• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.792-799
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• 2008

Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.

• 대한임상전기생리학회지
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• 제8권1호
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• pp.15-22
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• 2010

Purpose : This study examines the effects of pre-eccentric exercise and stretch ing to bicepsbrachii to prevent delayed onset muscle soreness and recovery of muscular function depending on the training intensity with 28 normal adults in their twenties. Methods : The subjects were divided into a control group, a group without any previous eccentric exercise, and a stretching group. Pre-eccentric exercise group conducted exercise with the intensity of 25% of maximal voluntary contraction. Pre-eccentric exercise and stretching was applied before to induce delayed onset muscle soreness and after, 24 hour post, 48 hour post, and 72 hour post. Measurements were conducted to examine pain and muscular function changes before, immediately after, and after inducing delayed onset muscle soreness. After inducing delayed onset muscle soreness, measurements were taken at the 24th hour, 48th hour, and 72nd hour. Results : The pre-eccentric exercise group and stretching group showed a significant difference from the control group by isometric contract ion power and mechanical pain threshold as a result of measuring delayed onset muscle soreness. Conclusion : From these results, electrical stimulation using presynaptic inhibition mechanism of transcutaneous electrical stimulation (TES) had positive effects for walking ability on inhibition of muscle tone in lower extremity. The motor level stimulation group experienced a more significant effect than the sensory level stimulation group. Therefore, the transcutaneous electrical stimulation (TES) is considered to be effective on walking ability increasing through inhibition of muscle tone in lower extremity for rehabilitation of post stroke hemiplegic patients.

• International Journal of Aeronautical and Space Sciences
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• 제15권3호
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• pp.258-266
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• 2014

We present a system for the real-time visual relative navigation of a fixed-wing unmanned aerial vehicle in a GPS-denied environment. An extended Kalman filter is used to construct a vision-aided navigation system by fusing the image processing results with barometer and inertial sensor measurements. Using a mean-shift object tracking algorithm, an onboard vision system provides pixel measurements to the navigation filter. The filter is slightly modified to deal with delayed measurements from the vision system. The image processing algorithm and the navigation filter are verified by flight tests. The results show that the proposed aerial system is able to maintain circling around a target without using GPS data.

• Corrosion Science and Technology
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• 제19권3호
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• pp.156-162
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• 2020

The objective of this study was to investigate delayed oxygen evolution and localized corrosion resistance of titanium alloys by performing potentiodynamic polarization, potentiostatic polarization, and Mott-Schottky measurements. Delayed oxygen evolution was compared among titanium alloys, 316 stainless steel, and platinum. Difference in delayed oxygen evolution between titanium alloys and other metals was attributed to specific surface characteristic of each metal. Delayed oxygen evolution of titanium alloys resulted from the predominant process of ionic conduction over electronic conduction. The effect of oxygen evolution on localized corrosion of titanium alloys was investigated using electrochemical critical localized corrosion temperature (E-CLCT) technique. Mott-Schottky measurement was performed to clarify the difference in film properties between titanium alloys and stainless steels. Titanium alloys were found to have much lower donor density than stainless steels by 1/28. These results indicate that delayed oxygen evolution has little influence on the concreteness of passive film and the resistance to localized corrosion of titanium alloys.

• 한방재활의학과학회지
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• 제23권2호
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• pp.63-72
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• 2013

Objectives : The aim of this study was to investigate difference of the effects of transcutaneous electrical nerve stimulation(TENS) with different frequencies in participants having delayed onset muscle soreness(DOMS). Methods : We recruited 36 healthy participants, but 3 of them were dropped out. They were randomly divided into 3groups : 3 Hz TENS(n=11), 100 Hz TENS(n=11) and sham TENS(n=11). DOMS of the both triceps surae muscle induced by repetitive concentric, ecentric exercise. The result measurements were pain perception(visual analogue scale, VAS), mechanical pain threshold(MPT) by pressure algometer, electrical contraction and fatigue by surface electromyography. The measurements were on first visit, before and after treatment except first. This study was prospective, randomized, controlled, single-blinded trial. Results : In 100 Hz TENS group, VAS was significantly decreased during whole session compared with 3 Hz and control group, and after each treatment, too. In 3 Hz TENS group, VAS was significantly decreased during whole session compared with control group, and after 2nd, 3rd treatment, too. In 100 Hz TENS group, MPT increased the most among 3 groups during whole session and after 1st treatment, but there were no statistical significances. Conclusions : Both 3 Hz and 100 Hz TENS improved delayed onset muscle soreness, but 100 Hz TENS group is more effective than 3 Hz TENS group.

