• 동의신경정신과학회지
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• 제29권3호
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• pp.121-134
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• 2018

Objectives: The purpose of this in vivo study is to observe anti-amnesic effects of Yeongkyekamjotanggayonggolmoryo (YGYM), a novel mixed herbal prescription, Ossis Mastodi and Ostreae Testa added Yeongkyekamjo-tang, on scopolamine induced amnesia in C57BL/6 mice through acetylcholine (ACh) and acetylcholinesterase (AChE) activity, Choline acetyltransferase (ChAT) mRNA expression, and antioxidant effects. Methods: Six groups, total 20 intact or 100 Sco treated mice were used in this study after one week of acclimatization period. Half the animals were used for passive avoidance task tests and hippocampus ACh content, AChE activity, and ChAT mRNA expression were measured. The other half was subjected to an underwater maze test and then the cerebral cortex antioxidant defense system was measured. Results: In the passive avoidance experiment, there was significant decrease in residence time in the bright room and in the underwater maze test, escape latency to escape from the esophagus significantly increased compared with the normal control group. At the final sacrifice, ACh content and ChAT mRNA expression decreased, AChE activity increased, and cerebral cortical MDA increased GSH content, SOD and CAT activity in Sco control mice, as compared to intact vehicle control mice. However, these Sco treatment-related memory loss through AChE activation destroyed the cerebral cortex antioxidant defense system, and was inhibited dose-dependently by 28 days consecutive oral pretreatments of YGYM extracts 500, 250, 125 mg/kg. Conclusions: In the above results, YGYM extract that oral administration of YGYM extracts alleviates the antioxidant defense system, through preservation of ACh mediated by upregulation of ChAT mRNA expression, and increase of AChE inhibition and brain antioxidant defense systems.

• 한국정보통신학회논문지
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• 제22권1호
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• pp.131-139
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• 2018

최근 4차 혁명과 연계하여 많은 선박 분야의 연구들이 수행되고 있으며, 그 중 하나로 에너지 관리시스템 (EMS: Energy Management System)이 관심을 받고 있다. 에너지 관리시스템은 선박의 에너지를 관리하기 위한 시스템을 통칭하며, 다양한 시스템을 포함한다. 본 논문에서는 선박에서의 에너지 절감 분야를 분석하고, 기관실에서 에너지 절감이 가능한 개별 부하 제어 시스템을 포함한 선박 전력 에너지 관리 시스템을 제안한다. 제안하는 EMS는 PCS (Pump Control System), ERFCS (Engine Room Fan Control System), LCS (Load Control System), HVACS (Heating, Ventilation, Air conditioning Control System)의 개별 부하 제어 시스템을 포함한다. 1차적으로, 제안하는 EMS는 기관실의 개별적인 부하 시스템에서 에너지를 절감한다. 2차적으로는 통합 모니터링 및 제어 시스템을 통해 발전 시스템과 전력 부하 시스템을 적절히 제어하여 에너지를 절감한다.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.8-14
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• 2012

"Throttle-by-Wire" is an electronic throttle system in which mechanical cables and hydraulics are replaced by a fieldbus network, electric motors and sensors. It is crucial for an electronic throttle to design a controller that can offer an accurate and fast reference tracking performance in the presence of nonlinearities, such as friction in the gearbox and "limp-home" nonlinearity. This paper presents a nonlinear dynamic inversion based control algorithm for electronic throttle systems. Using the proposed method, the specified control performance can be achieved by canceling inherent nonlinear characteristics of the electronic throttle system. The control performance is investigated through a set of simulation results.

• 한국음향학회지
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• 제23권2호
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• pp.117-124
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• 2004

본 논문에서는 수중에서 영상정보를 초음파를 이용하여 전송하기 위한 QPSK (Quadrature Phase Shift Keying) 방식의 수중영상 정보전송 시스템을 DSP (Digital Signal Processor)를 이용하여 구현하였다. 본 논문에서는 영상 데이터를 실시간으로 송수신하기 위하여 송수신기에 사용된 복수 개의 DSP프로세서를 BDPA (Block Data Parallel Architecture) 구조를 이용하여 병렬처리 하였다. 장비의 운용 및 실시간 디버깅을 위한 소프트웨어를 GUI (Graphic User Interface) 방식으로 구현하였다. 또한. 본 논문에서 구현한 수중영상 정보 전송 시스템의 성능을 검증하기 위하여 강원도 동해 앞바다에서 실해역 실험을 수행하여 수중 30m와 80m 지점에서 센서간 거리 20 m에서 10 kbps의 영상정보 전송이 가능함을 확인할 수 있었다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 추계학술대회
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• pp.701-704
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• 2010

