• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.943-954
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• 2000

Fieldbus is the lowest level industrial network in the communication hierarchy of factory automation and distributed process control systems. Data generated from field devices are largely divided into three categories : time-critical, periodic and time-available data. Because these data share one fieldbus medium, it needs a method that allocates these data to the bandwidth-limited fieldbus medium. This paper introduces an implementation method of bandwidth allocation scheme on PROFIBUS. In order to implement bandwidth allocation scheme on PROFIBUS, the following functions need to be supplemented on the FDL(Fieldbus Datalink Layer) protocol: (i) separation of medium bandwidth into periodic and non-periodic intervals, (ii) synchronization of node timers over a local link. In order to examine the validity of bandwidth allocation scheme on PROFIBUS, this paper develops an experimental model of a network system. The results obtained from the experimental model show that the bandwidth allocation scheme satisfies the performance requirement of time-critical, periodic and time-available data.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.464-467
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• 1997

In this paper, a high precision track following control algorithm is proposed for micro electrostatic actuator considering of the application for hard disk drive. The micro electrostatic actuator proposed has nonlinear voltage-displacement characteristic in a working range of 0.8.mu.m and has uni-directional movement. Mid range reference and open-loop bias are proposed for the revision of negative position error, and inverse model for linearization.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1213-1216
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• 1987

In this paper, the application of AMFC(adaptive model - following-control) algorithm to the D.C motor speed control is investigated by using the 68000 microprocessor. Computer simulation in discrete AMFC algorithm shows that output errors caused by the external input and the variation of parameters in D.C motor are converged to zero.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.700-703
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• 1997

A robust controller for a 6 DOF magnetically levitated fine manipulator is presented. The proposed controller consists of following two parts : a model reference controller (MRC) and a H$_{\infty}$ controller (HIC). First, the MRC stabilizes the motion of the manipulator. Then, the motion of the manipulator follows that of the reference model. Second, the HIC minimizes errors generated from the MRC due to noise and disturbance since the HIC is a kind of robust controller. The experiments of position control and tracking control are carried out by use of the proposed controller under the conditions of free disturbances and forced disturbances. Also, the experiments using PID controller are carried out under the same conditions. The results from above two controllers are compared to investigate the control performances. As the results, it is observed that the proposed controller has similar position accuracy but better tracking performances comparing to the PID controller as well as good disturbance rejection effect due to the robust characteristics of the controller. In conclusion, it is verified that the proposed controller has the simple control structure, the good tracking performances and good disturbance rejection effect due to the robust characteristics of the controller..

• Korea Journal of Hospital Management
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• v.11 no.2
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• pp.32-60
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• 2006

Based on the Job Demand-Control model which was proposed by R. A. Karasek, this study was designed to investigate the relationships among job demand, job control, and job burnout of nurses. In addition, the other aim of the present study was to test the moderating or buffering role of social supports in the relationship between the job demand and job burnout. The analysis based on data collected from 239 nurses who are working in two general hospitals has produced the following results. We found that job demand was primarily related to the exhaustion component of burnout, whereas (lack of) job control was related to the disengagement dimension of burnout. And social supports from the supervisor attenuated the disengagement, whereas social supports from the colleague diminished the exhaustion. But, we found no interaction effects that were expected in the hypotheses. Specifically, social supports didn't buffer the negative effects of job demand on burnout, while job control had the moderating effect which was in opposite direction. The implications of these analyses and limitations of the study were then discussed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• Korean Journal of Child Studies
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• v.29 no.5
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• pp.285-299
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• 2008

This study examined the moderating role of self-control and emotion regulation in the relationship between academic stress and mental health among Korean adolescents. The Korean Youth Panel Study (KYPS) was used as sample data with a total of 3121 $11^{th}$ grade students involved in this study. Hierarchical multiple regression was applied to test the moderation model following Baron & Kenny's (1986) model. Results revealed that self-control (for male adolescents) and emotion regulation (for female adolescents) played the role of moderators in the relationship between academic stress and mental health problems. Academic stress proved to have a negative effect on mental health of adolescents.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.101-106
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• 2003

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems because of vibration or jerky motions. Examples are increased with development of technology in smaller, more accurate systems. On the base of a polynomial like trajectory generation method from a paper in ACC2002 and RIC(Robust Internal-loop Compensator) control scheme of Robotics and Bio-mechanics lab. of POSTECH, generalized and expanded polynomial like trajectory generation method is showed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.666-672
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• 2003

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving condition and be robust to the parameter uncertainties in the plant model. Control performance is evaluated from the simulation for the vehicle of real parameters on the road with various tire-road frictions.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.2
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• pp.1-11
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• 1998

The 4WS system is usually developed to improve the maneuverability at low speed and the straight line stability at high speed, but it is found to have the severe understeer characteristics at high speed. Therefore a 4WS vehicle requires to turn the steering wheel much more than a 2WS vehicle at high speeds even a driver goes through the same curved road. In this study, to enhance the cornering performance of the 4WS vehicle at high speed, a DYC 4WS system is proposed based on the nonlinear 4WS system and direct yaw moment control system. Especially the proposed DYC 4WS system is able to realize a zero side slip angle for vehicles and a cornering performance similar to the 2WS vehicle at high speed.