• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.980-983
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• 1996

This paper presents the method of determining state feedback gains of XPTOS for disk drive servomechanism based BESSEL filter prototype. A typical disk drive actuator can be modeled as second order dynamics for low frequencies. However, the response at higher frequencies shows resonant behavior which cannot be easily modeled. XPTOS consists of the nonlinear control region and the linear control region. In the linear control region, the poles of a second order nominal model of plant must be properly relocated by pole placement technique to attenuate resonant modes at high frequency and to attain minimum time state transition. It is difficult to select position to satisfy this object because velocity feedback gain is subjected to position feedback gain in XPTOS. Here poles of BESSEL filter prototype are selected to determine state feedback gains of XPTOS. Simulation results for disk drive servomechanism using XPTOS having state feedback gains by the proposed method are presented.

• Physical Therapy Rehabilitation Science
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• 제12권3호
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• pp.320-326
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• 2023

Objective: The purpose of this study is to investigate the impact of visual biofeedback methods utilizing pressure sensors on the static balance of stroke patients. Design: Randomized crossover study. Methods: A total of 27 patients with hemiparesis participated in this study. The following three feedback conditions were considered: condition 1 (Knowledge of performance feedback), condition 2 (Knowledge of result feedback), and condition 3 (None feedback). A force plate was used to measure static balance. The total sway length, average sway velocity, x-axis excursion, and y-axis excursion of the center of pressure were measured. One-way repeated-measures analysis of variance was employed for comparisons of variables between each condition. The statistical significance level was set at α = 0.05 for all analyses. Results: There was a significant difference in the static balance results between each feedback condition (p<0.05). In the post-hoc results, it was confirmed that the static balance was significant in the order of knowledge of performance feedback, knowledge of result feedback, and none feedback. Conclusions: When comparing the three conditions, it was observed that knowledge of performance feedback showed the most improved effect on static balance ability. As further research progresses, that this approach could be used as an effective intervention method in clinical settings.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.442-448
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• 2008

This paper presents an approach to define an optimal piezoactuator length to actively control structural vibration. The optimal ratio of the piezoactuator length against beam length when a pair of piezoceramic actuator and accelerometer is used to suppress unwanted vibration with direct velocity feedback (DVFB) control strategy is not clearly defined so far. It is well known that direct velocity feedback (DVFB) control can be very useful when a pair of sensor and actuator is collocated on structures with a high gain and excellent stability. It is considered that three different collocated pairs of piezoelectric actuators (20, 50 and 100 mm) and accelerometers installed on three identical clamped-clamped beams (300 * 20 * 1 mm). The response of each sensor-actuator pair requires strictly positive real (SPR) property to apply a high feedback gain. However the length of the piezoactuator affects SPR property of the sensor-actuator response. Intensive simulation and experiment shows the effect of the actuator length variation is strongly related with the frequency range of SPR property. A shorter actuator gave a wider SPR frequency range as a longer one had a narrower range. The shorter actuator showed limited control performance in spite of a higher gain was applied because the actuation force was relatively small. Thus an optimal length ratio (actuator length/beam length) was suggested to obtain relevant performance with good stability with DVFB strategy. The result of this investigation could give important information in the design of active control system to suppress unwanted vibration of smart structures with piezoelectric actuators and accelerometers.

• The Journal of Korean Physical Therapy
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• 제29권2호
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• pp.74-79
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• 2017

Purpose: The purpose of this study was to compare the effects of the FES-gait with augmented feedback training to the FES alone on the gait and functional performance in individuals with chronic stroke. Methods: This study used a pretest and posttest randomized control design. The subjects who signed the agreement were randomly divided into 12 experimental groups and 12 control groups. The experimental groups performed two types of augmented feedback training (knowledge of performance and knowledge of results) together with FES, and the control group performed FES on the TA and GM without augmented feedback and then walked for 30 minutes for 40 meters. Both the experimental groups and the control groups received training five times a week for four weeks. Results: The groups that received the FES with augmented feedback training significantly showed a greater improvement in single limb support (SLS) and gait velocity than the groups that received FES alone. In addition, timed up and go (TUG) test and six minute walk test (6MWT) showed a significant improvement in the groups that received FES with augmented feedback compared to the groups that received FES alone. Conclusion: Compared with the existing FES gait training, augmented feedback showed improvements in gait parameters, walking ability, and dynamic balance. The augmented feedback will be an important method that can provide motivation for motor learning to stroke patients.

• 재활복지공학회논문지
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• 제6권2호
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• pp.23-30
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• 2012

본 연구에서는 로드셀 센서를 활용하여 편바미 환자의 환측에 부하되는 체중부하에 따른 청각적 피드백을 적용한 대칭 보행유도와 보행패턴 분석이 가능한 무선 보행훈련 시스템을 개발하였다. 또한 개발된 시스템의 유효성을 검증하기 위해 정상인군 및 편마비군 대상자에게 수행한 임상실험을 진행하였으며, 각 대상군마다 피드백 적용 후 보행 속도와 체중 부하량, 그리고 보행 시 입각기비율과 분속수가 증가하였음을 확인하였다. 연구 결과를 토대로 편마비 환자 뿐만 아니라 대칭적 체중부하가 요구되는 다양한 하지 질환자들에 대한 임상실험을 확대하고 장기간 훈련의 효과를 관찰한다면, 본 연구에서 개발된 청각적 대칭 체중부하 피드백 보행 시스템은 다양한 패턴 분석과 함께 보행 향상을 위한 기기 적용이 가능할 것으로 기대된다.

