• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.472-474
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• 1994

A new integral variable structure system without the reaching phase problems is presented for the prescribed control of the BLDDSM under load variation and parameter uncertainties. The control technique can yields the complete robustness of initially prescribed output dynamics in the sliding surface against the modeling errors. The comparative simulation and experiment studies of the BLDDSM position control are carried out in comparison with two previous algorithms.

• 한국정밀공학회지
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• 제17권7호
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• pp.196-202
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• 2000

In the precision point synthesis of mechanisms, it is usually required to solve a system of polynomial equations. With the aid of efficient algorithms such as elimination, it is possible to obtain all the solutions of the equations in the complex domain. But among these solutions only real values can be used fur real mechanisms, while imaginary ones are liable to be discarded. In this article, a method is presented, which leads the imaginary solutions to real domain permitting slight alteration of prescribed positions and eventually increases the number of feasible mechanisms satisfying the desired motion approximately. Two synthesis problems of planar 4-bar path generation and spatial 7-bar motion generation are given to verify the proposed method.

• 한국임상약학회지
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• 제29권3호
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• pp.209-214
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• 2019

Doxycycline is frequently prescribed to treat urogenital infections or acne vulgaris. A 39-year-old man was prescribed doxycycline as a treatment for his skin infection. He took each tablet on an empty stomach in the morning, and just before going to bed with insufficient water. After taking the prescribed medication for approximately 3 weeks, he was diagnosed with esophageal ulcer. He had not experienced these symptoms before, and the drug label says that doxycycline rarely causes esophageal ulcer. After discontinuing the medication, the symptoms disappeared. Using the World Health Organization-Uppsala Monitoring Center criteria, the causality for doxycycline-induced esophageal ulcer was evaluated as "possible." Additionally, using the Naranjo scale and Korean causality assessment algorithm (Ver. 2), the causality was evaluated as "probable." Previous reports have stated that most patients who took doxycycline with insufficient water just before going to bed or in the supine position developed esophageal ulcer. Therefore, all patients taking doxycycline must be provided with detailed instructions about the appropriate administration methods.

• 소음진동
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• 제6권5호
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.50-57
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• 2007

In this paper, two types of novel planar Translational Parallel Manipulators (TPMs) by using parallelogram mechanism are conceived. One is made up of two Pa-P (Parallelogram-Prismatic) legs connecting the base to the moving platform. The other consists of two P-Pa legs, which is the kinematic inversion of the former. Since connecting links in a parallelogram mechanism are subject to only tensile/compressive load and all the heavy actuators are mounted at the base, the proposed manipulators can be applied for planar positioning/assembly tasks requiring high stiffness and high speed. The position, velocity, and statics are analyzed, and the design methodology using prescribed workspace and velocity transmission capability is presented. Finally, two types of prototype manipulators have been developed.

• The Journal of Korean Physical Therapy
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• 제16권2호
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• pp.99-107
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• 2004

The purpose of this study was to investigate the effect of foot orthotic on postural sway. Subjects were 15 patients(7 men and 8 women) who prescribed foot orthotic at B hospital and L rehabilitation medicine clinic in Seoul. Postural sway during a single limb stance was measured using the CMS 10 Measuring System when subjects positioned on the balance trainer under two treatment conditions(orthotic and nonorthotic). RCSP(resting calcaneal stance position) while subjects were standing on the glass plate was measured using the angle finder after subjects were positioned in prone to divide equally lower leg and calcaneus using the goniometer. The result was as follows. There were significant difference between postural sway of orthotic and nonorthotic conditions(t=4.888, 4.589, p<0.001), and the leg of the small RCSP within a subject has the small postural sway index($x^2=26.000$, p<0.001). In conclusion, foot orthotics provide structural support for detecting and controlling postural sway in patients prescribed foot orthotics.

• Spatial Information Research
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• 제9권2호
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• pp.263-275
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• 2001

NGIS 사업으로 구축된 1/1,000 수치지도의 활용이 급증하면서 이를 활용하기에 앞서 수치지도의 위치정확도 검증이라는 문제가 대두되고 있다. 본 연구에서는 학교 시설물관리시스템 구축에 기반이 되는 소규모 지역에 대한 1/1,000 수치지도의 위치 정확도를 평가하고, 위치오차가 발생한 지역에 대한 수치지도 수정/갱신 방안을 제시하였다. RTK방법으로 교내 주요건물에 대한 위치오차를 평가해 볼 때, 측량관계법령에서 규정하고 있는 0.5mm 보다 크게 나타났다. 이에 대한 위치정확도 확보방안으로 먼저, 교내에 Static 측량을 실시하여 측량기준점을 선정한 후 기준점으로부터 주요건물에 대한 좌표값을 평가하여 RTK 방법으로 측량한 좌표값과 비교하였다. 두 번째로는 지도를 변환하였으며 그 결과를 RTK 측량성과와 비교하였다. 첫 번째 방법과 두 번째 방법을 검토하여 소규모 적합한 수치지도 위치정확도 확보방안을 제시하였다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2011년도 전력전자학술대회
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• pp.569-570
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• 2011

In this paper, position control method using improved sliding mode controller for SPMSM in elevator system is proposed. Since the improved sliding mode controller has a feature following prescribed sliding trajectory, it is robust in parameter fluctuation and able to minimize the over shoot. The controller is judged sutiable for the drive system of elevators on the basis of PSIM simulations.

• 한국컴퓨터정보학회논문지
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• 제24권11호
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• pp.119-126
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• 2019

부분역최적화는 역최적화의 흥미로운 변형으로, 주어진 최적화문제와 그 문제의 부분해가 주어지면 이 부분해가 최적해에 포함되도록 문제를 최소한으로 수정하는 문제이다. 이 논문은 라인위에서 정의되는 순환외판원문제(TSP)를 다루는데, 이는 배달시스템, 창고 선반에서 물건을 수집하는 것, 등의 많은 응용을 가진다. 라인 위에서 위치하는 n개의 일이 주어지고 이 중 연속적으로 처리해야하는 일 k개가 부분적으로 주어진다. 각각의 일은 라인 위의 특정 장소에 위치하고 라인을 움직이는 서버에 의해 처리되어야 한다. 우리의 임무는 k개의 일이 최적해에서 연속적으로 처리되도록 n개의 일의 위치를 라인 위에서 최소한으로 조정하는 것이다. 이 논문에서 이 문제와 이 문제의 다양한 변종을 다항시간 내에 푸는 알고리즘을 개발한다. 구체적으로, 서버가 특정한 Forward Trip이라는 특정한 내부 알고리즘을 사용하는 경우와 일반적인 최적 알고리즘을 사용하는 경우에 대한 부분역최적화를 다룬다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.