• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1786-1795
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• 2011

The trajectory control for omni-directional mobile robot is not easy. Especially, the tracking control which system uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy multi-layered algorithm. The fuzzy control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Economic and Environmental Geology
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• v.55 no.2
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• pp.209-217
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• 2022

The purpose of this study was to confirm the dissolution of arsenic from the stabilized soil around abandoned coal mines by cultivation activities. Experimental soils were collected from the agricultural field around Okdong and Buguk coal mines, and the concentration of arsenic in the soil and the geochemical mobility were confirmed. The average arsenic concentration was 20 mg/kg. The soil with relatively high geochemical mobility of arsenic in the soil was used in the batch and column experiment. The limestone was mixed with soil for soil stabilization, and the mixing ratio was 3% of limestone, based on the soil weight. The phosphoric acid fertilizer (NH₄H₂PO₄) was added to the soil to simulate a cultivation condition according to the Rural Development Administration's rules. Comparative soil without mixing limestone was prepared and used as a control group. The arsenic extraction from soil was increased following the fertilizer mixing amount and it shows a positive relationship. The concentration of phosphate in the supernatant was relatively low under the condition of mixing limestone, which is determined to be result of binding precipitation of phosphate ions and calcium ions dissolved in limestone. Columns were set to mix phosphoric acid fertilizers and limestone corresponding to cultivation and stabilization conditions, and then the column test was conducted. The variations of arsenic extraction from the soil indicated that the stabilization was effectible until 10 P.V.; however, the stabilization effect of limestone decreased with time. Moreover, the geochemical mobility of arsenic has transformed by increasing the mobile fractions in soil compared to initial soil. Therefore, based on the arsenic extraction results, the cultivation activities using phosphoric fertilizer could induce a decrease in the stabilization effect.

• The korean journal of orthodontics
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• v.33 no.2 s.97
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• pp.91-102
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• 2003

This study was performed to investigate the effect of immediate orthodontic force on soft md hard tissues surrounding C-Palatal $Plate^{TM}$ in beagle Dog. Immediately after this appliance was implanted on the midpalate of 4 adult beagle Dogs, 400gm continuous orthodontic force was applied. Experimental animals were euthanized at 8weeks, 18weeks, and 22weeks (including post-removal healing time of 4weeks), and a control animal was euthanized at 8weeks after implantation without orthodontic force application. The appliance and the surrounding tissue were studied radiographically, macroscopically, and histologically. The results were as follows: 1. The lateral radiographs taken after euthanasia showed very slight displacement of the vortical plate in the experimental animals, compared with the control animal. Mobility test of all animals confirmed primary stability without any increase of mobility during experimental period. 2. No pathologic changes were found in the healing condition of covering soft tissue and bone-screw interface in experimental animals as well as a control animal. 3. Osseointegration was achieved in the bone-screw interface in 8weeks after implantation and the amount of osseointegration increased in 18weeks. There was little difference of osseointegration between the compression side and the tension side. 4. In the marginal bone area, slight bone apposition and resorption were found regardless of compression and tension side, while there was no change in the control animal. 5. Both 8week-animal and 18week-animal showed the new bone apposition along the surface of screws which were perforated into the nasal cavity, while the control animal showed no change. 6. After 4weeks of plate removal, the covering epithelium was repaired intactly, while the connective tissue showed loose and irregular rearrangement and the connective tissue capsule remained. The C-Palatal $Plate^{TM}$ manifested sufficient anchorage capacity in the context of histological study as well as clinical outcomes, when immediate orthodontic force was applied after implantation.

• Physical Therapy Korea
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• v.10 no.3
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• pp.109-126
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• 2003