• 전자공학회논문지SC
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• 제41권3호
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• pp.17-24
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• 2004

동일한 작업을 반복하여 수행하는 불확실한 로봇 시스템을 위한 P형 반복 학습 제어기를 제안한다. 제안된 반복 학습 제어기는 조인트 위치 오차로 구성되는 선형 피드백 제어기와 현재의 조인트 속도 오차로 갱신되는 피드포워드 및 피드백 학습 제어기로 구성된다. 반복 작업 동작이 계속 진행됨에 따라 조인트 위치와 속도 오차는 균일하게 0으로 수렴한다. 반복 횟수에 따라 변화하는 학습 이득을 채택함으로서 반복 횟수 영역에서 임의적으로 수렴 비율을 조절할 수 있는 조인트 위치, 속도 오차한계를 제시하고, 조인트 위치와 속도 오차는 그 한계 내에서 반복 횟수 영역에서 0으로 수렴한다. 기존의 P형 반복 학습 제어기와는 달리 제안된 반복 학습 제어 알고리즘은 학습 이득을 적절하게 설계함으로써 반복 횟수 영역에서 오차 수렴 비율의 분석과 조정을 가능하게 하는 장점이 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.368-373
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• 2003

This paper presents a study of low frequencies volume velocity vibration control of a smart panel in order to reduce sound transmission. A distributed piezoelectric quadratically shaped polyvinylidene fluoride (PVDF) polymer film is used as a uniform force actuator and an array of 4$\times$4 accelerometer is used as a volume velocity sensor for the implementation of a single-input single-output con rot system. The theoretical and experimental study of sensor-actuator frequency response function sho vs that this sensor-actuator arrangement provides a required strictly positive real frequency response function below about 900Hz. Direct velocity feedback could therefore be implemented with a limited gain which gives reductions of about 15㏈ in vibration level and about 8 ㏈ in acoustic power level at the (1, 1) mode of the smart Panel. It has been also shown that the shaping error of PVDF actuator could limit he stability and performance of the control system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.109-114
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• 2004

This paper presents a theoretical and experimental study of a non-collocated pair of piezopolymer PVDF sensor and piezoceramic PZT actuator, which are bonded on a cantilever beam, in order to suppress unwanted vibration at the tip of the beam. The PZT actuator patch was bonded near the clamped part and the PVDF sensor, which was triangularly shaped, was bonded on the other part of the beam. This is because the triangular PVDF sensor is known that it can detect the tip velocity of a cantilever beam. Because the arrangement of the sensor and actuator pair is not collocated and overlapped each other, the pair can avoid so called 'the in-plane coupling'. The test beam is made of aluminum with the dimension of $200\times20\times2mm$, and the two PZT5H actuators are both $20\times20\times1mm$ and bonded on the beam out-of-phase, and the PVDF sensor is $178mm\times6mm\times52{\mu}m$. Before control, the sensor-actuator frequency response function is confirmed to have a nice phase response without accumulation in a reasonable frequency range of up to 5000 Hz. Both the DVFB and displacement feedback strategies made the error signal from the tip velocity (or displacement) sensor is transmitted to a power amplifier to operate the PZT actuator (secondary source). Both the control methods attenuate the magnitude of the first two resonances in the error spectrum of about 6-7 dB.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.265-270
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• 2001

This study presents a feedback control methodology for suppression of the vortex shedding from a circular cylinder in a uniform flow. A rotational oscillation is applied as a controlled forcing and the lift coefficient ($C_L$) is used as a feedback signal. A feedback control concept is made based on the phase relation between the rotation velocity and $C_L$ at 'lock-on', The phase between the forcing and the vortex formation is changed $180^{\circ}$ from the phase of enhancing the lock-on state. This concept is examined by solving the Van del Pol equation. The results are satisfactory.

• 대한물리의학회지
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• 제7권4호
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• pp.493-500
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• 2012

PURPOSE: The purpose of this study was to investigate effect of self-controlled feedback on proprioception in elbow flexion. METHODS: Thirty young adult volunteered to participate and were randomly assigned to one of three groups (self-controlled, yoked, control). Power and velocity in elbow flexion was measured by PRIMUS RS (BTE Tech., Hanover, U.S.A). Statistical analysis was used multivariate ANOVA to know effect of self-controlled feedback on proprioception in elbow flexion. Post hoc was used Scheffe. RESULTS: In acquisition phase to practice effect, variable errors in self-controlled group was significantly low scored more than yoked and control group. In retention phase to learning effect, variable errors in self-controlled group was significantly low scored more than yoked and control group. CONCLUSION: Self-controlled feedback was more effective on movement control when the learner could make a decision about receiving feedback after the trial. This seems to support the view that self-controlled feedback benefits learning, because learners can make a decision about feedback based on their performance on a given trial.