• 전기학회논문지
• /
• 제59권5호
• /
• pp.972-980
• /
• 2010

In this study, we introduce the design methodology of an optimized type-2 fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. The type-2 fuzzy cascade controller scheme consists of the outer controller and the inner controller as two cascaded fuzzy controllers. In type-2 fuzzy logic controller(FLC) as the expanded type of type-1 fuzzy logic controller(FLC), we can effectively improve the control characteristic by using the footprint of uncertainty(FOU) of membership function. The control parameters(scaling factors) of each fuzzy controller using HFCGA which is a kind of parallel genetic algorithms(PGAs). HFCGA helps alleviate the premature convergence being generated in conventional genetic algorithms(GAs). We estimated controller characteristic parameters of optimized type-2 fuzzy cascade controller applied ball & beam system such as maximum overshoot, delay time, rise time, settling time and steady-state error. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

• 정보처리학회논문지B
• /
• 제16B권3호
• /
• pp.203-214
• /
• 2009

본 연구에서는 모니터, 카메라 및 눈동자 좌표계간의 복잡한 3차원 관계를 고려하지 않고, 동공의 중심 위치와 모니터의 구석에 설치된 적외선 조명에 의한 네 개의 조명 반사광 사이의 관계를 사용하여 2차원적인 변환 방법으로 사용자의 시선 위치를 파악한다. 동공중심과 조명 반사광을 정확하게 추출하고, 이를 통해 계산된 시선 위치 계산의 정확도에 영향을 줄 수 있는 오차 요소들을 보정하는 것이 본 연구의 목적이다. 이를 위하여, 동공 중심을 통해 계산된 시선위치와 실제 시선 축이 이루는 카파에러를 초기 1회의 사용자 캘리브레이션을 통해 보정하였다. 또한, 칼만 필터를 기반으로 눈의 급격한 움직임 변화에도 각막 조명 반사광을 안정적으로 추적하여 시선 위치를 정확하게 추적한다. 실험 결과, 제안한 연구방법의 시선 위치 추출 오차는 눈의 급격한 움직임 변화에 상관없이 약 1.0$^\circ$ 를 나타냈다.

• Imaging Science in Dentistry
• /
• 제38권1호
• /
• pp.23-27
• /
• 2008

Purpose: The aim of this study was to evaluate the change in the position of the mandibular condyle within articular fossa by a CBCT after wearing complete denture (CD). Materials and Methods: CBCT of 34 temporomandibular joints were taken from 9 male and 8 female patients with CB $Mercuray^{TM}$ (Hitachi, Japan) before and after wearing a CD for rehabilitation. Position of mandibular condyle within articular fossa at centric occlusion was evaluated with $Vimplant2.0^{TM}$ (CyberMed, Korea) on the central parasagittal view and curved panoramic coronal view of the condylar head. A statistical evaluation was done with SPSS. Results: The range of anteroposterior positional rate (AP) of condylar head within articular fossa was -16-5 and -10-12 respectively on the right and left sides. Before wearing CD, the AP rate showed discrepancy between right and left sides (p<0.05). After wearing CD, both condyles showed a tendency to decrease in posterior condylar position (right side; p<0.05). The average discrepancy between right and left side in mediolateral positional rate (MD) was 15.5 and 4.5 respectively before and after wearing CD. The improvement was observed in mediolateral relationship of both condylar heads after wearing CD (p< 0.01). Before wearing CD, the average horizontal angle of long axis of condylar head was $79.6{\pm}2.7^{\circ}\;and\;80.1{\pm}5.7^{\circ}$ respectively on the right and left sides. After wearing CD, both condyles were rotated in the same direction in average on axial plane. Conclusion: We observed with CBCT the significant clinical evidence in case of positional change of mandibular condyle after wearing complete denture.

