margins on failures. The multiplexed flight control computer should include an interface through discrete signals and CCDL for synchronization and fault separation between channels. With the development of unmanned aerial vehicle technology, various types of platforms such as AAM and LPI are being developed in the private and military, which require advanced control performance for high-performance flight control and SWaP optimization of onboard equipment. In this paper, we designed a optimized flight control computer architecture for unmanned aerial vehicles for multiplexing processing and performed a software design for input and output control. In addition, input/output processing performance was evaluated through the implemented flight control computer and input/output software.

• Journal of Periodontal and Implant Science
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• v.29 no.3
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• pp.539-553
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• 1999

The purpose of this 6-months study was to compare the clinical and radiographic outcomes following guided tissue regeneration treating human mandibular Class II furcation defects with a bioabsorbable BioMesh barrier(test treatment) or a nonabsorbable ePTFE barrier(control treatment). Fourteen defects in 14 patients(mean age 44 years) were treated with BioMesh barriers and ten defects in 10 patients(mean age 48 years) with ePTFE barriers. After initial therapy, a GTR procedure was done. Following flap elevation, root planing, and removal of granulation tissue, each device was adjusted to cover the furcation defect. The flaps were repositioned and sutured to complete coverage of the barriers. A second surgical procedure was performed at control sites after 4 to 6 weeks to remove the nonresorbable barrier. Radiographic and clinical examinations(plaque index, gingival index, tooth mobility, gingival margin position, pocket depth, clinical attachment level) were carried out under standardized conditions immediately before and 6 months after surgery. Furthermore, digital subtraction radiography was carried out. All areas healed uneventfully. Surgical treatment resulted in clinically and statistically equivalent changes when comparisons were made between test and control treatments. Changes in plaque index were 0.7 for test and 0.4 for control treatments; changes in gingival index were 0.9 and 0.5. In both group gingival margin position and pocket depth reduction was 1.0mm and 3.0mm; clinical attachment level gain was 1.9mm. There were no changes in tooth mobility and the bone in radiographic evaluation. No significant(p${\leq }$0.05) difference between the two membranes could be detected with regard to plaque index, gingival index, gingival margin position, pocket depth, and clinical attachment level. In conclusion, a bioabsorbable BioMesh membrane is effective in human mandibular Class II furcation defects and a longer period study is needed to fully evaluate the outcomes.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.401-409
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• 2018

This paper presents means of reducing noise in NSD using path control methods for Light Tactical Vehicles (LTV). NSD is applied to the rear axle of LTVs for enhancing mobility. NSD can improve mobility of vehicles with a high locking ratio but causes noise under certain conditions due to its mechanical structure. This noise results from contact between gears due to the differential role of NSD. The noise affects users, so users have continually requested noise reductions. Though the noise doesn't affect product performance and durability, and satisfies the National Defense's noise condition standards, users request for noise reduction is the focus of this research. Eliminating the source of sound for LTVs is realistically limited, so this research applies a path control method to reduce noise by controlling the path which transmits the noise. This study improves the structural delivery system and examines methods of reducing noise in LTV systems.

• Journal of Life Science
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• v.30 no.4
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• pp.321-330
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• 2020

The aim of this study was to investigate the effect of copper (II) chloride (CuCl₂) on zebrafish. Zebrafish were exposed to various CuCl₂ concentrations and subjected to different exposure times to determine the median lethal concentration (LC₅₀) values. To evaluate stress responses, we measured whole-body cortisol levels and behavioral parameters using the open field test (OFT) or the novel tank test (NTT). The zebrafish were exposed to CuCl₂ solution at concentrations of 1.5-150 ㎍/l or a vehicle for 1 hr before behavioral tests or sample collection for whole-body cortisol. The LC₅₀ values were 30.3, 25.3, and 14.8 ㎍/l at 24, 48, and 96 hr, respectively. The NTT showed that mobility, velocity, and distance covered were significantly lower in zebrafish exposed to CuCl₂ than in the control group (p<0.05), while the turn angle was significantly higher in zebrafish exposed to a CuCl₂ concentration of 150 ㎍/l than in the control group (p<0.05). The OFT also showed that mobility, velocity, and distance covered were significantly lower and the turn angle and meandering were significantly higher in zebrafish exposed to all concentrations of CuCl₂ than in the control group (p<0.05). The whole-body cortisol levels were significantly higher in zebrafish exposed to CuCl₂ than in the control group (p<0.05). These results suggest that exposure to lethal CuCl₂ concentrations induces an intense toxic and stress response in zebrafish, causing behavioral changes and increasing whole-body cortisol levels.