This study was designed 10 investigate the effects of therapeutic gymnastic ball exercise on pain, flexibility, lumbar disability level and daily activity levels in male patients of the armed forces medical hospital who complain of chronic low back pain. Twenty-three males were placed in the experimental group and twenty-nine males were placed in the control group. All of the subjects were chosen on the basis of availability among in-patients who were diagnosed with low back pain. The control patients were matched to the experimental group and they were selected considering gender, pain duration and age. Gymnastic ball exercise therapy was developed by the author with the assistance of a rehabilitation specialist. Gymnastic ball exercise therapy includes muscle relaxation, flexibility, muscle strength and posture development exercises. The gymnastic ball exercise therapy was carried out by the experimental group three times a week for eight weeks. Before and after the experiments, the intensity of pain, the lumbar joint mobility (flexibility), the lumbar disability levels, and the daily activity levels of the subjects were measured, respectively. The intensity of pain and the lumbar disability levels were measured by the Visual Analogue Scale, the level of flexibility by a measurement ruler, and the level of disability by the Oswestry Low Back Pain Disability Scale. Data were analysed using a t-test, a paired t-test and an unpaired t-test. The results were as follows: 1. The intensity of pain in the lumbar spine in the experimental group was significantly decreased compared with that of the control group during the 4th week and 8th week. 2. The flexibility of the lumbar spine in the experimental group was significantly increased compared with that of the control group during the 4th week and 8 week. 3. The level of pain caused by anterior, posterior, left lateral and right lateral bending and by rotation in experimental group was significantly decreased compared with that of the control group. 4. The Oswestry Disability score of the experimental group was significantly increased compared with that of control group. These findings indicate that gymnastic ball exercise therapy could be effective in decreasing pain and lumbar disability, and increasing the daily activity levels and lumbar flexibility in patients with chronic low back pain. The study also suggests that gymnastic ball exercise therapy could be an essential factor for effective nursing intervention for patients suffering from chronic low back pain.

• Journal of muscle and joint health
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• v.6 no.1
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• pp.100-135
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• 1999

Typical symptoms of rheumatic disease affect overall daily living and cause severe stress. Individuals afflicted with rheumatic disease have many illness-related stresses. Pain was the predominantly perceived stress followed by limitation in mobility, difficulties in carrying out activities of daily living. helplessness, dependency on others, threat to self-esteem, interference in social activity, interference in family relationships. difficulties performing at work, and discomfort of the treatment. Patients with chronic arthritis are subjected to long periods of continuous stress, which may require the management by the health care provider. In these cases, the purpose of the nursing is helping to promote health through supporting patient's coping. Therefore, for the nursing intervention to be effective, it is critical to build a theoretical framework that describes stress-coping for chronic arthritis. Thus, the purpose of this dissertation is to present a theoretical framework which describes the stress-coping processes and to empirically test pathos of this framework for the people with chronic arthritis. The foundation upon which this framework is built in the Erickson, Tomlin, and Swain(1983) theory of Modeling and role-Modeling. The subjects were 275 patients with rheumatoid arthritis or osteoarthritis who visited the outpatient clinic. A hypothetical model of stress-coping was tested by covariance structure analysis with PC-LISREL 8.12 program. As a result, the overall fit was good(Chi-square=94.49, P=0.00, RMR=0.067, GFI=0.95, AGFI=0.91, NNFI=0.93, NFI=0.91) for the hypothetical model. The results of hypothesis testing were as follows : Basic need satisfaction had a statistically significant influence on illness-related experience, emotional stress and coping resources. Internal health locus of control had a statistically significant influence on coping resources. However, independent variables(basic need satisfaction, internal health locus of control, illness-related experience, emotional stress and coping resource) did not have significantly influence on coping. And then, the hypothetical model was modified by considering both the theoretical implication and statistical significance of the parameter estimates. The revised model had a better fit to the data(Chi-square=83.11(P=0.00), RMR=0.061, GFI=0.96, AGFI=0.92, NNFI=0.95, NFI=0.92). Hypothesis emerged from the revised model was tested. The results of hypothesis testing were as follows : Basic need satisfaction had a statistically significant influence on illness-related experience, emotional stress and coping resources. Internal health locus of control had a statistically significant influence on illness-related experience and coping resources. Internal health locus of control, illness-related experience, emotional stress and coping resources had a significantly influence on coping. According to the results of this dissertation, basic need satisfaction and internal health locus of control play a central role in appraisal of illness-related experience and coping resources. And illness related-experience, emotional stress, and coping resources affect on coping activities. In summary, nursing interventions to enhance basic need satisfaction and internal health locus of control will decrease illness related experience and emotional stress and increase coping resources. Increased coping resources will prompt coping activities.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.1
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• pp.48-61
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• 1989

