• 대한기계학회논문집A
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• 제33권8호
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• pp.832-841
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• 2009

Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index $I_{WTC}$ and $I_{ATC}$ were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. $I_{WTC}$ model and $I_{ATC}$ model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.

• 대한한방내과학회지
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• 제27권2호
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• pp.500-509
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• 2006

Objectives: We performed this study to check the effect of Cold-Heat attribute analyzed quantitatively by questionnaire on halitosis patient. Methods: We made a questionnaire composed of 15 items(6 categories) about the contents of Cold-Heat and asked 105 subjects to answer in the form Likert-like seven-points score. And then, we extracted Cold-Heat attribute from 15 items, 6 categories, 6 weighted categories, heat score and cold score. On the other hand we measured the halimeter measurements. VAS, winkle tongue coating index. Afterward, the data were analyzed by statistical methods. Results:1) In the 15 items, question number 6, 7, 8 is negative correlated with halimeter measurements. Question number10 is positive correlated with halimeter measurements. And question number 11, 12, 14 is positive correlated with VAS. 2) In the 6 categories, constipation is negative correlated with halimeter measurements. Chill is positive correlated with VAS. And Cold-limbs is positive correlated with halimeter measurements. 3) In the 6 weighted score categories, constipation is negative correlated with halimeter measurements. Chill is positive correlated with VAS. And Cold-limbs is positive correlated with halimeter measurements. Conclusions: Further clinical research is necessary in the development of the questionnaire's items. And to get the better of this study, we should research more analytic method made casual relationship clear between Cold-Heat attributes and the index of halitosis.