무인잠수정의 자율 운항기술을 연구함에 있어 가장 근본적인 기술 중의 하나가 소나를 이용해 실시간으로 획득되는 해저지형이나 장애물에 대한 정보를 이용하여 임무수행을 위한 3차원 경로계획을 수립하는 것이라 할 수 있다. 무인잠수정의 3차원 경로계획은 장애물 회피 제어기술을 기반으로 유도제어, 동역학 모델, 해양환경 및 탐지소나 모델 등이 다양하게 고려되기 때문에, 경로계획을 연구 개발함에 있어 알고리즘을 검증하기 위한 시뮬레이션 시스템이 필요하다. 본 논문에서 개발한 시뮬레이션 시스템은 다양한 해양환경을 설정할 수 있고, 설정된 장애물들을 회피하여 경유지를 지나 목적지까지 이동하는 무인잠수정을 C++와 OpenGL을 이용하여 가시화함으로써 3차원 경로계획 알고리즘을 검증할 수 있다. 또한 어떠한 개발환경에서 연구된 무인잠수정의 경로계획 알고리즘도 검증할 수 있는 범용성을 제공한다.

• IEIE Transactions on Smart Processing and Computing
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• 제5권6호
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• 대한임상전기생리학회지
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• 제8권1호
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• pp.43-50
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• 2010

Purpose : The objective of this study is to effect of an aquatic rotation control and obstacle avoidance when conducted underwater on hemiplegia patient's balance ability and vestibular function. Methods : Twelve hemiplegia patients participated and were randomly assigned to a control group(I) with standard physical therapy and an aquatic group(II) with an aquatic rotation control, obstacle avoidance and standard physical therapy as well. The aquatic group trained using a Halliwick rotation control and obstacle avoidance through 3 times per week over 6 weeks. For all subjects, vestibular function, their balance, the change of electrooculogram (EOG), the change of accelerometer axis and torsiometer according to visual sense, vestibular sense with galvanic vestibular stimulation (GVS) or not during leg close stance were measured. Results : The EOG in the vertical and horizontal (p<0.05) were both significantly lowered. The change was significantly lower in the trajectory range of motion of trunk and spine with torsiometer when leg close stand (p<0.01) and leg close stand with GVS (p<0.01). The centre of gravity accelerated, there were reduced significantly difference X and Y axis of accelerometer during the closing of the leg without vision (p<0.05). There were reduced significantly difference X and Z axis of accelerometer during the closing of the leg with GVS (p<0.05). There were reduced significantly difference X and Z axis of accelerometer during the closing of the leg and close eyes with GVS (p<0.05). Conclusion : The balance ability, vestibular system and postural control is improved.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.584-591
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• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• 대한물리의학회지
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• 제13권1호
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• pp.89-98
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• 2018

PURPOSE: While underwater, patients with hemiplegia experience unwanted limb flotation on their paretic side due to low muscle mass and high body fat. However, only a limited number of studies support the effectiveness of this practice. Therefore, the purpose of this study was to determine how the balance and walking abilities of patients with hemiplegia due to stroke were affected by wearing an aquatic cuff on their ankles during underwater treadmill walking. METHODS: Twenty stroke patients were divided into an experimental group comprised of 20 patients who would wear an aquatic cuff and a control group comprised of 10 patients without an aquatic cuff. Both groups underwent a six-week intervention for 30 minutes a day three times a week. To evaluate the groups' balance and walking abilities before and after the intervention, the 10 m walking test, timed up go test, Berg Balance Scale, functional reaching test, and the GAITRite system were used. RESULTS: The results of the 10 m walking test, timed up go test, differences between the left and right gait cycles, and functional reaching test showed statistically significant differences in the rates of change between the two groups (p<.05). CONCLUSION: The study results suggest that underwater treadmill training in stroke patients can be more effective when they wear an aquatic cuff on their ankles compared to wearing no aquatic cuff.

• 한국항해항만학회지
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• 제36권1호
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• pp.35-41
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• 2012

본 논문은 수중체용 냉각 시스템에 관하여 분석하고, 수중체에 최적화된 냉각 제어 알고리즘에 관하여 연구하였다. 수중체용 대용량 추진 전동기는 동손 및 철손으로 인해 발생하는 고열로부터 전동기를 안정적으로 보호하기 위해 청수를 이용한 냉각 시스템이 사용된다. 이 냉각 시스템은 전동기의 온도를 유지하기 위해 외부 환경 및 전동기의 회전수 유지시간에 따라 해수 및 청수 펌프 RPM을 조절한다. 본 논문에서는 제안하는 냉각 시스템의 검증을 위한 시뮬레이션 프로그램을 구성하였으며, 다양한 제어 기법을 적용하여 냉각 수행 능력을 검증하였다. 그 결과 제안하는 냉각 알고리즘은 열적 안정성과 효율이 기존 냉각 알고리즘에 비해 높음을 확인하였다.