• Research in Community and Public Health Nursing
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• v.28 no.1
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• pp.55-68
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• 2017

Purpose: The purpose of this study is to develop and evaluate a joint health self-management program for knee osteoarthritis elders in communities. Methods: This program was developed based on the IMB (information-motivationbehavioral skills) model. The program methods include education, setting and achieving goals, sharing experiences, telephone counseling, and self-monitoring. The topics of the program include joint assessment, exercise, massage, joint protection, medication, depression management, diet, and healthcare approach. The research was conducted following the principles of the nonequivalent control group pretest-posttest design. Participants were 26 subjects in the experimental group, and 27 subjects in the control group. The experimental group participated in the self-management program, and the control group received general education. Results: Both post-test scores of personal motivation, social motivation, behavior skill, self-management behavior, joint pain, joint stiffness, physical function disability, right knee extension, left knee extension, and depression were significantly different between the experimental group and the control group. Conclusion: The results of the study can be used to develop and standardize a systematic joint health self-management program. Further research is highly recommended to develop a strategy to continuously facilitate self-management of osteoarthritis patients' procedures.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1092-1098
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• 2007

A mobile robot localization problem can be classified into following three sub-problems as an observation likelihood model, a motion model and a filtering technique. So far, we have developed the range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to be solved. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable observation likelihood model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical and integrated localization schemes.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1120-1125
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• 2007

Experimental study on the control of randomly disturbing system is conducted. External and internal disturbances are imposed to the system in combined manner. A vertical propeller system exposed horizontal weak turbulent air flow is chosen as an experimental model. The aim of the control system is to maintain the angular position of vertical propeller in parallel to air flow. Trajectory Tracking Stochastic Controller (TTSC) is designed to ensure system's stability while following system command. The Trajectory Tracking Stochastic Controller is composed of two controller, one is stochastic controller to suppress internal random noise and the other one is trajectory-tracking controller to follow the command having random noise. The proposed hybrid controller, TTSC, shows remarkable performance in pitch control of vertical propeller system in wind-tunnel test

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.436-440
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• 1992

As an approach to design the intelligent controller, this paper proposes a new FNN(Fuzzy Neural Network) control method using the hybrid combination of fuzzy logic control and neural network. The proposed FNN controller has two important capabilities, namely, adaptation and learning. These functions are performed by the following process. Firstly, identification of the parameters and estimation of the states for the unknown plant are achieved by the MNN(Model Neural Network) which is continuously trained on-line. And secondly, the learning is performed by FNN controller. The error back propagation algorithm is adopted as a learning technique. The effectiveness of the proposed method will be demonstrated by computer simulation of a two d.o.f. robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.927-930
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• 1992

VSS identification approach is based on following concept, i.e. while in sliding motion, the switching of control inputs refects system uncertainites. Therefore, if there exist some operations that make the information form the switiching control inputs be achievable, then the unknown parameters can be actually identification mechanisms which can fully make use of the available information. Two different types of VSS identifiers are taken into consideration. The first type uses adjustable model whose structure is similar to that of identified systems. From the viewpoint of contro, this type of VSS identifiers may be regraded as direct identifier vecause the identified system is handled as an open loop. On the other hand, if the identified system is controlable in the sense of VSS(sliding mode can be generated through chosing control inputs), the second type of VSS identifier, the indirect VSS identifier, can be constructed according to the linerized system strucutre while staying in sliding mode. Therefroe it can be applied to some nonlinear systems which are not linear in parametric space by general identification algorithms, whereas linear in parametric space when sliding mode is existed.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of Power System Engineering
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• v.12 no.1
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• pp.72-79
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• 2008

This paper designs a looper-tension controller for mass-flow stabilization in hot strip finishing mills. By Newton's 2nd law and Hooke's law, nonlinear dynamic equations on the looper-tension system are firstly derived, and linearized by a linearization algorithm using a Taylor's series expansion. Moreover, a tension calculation model is obtained from the nonlinear dynamic equations which is called as a soft sensor of strip tension between two neighboring stands. Next, a looper-tension servo controller is designed by an ILQ(Inverse Linear Quadratic optimal control) algorithm, and it is combined with a minimal disturbance observer which to attenuate speed disturbances by AGC and operator interventions, etc.. Finally, it is shown from by a computer simulation that the proposed ILQ controller with a disturbance observer is very effective in stabilizing the strip mass-flow under some disturbances, moreover it has a good command following performance.