• 대한물리치료과학회지
• /
• 제25권1호
• /
• pp.44-51
• /
• 2018

Background: In this paper, the relationship between the Cranio-Vertebral Angle (CVA) and the vital capacity in each position is reviewed, and the vital capacity in the position is studied. Methods: This study targeted 20 non-smoking female students of U university, which is located in Gyeongju-si. To review the Forward Head Posture (FHP) of each subject, CVA was measured, and FVC, FEV1, and FEF (25-75%) were measured and analyzed using a spirometer. Subjects were ordered to exhale three times with ease and then inhale up to their total lung capacity. After then, they were requested to exhale longer than six seconds. Then the inspiration and expiration were repeated. The measurement was executed in three positions, including supine, prone, and sitting. In each position the measurement was repeated twice, and a one-minute break was given between each cycle, so it was measured six times in total. SPSS 14.0 for Windows was used to analyze the data. The subjects' general properties were analyzed using descriptive statistics, and the correlation between the angle and the respiration variable result in each position was analyzed. The result of the respiration variable in each position was analyzed using the one-way ANOVA, and then a Scheffe post-hoc comparison was executed. Results: According to the analysis result of the correlation between the angle and respiration variable in each position, the sitting position and FEF (25-75%) showed a positive correlation (P<0.05). The respiration variable in each position showed a significant difference in FVC (p<0.05), and the Scheffe post-hoc comparison differed in prone and sitting positions. Conclusion: To increase the FVC of FHP patients, different exercises for each position can be applied, and the result of this study can be utilized as background data for further research.

• Journal of Positioning, Navigation, and Timing
• /
• 제6권1호
• /
• pp.17-26
• /
• 2017

Latency occurs in RTK, where the measured position actually outputs past position when compared to the measured time. This latency has an adverse effect on the navigation accuracy. In the present study, a system that estimates the latency of RTK and compensates the position error induced by the latency was implemented. To estimate the latency, the speed obtained from an odometer and the speed calculated from the position change of RTK were used. The latency was estimated with a modified correlator where the speed from odometer is shifted by a sample until to find best fit with speed from RTK. To compensate the position error induced by the latency, the current position was calculated from the speed and heading of RTK. To evaluate the performance of the implemented method, the data obtained from an actual vehicle was applied to the implemented system. The results of the experiment showed that the latency could be estimated with an error of less than 12 ms. The minimum data acquisition time for the stable estimation of the latency was up to 55 seconds. In addition, when the position was compensated based on the estimated latency, the position error decreased by at least 53.6% compared with that before the compensation.

• 한국방사선학회논문지
• /
• 제6권4호
• /
• pp.299-303
• /
• 2012

자기공명 관절 조영술(Shoulder MR Arthrography)는 견관절(Shoulder joint) 의 복잡한 해부학적 구조에 관하여 정확한 영상평가를 진단하기 위해 시행 한다. 우리는 어께 상완골(Shoulder humerus) 의 다양한 position인 Neutral position, Internal rotation position, External rotation position 에 관하여 Shoulder joint의 해부학 적인 회전 변화가 견관절 자기공명(Shoulder MRI) 영상에 어떤 진단적 결과를 가져오는가에 대해 상호 비교 하였다. 또한 환자의 정확한 촬영자세 유지를 위해 촬영 보조기구를 만들었다. 이 보조기구는 Modeling 설계에 의해 우리가 직접 제작한 자기공명 견관절 조영술 보조 기구이다. 이 보조기구를 사용하여 촬영한 결과 다음과 같은 결론을 도출해 내었다. External rotation position 에 의한 Shoulder MRArthrography 검사가 Shoulder joint의 중요 해부학적 구조인 Biceps tendon, Supera-spiatus tendon, Sub-scapularis tendon, Labrum, Sub-acromial space 의 해부학적 평가에서 제일 적합하다는 진단적 평가를 얻었다.

