• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3073-3076
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• 1999

In this paper, $H_{\infty}$ two-degree-of freedom(2-DOF) model following control method is applied for the control of a brushless servo motor to achieve high robust performance. The proposed robust control algorithm designed to meet the robust stability and performances present that the robust control method is superior to conventional control methods in controlling the speed and position of a servo motor. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. It is illustrated by simulations that the proposed method is effective to control servo systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.82.3-82
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• 2001

This work presents a design technique for the implementation of the liquid level control system by based on the use of a single-chip microcontroller. The proposed model system offers the following attractive features : (1) application of the pressure transducer for sensing the height of liquid in tank (2) using the obtained liquid level for defining on-off condition of the water pump (3) the liquid values were controlled by using stepping motors for controlling of 57 points (4) can set up by using manual control or automatic control (5) can monitor and display the process status either on microcontroller-based control board or on the computer via RS232 serial-port. Experimental results have been employed to show the effectiveness ...

• Journal of Trauma and Injury
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• 제37권2호
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• pp.124-131
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• 2024

Purpose: The aim of this study was to utilize the American College of Surgeons Trauma Quality Improvement Program (TQIP) database to identify risk factors associated with developing acute compartment syndrome (ACS) following lower extremity fractures. Specifically, a nomogram of variables was constructed in order to propose a risk calculator for ACS following lower extremity trauma. Methods: A large retrospective case-control study was conducted using the TQIP database to identify risk factors associated with developing ACS following lower extremity fractures. Multivariable regression was used to identify significant risk factors and subsequently, these variables were implemented in a nomogram to develop a predictive model for developing ACS. Results: Novel risk factors identified include venous thromboembolism prophylaxis type particularly unfractionated heparin (odds ratio [OR], 2.67; 95% confidence interval [CI], 2.33-3.05; P<0.001), blood product transfusions (blood per unit: OR 1.13 [95% CI, 1.09-1.18], P<0.001; platelets per unit: OR 1.16 [95% CI, 1.09-1.24], P<0.001; cryoprecipitate per unit: OR 1.13 [95% CI, 1.04-1.22], P=0.003). Conclusions: This study provides evidence to believe that heparin use and blood product transfusions may be additional risk factors to evaluate when considering methods of risk stratification of lower extremity ACS. We propose a risk calculator using previously elucidated risk factors, as well as the risk factors demonstrated in this study. Our nomogram-based risk calculator is a tool that will aid in screening for high-risk patients for ACS and help in clinical decision-making.

• 로봇학회논문지
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• 제18권3호
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• 한국사회복지학
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• 제41권
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• pp.173-200
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• 2000

The purpose of this study is to examine the variables that may influence the level of family adaptation to schizophrenic patients using the Family Resiliency Model. The Family Resiliency Model is the most current extension of family stress Model. According to the Family Resiliency Model, The level of family adaptation in the face of a crisis situation is determined by a number of interacting components. The subjects are 151 family members with schizophrenic patient. The result from the research were as follows: 1) The following variables significantly correlated with the family adaptation: income of the family, educational level of the family, intimacy between family and patient, knowledge on schizophrenia, recognition of prognosis on schizophrenia. 2) The factors that compose the Family Resiliency Model significantly correlated with the level of family adaptation. 3) The result of stepwise multiple regression analysis indicated that factors which predict the level of family adaptation were the family control, the quality of family communication, and the support from the extended family, these findings give us significant practical implications for social work intervention.

• 대한수의학회지
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• 제46권2호
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• pp.159-164
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• 2006

A stochastic simulation model incorporated with Reed-Frost approach was derived for evaluating diagnostic performance of a test used for a screening program of an infectious disease. The Reed-Frost model was used to characterize the within-herd spread of the disease using a hypothetical example. Specifically, simulation model was aimed to estimate the number infected animals in an infected herd, in which imperfect serologic tests are performed on samples taken from herds and to illustrate better interpreting survey results at herd-level when uncertainty inevitably exists. From a risk analysis point of view, model output could be appropriate in developing economic impact assessment models requiring probabilistic estimates of herd-level performance in susceptible populations. The authors emphasize the importance of knowing the herd-level diagnostic performance, especially in performing emergency surveys in which immediate control measures should be taken following the survey. In this context this model could be used in evaluating efficacy of a survey program and monitoring infection status in the area concerned.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.923-931
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• 1999

