• 전자공학회논문지SC
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• 제40권5호
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• pp.308-316
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• 2003

이 논문은 퍼지 시스템을 기반으로 하여 이동로봇의 제적제어에 대하여 기술한다. 기존의 백스텝핑 (back-stepping) 제어기는 이동로봇의 동역학과 기구학을 모두 포함하여 제어기를 구성하였다. 그러나 기존의 back-stepping 제어기는 기구학적 제어기에서 생성되는 속도 명령에 의해서 많은 영향을 받는다. 기존의 back-stepping 제어기의 성능을 증가 시키기 위해서 본 논문에서는 비선형 제이기로 많이 사용되고 있는 퍼지 시스템을 사용하였다. 본 논문에서는 back-stepping 제어기의 새로운 속도명령을 퍼지 추론을 통하여 생성하였다. 퍼지 규칙은 기구학적 제어기의 개인을 설정하기 위해서 설정하였으며, 퍼지 추론을 통하여 새로 생성된 속도명령은 기준명령의 변화를 고려하여 생성되었다. 그리고 수치실험을 통하여 기존의 back-stepping 제어기 보다 제안된 방법이 우수함을 증명하였다.

• 전기의세계
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• 제31권1호
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• pp.68-73
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• 1982

An accurate mathematical model of permanent magnet stepping motor is proposed. On the basis of this model, micro-stepping control is experimented. A comparison is made between the Data experimented by micro-stepping control and the data predicted by the proposed model and by Leenhouts' earlier model. The result shows that the proposed model is more accurate than the earlier model, and micro-stepping can be attained by dividing a given step electrically, without adding much complexity to the control circuit, or degrading the speed of stepping motors.

• 제어로봇시스템학회논문지
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• 제9권6호
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• pp.466-472
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• 2003

This paper describes a tracking control for the mobile robot based on fuzzy systems. Since the mobile robot has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile robot. One of the well-known tracking controllers for the mobile robot is the back-stepping controller. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot. The conventional back-stepping controller is affected by the derived velocity reference by a kinematic controller. To improve the performance of the conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. The new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. Simulation results show that the proposed controller is more robust than the conventional back-stepping controller.

• 한국소음진동공학회논문집
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• 제15권4호
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• pp.499-505
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• 2005

In this paper, a new type of pi+ezoelectric stepping motor is designed, manufactured and tested. This motor is composed of piezoelectric torsional actuator and a pair of one-way clutch bearings. The torsional actuator consists of 16-polygonal tube of piezoceramic that can produce an angular displacement associated with shear mode. One-way clutch bearing converts oscillation of torsional actuator into a continuous stepping rotation. The proposed stepping motor does not require any conversion mechanism for stepping motion like any other motors. In the design process, the shear resonance mode of piezoelectric actuator is analyzed by using a commercial finite element analysis program, and the performance of the fabricated torsional actuator is measured. $0.124^{\circ}$ of maximum angular displacement is measured in square wave excitation on the actuator only. The stepping motor is manufactured by assembling a pair of one-way clutch bearings and the torsional actuator. The maximum rotation speed of 72rpm and the blocking torque of 3.136 mNm are measured at 3540 Hz and 100V/mm. Once the proposed piezoelectric stepping motor is miniaturized, it can be used for many compact and precise moving applications.

• 턱관절균형의학회지
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• 제4권1호
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• pp.5-7
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• 2014

Objectives: Neurological examination on balance function is widely applied in clinical practice. Balance function may be clinically relevant to an assessment of yinyang balance in such therapies as temporomandibular joint balancing medicine. Fukuda stepping test is a relatively not-well-known method of balance function test. This study reviewed the procedures and criteria of Fukuda stepping test. Method: Recent articles on Fukuda stepping test were searched in public database (Pubmed, Proquest) and reviewed for its procedures and clinical implications. Results: Fukuda stepping test adopts 50 steps or 100 steps with subsequent assessment of the deviation or displacement of the subject. It may not be reliable during acute phase. Conclusion: Fukuda stepping test may be utilized and be further developed to assess balance function in the neurological management of functions.