• 핵의학기술
• /
• 제14권2호
• /
• pp.93-99
• /
• 2010

위암 환자의 PET/CT검사 시에 전신 검사를 한 후 물을 약 300 mL 정도 마시게 한 후 환자의 위가 위치한 부분을 추가적으로 검사를 진행하고 있다. 이는 오랜 금식으로 인해 위의 위-아래 위벽이 붙어있어 진단에 어려움이 있기에 물을 마시게 함으로써 위벽을 팽창시켜 진단의 효율을 높이기 위함이다. 검사 시에 보통 환자의 자세는 앙와위즉, 바르게 누운 자세에서 검사가 이루어지고 있다. 본 연구에서는 같은양의 물을 먹이고 복와위 즉, 바르게 엎드린 자세에서 촬영하여 앙와위에서 촬영 시와 위 체부의 용적의 팽창 정도를 비교하고, 이를 바탕으로 위의 구조상 하단부에 위치한 유문부와 위의 아래쪽 병변에 대한 정확한 위치와 진단의 효율을 높이고자 한다. 또한, 두 자세의 검사 영상을 비교하여 위의 용적의 차이를 수치화 시키고, 표준화 섭취계수의 변화가 있는지의 여부를 알아보고자 한다. 본원에서 2009년 7월-2010년 1월까지 조기 위암과 진행성 위암을 진단 받고, 수술을 하기 전의 환자와 부분절제를 한 후 추적 검사를 하고 있는 30명을 대상으로 하였다. 검사를 위해 환자에게 $^{18}F$-FDG 7.4 MBq(0.2 mCi/kg)을 정맥주사하고 60분간 누운 자세로 안정을 취하도록 하였다. 검사 시작 전 물을 300 mL 마시게 한 후 먼저 환자를 앙와위로 눕히고 위 부분을 PET/CT 촬영하고, 전신 촬영 한 후 환자에게 다시 물을 300 mL 마시게 한 후 복와위로 눕히고 위 부분을 PET/CT 촬영하였다. 위 체부의 용적을 앙와위와 복와위에서 비교해본 결과 30명의 환자에서 앙와위 평균 위 체부의 용적은 460.29 $mm^2$이고, 복와위 평균 위 체부의 용적은 641.39 $mm^2$로 평균적으로 약 41.3%확장된 것으로 나타났다. 그리고, 앙와위와 복와위에서 위 종양의 최대 표준화 섭취 계수를 각각의 환자에게서 비교해 보았을 때 거의 차이가 없는 것으로 나타났다. 위의 결과로 보았을 때 앙와위 검사보다 복와위에서 환자의 검사가 위 체부의 용적이 보다 더 확장된다는 것을 알 수 있었다. 또한 표준화 섭취 계수의 변화가 없는 것으로 나타났기 때문에 앙와위에서의 판독 결과와 다르지 않다는 것을 보여주고 있다. 거동이 불편한 환자에게는 복와위 추가 촬영이 어렵겠지만, 앙와위 추가 촬영과 더불어 복와위 추가 촬영을 한다면 위암환자의 진단에 많은 도움이 되리라 생각되고, 거동이 불편한 환자에게 사용할 수 있는 복와위 에서의 보조용구의 연구에도 도움이 되리라 사료된다.

• 대한치과교정학회지
• /
• 제42권6호
• /
• pp.318-328
• /
• 2012

Objective: To assess the position and movements of the hyoid bone during deglutition in patients with open bite. Methods: Thirty-six subjects were divided into 2 groups according to the presence of anterior open bite. The open bite group (OBG) and control group each comprised 18 patients with a mean overbite of $-4.9{\pm}1.9$ mm and $1.9{\pm}0.7$ mm. The position of the hyoid bone during the 4 stages of deglutition was evaluated by measuring vertical and horizontal movement of the bone. Results: Interactions of group and stage showed no significant effect on the measurements (p > 0.05). However, when group and stage were evaluated individually, they showed significant effects on the measurements (p < 0.001). In OBG, the hyoid bone was more inferiorly and posteriorly positioned, and this position continued during the deglutition stages. Conclusions: The hyoid bone reaches the maximum anterior position at the oral stage and maximum superior position at the pharyngeal stage during deglutition. Open bite does not change the displacement pattern of the bone during deglutition. The hyoid bone is positioned more inferiorly and posteriorly in patients with open bite because of released tension on the suprahyoid muscles.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 추계학술대회
• /
• pp.708-713
• /
• 2004

This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.

• Journal of Electrical Engineering and Technology
• /
• 제8권5호
• /
• pp.1056-1061
• /
• 2013

The widely used motors in HEV(Hybrid Electric Vehicles) are IPMSM(Interior Permanent Magnet Synchronous Motor) which has no rotor heat, higher efficiency and advantageous in volume and weight comparing with other motors. For vector control of IPMSM, position information of rotor is required but Resolver is mainly used as the detecting sensor. However, the use of position sensors will reduce the system reliability of hybrid electric vehicles. In this paper, a way to control the motor by sensorless was proposed at the event of sensor failure. We also implemented IPMSM sensorless operation by the expanded EMF(Electro Motive Force) voltage way and harmonic voltage which is applying in the low speed area. And we proposed how to change with sensorless control by detecting the position sensors failure and verified it through experiments.