• Journal of Korea Trade
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• v.24 no.1
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• pp.82-98
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• 2020

Purpose - This study aims to overcome the limitations of existing studies, which linearly determine the precedence factors of competency in overseas subsidiaries. The research objectives are as follows. First, what kind of nonlinear effects does the level of control held by Korean headquarters over foreign subsidiaries have in terms of competency in the subsidiaries? Second, what kind of nonlinear effects do the local experiences of overseas subsidiaries have on their competency? Design/methodology - With data on Korean multinational corporations (MNCs), this paper analyzes the effects of control levels of headquarters (HQs) and host-country experiences of foreign subsidiaries regarding competency in overseas subsidiaries. In particular, this study focuses on nonlinear models, differentiating it from previous studies. In order to examine research hypotheses, this study conducted a survey of overseas subsidiaries of Korean corporations. Surveys were conducted through various methods including e-mail, online questionnaires, fax, and telephone calls. Copies of the questionnaire were distributed to a total of 2,246 overseas subsidiaries, and 409 completed responses were collected. Excluding 15 copies that were insufficiently answered, responses from a total of 394 copies were used for analysis. Findings - This study presents the following results. First, there is a U-shaped relationship between levels of HQ control and competency in foreign subsidiaries. This means that higher levels of HQ control negatively impact the competency levels of subsidiaries because strict control undermines autonomy in subsidiaries. However, if the level of HQ control exceeds a certain point, then the transfer of knowledge between HQs and subsidiaries is facilitated. Knowledge transferred from HQs can be used as prior knowledge by foreign subsidiaries to the benefit of all parties. Accordingly, knowledge transfer negates the negative effects of excessive HQ control and positively affects competency in subsidiaries. Second, there is an inverted U-shaped relationship between the local (host-country) experiences of subsidiaries and competency in foreign subsidiaries. This means that foreign subsidiaries can overcome the liabilities of foreignness and contribute to capability building by accumulating unique knowledge about their host countries. However, if local experiences accumulate excessively beyond a certain point, then the host country-specific experiences of foreign subsidiaries will offset the benefits discussed above. Excessive local experiences not only increase organizational inertia, but also create a problem of goal incongruence due to information asymmetry between HQs and subsidiaries. Therefore, excessive local experiences have negative effects on competency in foreign subsidiaries. Originality/value - This study suggests the following implications. First, unlike existing studies based mainly on linear models, this study presents important theoretical implications in its focus on nonlinear models and its analysis of the effects of HQ control and local experiences on competency in foreign subsidiaries from perspectives of organizational learning theory and agency theory. Second, in terms of practical implications, the results of this study suggest that optimally raising levels of HQ control and managing the local experiences of subsidiaries without increasing organizational inertia is important for enhancing competency in foreign subsidiaries.

• The KIPS Transactions:PartD
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• v.10D no.7
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• pp.1155-1160
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• 2003

This paper applies RBAC policy for solving on the security problems when it will be operated several business on the distributed environments and designed Extended RBAC (ERBAC) model that it is possible to manage security systems on the distributed environments. The designed ERBAC model is based on RBAC96 model due to Sandu et al and added role delegations. Therefor, the designed ERBAC model have the advantage of the following . it can be processed of business without interrupts and implemented server system without modifying its source code, high migration, easy and simple of secure managing.

• The Korean Journal of Pain
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• v.23 no.2
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• pp.109-115
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• 2010

Background: The pathophysiological and neurochemical changes following spinal injury are not yet elucidated. This study was designed to evaluate the morphological changes of the dorsal horn of the spinal cord and profiles of pain behaviors following intraspinal injection of NMDA in rats. Methods: Rats were randomized into three groups: a sham-operated control group and groups where the rats received 10 mM or 100 mM N-methyl-D-aspatate (NMDA) injected into their spinal dorsal horn. Following injection, hypersensitivity to cold and mechanical stimuli and excessive grooming behaviors were assessed serially for four weeks. Morphological changes of the spinal cord were evaluated four weeks after intraspinal injection. Results: Few animals in the NMDA groups developed hypersensitivity to cold and mechanical stimuli. The number of groomers and the severity of excessive grooming were significantly higher in the 100 mM NMDA group than those values of the control and 10 mM NMDA groups. The size of the neck region (lamina III-IV) was significantly smaller in the 100 mM NMDA group than in the control and 10 mM NMDA groups. Conclusions: In conclusion, intraspinal injection of NMDA in rats leads to the pathological sequela in the spinal cord and to excessive grooming behavior. These results support the use of NMDA and excessive grooming behavior after excitotoxic SCI as a model to study chronic pain after SCI.