• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.114-118
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• 1996

This paper proposes a new technique to the design of adaptive control system using DSPs(TMS320C50) for Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation. an suitable for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental reults for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.4
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.100-104
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• 1998

This paper describes the real-time implementation of an adaptive controller fur the robotic manipulator. Digital signal processors(DSPs) are special purpose micro-processors that are particularly powerful for intensive numerical computations involving sums and products of variables. TMS320C50 chips are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the direct adaptive control theory. The adaptive controller consists of an adaptive feedforward controller and feedback controller. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a assembling robot.

• Journal of People, Plants, and Environment
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• v.22 no.3
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• pp.321-332
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• 2019

The purpose of this study is to investigate the changes of sensory and visual perception of children with intellectual disabilities by conducting psychomotorik (psychomotor activity) in the forest and indoor treatment rooms. Accordingly, this study divided 18 children with intellectual disabilities living in the facility for persons with disabilities located in Seoul into three groups: the experimental group participating in psychomotorik in the forest, the comparative group participating in psychomotorik in the treatment room, and the control group without any treatment at all. The program was conducted for 32 weeks, 4 hours a month. The results showed that psychomotorik promoted the sensory and visual development of children with disabilities. Psychomotorik in the forest showed significant effects on touch and activity level, form constancy and eye-hand coordination. Psychomotorik in the treatment room showed significant improvement in figure-ground with reduced motion. This suggests that psychomotorik in the forest as well as indoors is a positive factor for sensory adaptation reaction and visual development of children with intellectual disabilities.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of Biomedical Engineering Research
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• v.28 no.5
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• pp.618-627
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• 2007

As our society progresses rapidly toward an aged society, there is a stiff increase in the population of the aged persons who have difficulties in adjusting themselves to environments due to declines of their physical functions. Therefore, there is a great need for the concept of 'Universal Design' that demands the design of overall social structure to care for the elderly. Due to this reason, the physical function of the aged persons should thoroughly be studied for the development of rehabilitation and training equipments to help the recovery of physical functions of the elderly. Among the variety of physical functions of the elderly, visual functions, motion characteristics, hearing functions, and somatosensory functions have significant influence toward everyday lives and are physical functions to study for the construction of urgently needed physical function databases of the elderly. This study concentrates on visual functions among the variety of physical functions of the elderly. To measure various visual functions of the elderly, a measurement room for the elderly has been developed, which can mimic everyday lives and perform measurements of visual functions with subjects in seated position. The measurement items for the construction of the database were capabilities in everyday vision according to changes in arrangement of colors and light intensity and capabilities in everyday vision, color distinction, dark adaptation, and light glare against changes in contrast.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.11-21
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• 2005

A three-dimensional parallel Euler flow solver has been developed for the simulation of unsteady rotor-fuselage interaction aerodynamics on unstructured meshes. In order to handle the relative motion between the rotor and the fuselage, the flow field was divided into two zones, a moving zone rotating with the blades and a stationary zone containing the fuselage. A sliding mesh algorithm was developed for the convection of the flow variables across the cutting boundary between the two zones. A quasi-unsteady mesh adaptation technique was adopted to enhance the spatial accuracy of the solution and to better resolve the wake. A low Mach number pre-conditioning method was implemented to relieve the numerical difficulty associated with the low-speed forward flight. Validations were made by simulating the flows around the Georgia Tech configuration and the ROBIN fuselage. It was shown that the present method is efficient and robust for the prediction of complicated unsteady rotor-fuselage aerodynamic interaction phenomena.

• Journal of Hospice and Palliative Care
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• v.6 no.2
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• pp.164-171
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• 2003

Purpose : The purpose of this study was to provide information for developing a rehabilitation intervention that improves adaptation and the quality of life after mastectomy by investigating the level of physical function and fatigue in mastectomy patients. Methods : The subjects were 63 patients selected from St. Mary's Kangnam hospital Data were collected from March to June, 2003. Physical function was measured by the range of motion of the shoulder joint, shoulder function, and physical symptoms. fatigue was measured by using the Brief Fatigue Inventory (BFI). Results : The range of motion on the affected side was significantly lower than that in the healthy side. Shoulder function score was highest in the item of 'pull on pants', and lowest in the item of 'back zipper'. Physical symptom score was highest in the item of 'numbness', and lowest in the item of 'Itching sensation'. The highest item interfered by fatigue was 'normal work (includes both work outside the home and daily chores)'. Conclusion : The result of this study suggests that effective rehabilitation intervention for mastectomy patients should be needed to improve physical function, and reduce fatigue.

• Journal of IKEEE
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• v.3 no.2 s.5
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• pp.250-258
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• 1999

This paper presents a decentralized adaptive controller design for a Magnetically Levitated Fine Manipulator to follow the given trajectory as close as possible in spite of coupling effects between motion axes(degree of freedoms or subsystems). The present controller consists of two parts: the model reference controls based on known subsystems and the local adaptive controls. The former stabilizes the motion of the manipulator so as to follow that of the reference model. The latter reduces tracking errors due to coupling disturbances by adjusting the local gains to such levels that override interactions and assure the stability of the overall system. Through several experimental results, it has been shown that the decentralized adaptive control scheme has better tracking performances comparing to the PID controller case as well as good disturbance(coupling) rejection property.