• 대한기계학회논문집B
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• 제21권12호
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• pp.1624-1634
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• 1997

A numerical study on two-dimensional unsteady transonic cascade flow has been performed by adopting dual time stepping and the k-.omega. turbulence model. An explicit 4 stage Runge-Kutta scheme for the compressible Navier-Stokes equations and an implicit Gauss-Seidel iteration scheme for the k-.omega. turbulence model are proposed for fictitious time stepping. This mixed time stepping scheme ensures the stability of numerical computation and exhibits a good convergence property with less computation time. Typical steady-state convergence accelerating schemes such as local time stepping, residual smoothing and multigrid combined with dual time stepping shows good convergence properties. Numerical results are presented for unsteady laminar flow past a cylinder and turbulent shock buffeting problem for bicircular arc cascade flow is discussed.

• 대한통합의학회지
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• 제12권3호
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• pp.155-161
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• 2024

Purpose : Wearing high-heeled shoes leads to foot and ankle instability, which requires leg muscles to remain in constant contraction. In order to adapt to the instability of the feet and ankles caused by wearing high heels, the muscles of the legs continuously repeat contraction and relaxation. Previous studies of the impact of stair climbing in high-heeled shoes have involved placing the entire stepping area of the shoe on the stair. However, high-heeled shoe wearers sometimes unconsciously contact the stair using only half of the stepping area. Therefore, the objective of this study was to examine differences in leg and ankle muscle activation according to stepping area during stair climbing in high-heeled shoes. Methods : Twenty young women in their early 20s voluntarily agreed to participate in this study. We used surface electromyography to measure gastrocnemius and tibialis anterior activation in the right leg during stair climbing under three conditions: barefoot, using half of high-heeled shoe stepping area, and using the total of high-heeled shoe stepping area. Barefoot, half of high heeled shoe, and total of high-heeled shoe were used to evaluate the effects of different areas of the foot or high heels touching the stairs. Results : Both muscles showed significant activity differences among the three stair climbing conditions. Gastrocnemius activity was significantly different between the high-heeled shoe conditions (p= .032), and tibialis anterior activity was significantly different between barefoot stair climbing and climbing with half of the high-heeled shoe stepping area (p= .021). Conclusion : The stepping area increased as heel size increased, thus increasing excessive gastrocnemius and tibialis anterior activity to control excessive ankle joint movement. We infer that using half of the high-heeled shoe stepping area prevents muscle fatigue by reducing excessive leg and ankle muscle activation.

• 한국공작기계학회논문집
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• 제14권3호
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• pp.23-31
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• 2005

The purpose of this study is to design a disturbance observer for a micro-stepping stage to eliminate the disturbances from cables, friction, mass unbalance of the moving part, etc. The disturbance observer is designed for air-floating X-Y precision micro-stepping X-Y stage which widely used in stepper machine or semiconductor manufacturing systems. The micro-stepping X-Y stage has a weak point of the variation of characteristics with position locations, which caused by various disturbances. In this study, it will be described that a simple and high throughput disturbance observer algorithm improves the dynamic error and settling time of the micro-stepping stage.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권5호
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• pp.358-363
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• 2000

In this paper, a voltage equations, a thrust force equations and kinetic equation are derived from the basic structure of a 2-phase hybrid type linear stepping motor(HLSM). And a micro-stepping method in order to eliminate effectively the resonant phenomena and to increase the positional resolution of the HLSM was proposed. The proposed micro-stepping method can divide one step into the maximum 128 micro-steps under simple control system. The dynamic characteristics of proposed micro-stepping method were analyzed by the ACSL(Advanced Continuous Simulation Language) with the voltage equations, the thrust force equations and the kinetic equation, and were measured by laser experimental system. As the result, the justice of theory was confirmed, and the resonant phenomena, the positional resolution and dynamic thrust were improved by the proposed micro-stepping method.