In this paper, two-dimensional numerical simulation of GaAs MESFFT with 0.7${\mu}m$ gate length is perfomed. Drift-diffusion model which consider that mobility is a function of local electric field, is used. As a discretization method, instead of FDM (finite difference method) and FEM (finite element method), the Control-Volume Formulation (CVF) is used and as a numerical scheme current hybrid scheme or upwind scheme is replaced by power-law scheme which is very approximate to exponential scheme. In the process of numerical analysis, Peclet number which represents the velocity ratio of drift and diffusion, is introduced. And using this concept a current equation which consider numerical scheme at the interface of control volume, is proposed. The I-V characteristics using the model and numerical method has a good agreement with that of previous paper by others. Therefore, it is confined that it may be useful as a simulator for GaAs MESFET. Besides I-V characteristics, the mechanism of both velocity saturation in drift-diffusion model is described from the view of velocity and electric field distribution at the bottom of the channel. In addition, the relationship between the mechanism and position of dipole and drain current, are described.

• Journal of information and communication convergence engineering
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• v.4 no.4
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• pp.141-146
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• 2006

In these days, wireless data services are becoming ubiquitous in our daily life because they offers several fundamental benefits including user mobility, rapid installation, flexibility, and scalability. Moreover, the requests for various multimedia services and the Quality of Service (QoS) support have been one of key issues in wireless data communications. Therefore the research relative to Medium Access Control (MAC) has been progressing rapidly. Especially a number of QoS-aware MAC schemes have been introduced to extend the legacy IEEE 802.11 MAC protocol which has not guaranteed any service differentiation. However, none of those schemes fulfill both QoS features and channel efficiency although these support the service differentiation based on priority. Therefore this paper studies a novel MAC scheme, referred to as Enhanced Distributed Coordination Function with Network Adaptation (EDCF-NA), for enhancements of both QoS and medium efficiency. It uses a smart factor denoted by ACK rate and Network Load Threshold (TH). In this paper, we study how the value of TH has effect on MAC performance and how the use of optimal TH pair improves the overall MAC performance in terms of the QoS, channel utilization, collision rate, and fairness. In addition, we evaluate and compare both the performance of EDCF-NA depending on several pairs of TH and the achievement of various MAC protocols through simulations by using Network Simulator-2 (NS-2).

• Molecules and Cells
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• v.28 no.3
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• pp.189-194
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• 2009

The modulating effect of IGF-I on the regulation of AR gene expression and activation in skeletal muscle cells remains poorly understood. In this study, the effects of IGF-I treatment on AR induction and activation in the absence of AR ligands were examined. Differentiating C2C12 cells were treated with different concentrations (0-250 ng/ml) of IGF-I or for various periods of time (0-60 min) of 250 ng/ml IGF-I. Treatment of C2C12 cells with IGF-I resulted in a dose- and time-dependent increase in total AR and phosphorylated AR (Ser 213). IGF-I treatment also led to significantly increased AR mRNA expression when compared with the control. The levels of skeletal ${\alpha}-actin$ and myogenin mRNA, known target genes of AR, were also significantly upregulated after 5 or 10 min of treatment with IGF-I. Confocal images revealed that IGF-I stimulated nuclear localization of AR in the absence of ligands. In addition, an electrophoretic mobility shift assay indicated that IGF-I stimulated the AR DNA binding activity in a time-dependent manner. The present results suggest that IGF-I stimulates the expression and activation of AR by ligand-independent mechanism in differentiating C2C12 mouse skeletal muscle cells.

• Journal of Magnetics
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• v.7 no.3
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• pp.106-114
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• 2002

To reduce the grain size and the media noise in a typical CrMo/CoCrPtB longitudinal media, a sputtering process which includes the exposure of oxygen onto the surface of CrW$_x$ (x=0, 25, 50, 75, 100 at.%) and CrTi$_{15}$ seedlayers with the thickness of 0.5 nm have been utilized. The main results are: (1) the media grain size and the media noise are reduced when using CrW$_x$ (x=0, 25, 50 at.%) seedlayers, and not reduced when using CrTils or CrW$_x$ (x=75, 100 at.%) seedlayers, (2) AES and RHEED results suggest that W seedlayer, which has the highest melting point, forms layer-like film with very small and dense island grain, due to its high free surface energy and low mobility. On the other hand, CrW$_{50}$ and Cr seedlayers, which have lower melting point than W seedlayer, form island film, (3) to effectively reduce the media grain size and improve the media signal to noise ratio, it is essential to utilize a very thin Cr-based seedlayer with high affinity for oxygen and which forms island-like structure, such as CrW$_{50}$ seedlayer.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.