In this paper, a modeling and a robust time-delay control for the reclaimer are investigated. Supplying the same amount of a raw material throughout the reclamation process from the raw yard to a sinter plant is important to keep the quality of the molten steel uniform in blast furnaces. As the actual parameter values of the reclaimer are not available, the boom rotational dynamics are modeled as a second order differential equation with unknown coefficients. The unknown parameters in the nominal model are estimated using a recursive estimation method. Another important factor in the control design of the reclaimer is the large time-delay in output measurement. Assuming a multiplicative uncertainty, that accounts for both the unstructured uncertainty neglected in the modeling and the structured uncertainty contained in the parameter estimation, a robust Smith predictor is designed. A robust stability criterion for the multiplicative uncertainty is also derived. Following the work of Goodwin et al. [4], a quantifying procedure of the multiplicative uncertainty bound, through experiments , is described. Experimental and simulation results are provided.

• 한국정밀공학회지
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• 제18권2호
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• pp.192-198
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• 2001

In this study, a methodology of synchronous control which can be applied to position synchronization of a two-axes driving system has been developed. The synchronous error is caused by model uncertainties and torque disturbance of each axis. To overcome these problems, the proposed synchronous control system has been composed of two speed controllers and one synchronous controller. The speed controllers based on PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order that speed response of the second axis corresponds with one of first axis. Especially, considering to model uncertainties of each axis, the synchronous controller has been designed using H$\infty$ control theory. The controller eliminates the synchronous error by controlling speed of the second axis. The effectiveness of the proposed method has been verified through simulation.

• 동력기계공학회지
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• 제17권3호
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• pp.72-81
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• 2013

Many articles have been published about a 2-degree of freedom model that includes the lateral and yaw motions for controller synthesis in intelligent transport system applications. In this paper, a 3-degree of freedom linear model that includes the roll motion is developed to design a robust steering controller for lane following maneuvers using ${\mu}$-synthesis. This linear perturbed system includes a set of parametric uncertainties in cornering stiffness and unmodelled dynamics in steering actuators. The state-space model with parametric uncertainties is represented in linear fractional transformation form. Design purpose can be obtained by properly choosing the frequency dependent weighting functions. The objective of this study is to keep the tracking error and steering input energy small in the presence of variations of the cornering stiffness coefficients. Furthermore, good ride quality has to be achieved against these uncertainties. Frequency-domain analyses and time-domain numerical simulations are carried out in order to evaluate these performance specifications of a given vehicle system. Finally, the simulation results indicate that the proposed robust controller achieves good performance over a wide range of uncertainty for the given maneuvers.

• 운동영양학회지
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• 제25권1호
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• pp.42-55
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• 2021

[Purpose] This study investigated the effects of marine phytoplankton supplementation (Oceanix®, Tetraselmis chuii) on 1) maximal isometric strength and immune function in healthy humans following a oneweek high-intensity resistance-training program and 2) the proinflammatory cytokine response to exercise in a rat model. [Methods] In the human trial, 22 healthy male and female participants were randomly divided into marine phytoplankton and placebo groups. Following baseline testing, participants underwent a 14-day supplement loading phase before completing five consecutive days of intense resistance training. In the rat model, rats were randomly divided into four groups (n=7 per condition): (i) control, (ii) exercise, (iii) exercise + marine phytoplankton (2.55 mg/kg/day), or (iv) exercise + marine phytoplankton (5.1 mg/kg/day). Rats in the exercising groups performed treadmill exercise 5 days per week for 6 weeks. [Results] In the human model, marine phytoplankton prevented significant declines in the isometric peak rate of force development compared to placebo. Additionally, salivary immunoglobulin A concentration was significantly lower following the resistance training protocol in the placebo group but not in the marine phytoplankton group. Marine phytoplankton in exercising rats decreased intramuscular levels and serum concentrations of tumor necrosis factor-alpha (TNF-α) and interleukin-1 beta (IL-1β) and intramuscular concentrations of malondialdehyde. [Conclusion] Marine phytoplankton prevented decrements in indices of functional exercise recovery and immune function. Mechanistically, these outcomes could be prompted by modulating the oxidative stress and proinflammatory cytokine response to exercise.