• 운동영양학회지
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• 제16권1호
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• pp.43-50
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• 2012

This study was designed to investigate the effect of vibratory stimulation on recovery of muscle function from delayed onset muscle soreness (DOMS). Volunteers performed 3 set of 70 % maximal voluntary eccentric muscle contraction and induced DOMS. volunteers were allocated to one of three treatment group after DOMS : group I (control), group II (ultrasound), group III (vibration). Maximal Voluntary Isometric Contraction (MVIC), Visual Analog Scale (VAS), Range Of Motion (ROM), Root Mean Square (RMS), Median frequency (MDF), Blood Serum Creatine Kinase (CK), Lactic dehydrogenase (LDH) were recorded at baseline, and 24, 48, 72 hours post-exercise. In MVIC measurement, there was a statistically significant difference in group III compared to group I (p < .05). In VAS measurements, there were a statistically significant difference in group II and III compared to group I (p < .05). In ROM measurement, there was a statistically difference in group II and III compared to group I (p < .05). In Muscle Volume with Ultrasonography measurement, there was no statistically significant difference in any groups (p > .05). In RMS and MDF measurement, there were a statistically significant difference in group II and III compared to group I (p < .05). In Blood samples of CK and LDH measurements, There were no statistically significant difference in any groups (p > .05). From the above result, Vibratory stimulation had a positive effect on recovery of muscle function from delayed onset muscle soreness. Further studies should be undertaken to ascertain the more effectiveness of vibratory stimulation and may be a promising treatment modality.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.355-363
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• 2007

The paper deals with the Kalman stochastic filtering problem for linear continuous-time systems with both instantaneous and time-delayed measurements. Different from the standard linear system, the system state is corrupted by multiplicative white noise, and the instantaneous measurement and the delayed measurement are also corrupted by multiplicative white noise. A new approach to the problem is presented by using projection formulation and reorganized innovation analysis. More importantly, the proposed approach in the paper can be applied to solve many complicated problems such as stochastic $H_{\infty}$ estimation, $H_{\infty}$ control stochastic system with preview and so on.

• 한국군사과학기술학회지
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• 제20권1호
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• pp.25-32
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• 2017

Most of weapon systems use aided navigation system which integrates inertial navigation and aiding sensors to compensate the INS errors increasing with the passage of time. Various aid sensors can be applied such as Global Navigation Satellite System (GNSS), radar, barometer, etc., but there might exist time delay caused by signal processing or transferring aid information. This time delay leads out-of-sequence measurements (OOSM) systems. Previously, optimal and suboptimal measurment update method for OOSM systems, where the time delay length are known, are proposed. However, previous algorithm does not guarantee the positive definite property of covariance matrix. In order to improve numerical stability for aided navigation using delayed-measurement, this paper proposes a new measurement covariance update algorithm be similar to Joseph-form in Kalman filter. Futhermore, we propose how to implement it in indirect feedback Kalman filter structure, which is commonly used in aided navigation systems, for time-delayed measurement systems. Simulation and vehicle test results show effectiveness of a proposed algorithm.

• Nuclear Engineering and Technology
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• 제48권5호
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• pp.1120-1125
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• 2016

The neutron decay constant, ${\alpha}$, and effective delayed neutron fraction, ${\beta}_{eff}$, are important parameters for the control of the dynamic behavior of nuclear reactors. For the heavy water zero power reactor (HWZPR), this document describes the measurements of the neutron decay constant by noise analysis methods, including variance to mean (VTM) ratio and endogenous pulse source (EPS) methods. The measured ${\alpha}$ is successively used to determine the experimental value of the effective delayed neutron fraction as well. According to the experimental results, ${\beta}_{eff}$ of the HWZPR reactor under study is equal to 7.84e-3. This value is finally used to validate the calculation of the effective delayed neutron fraction by the Monte Carlo methods that are discussed in the document. Using the Monte Carlo N-Particle (MCNP)-4C code, a ${\beta}_{eff}$ value of 7.58e-3 was obtained for the reactor under study. Thus, the relative difference between the ${\beta}_{eff}$ values determined experimentally and by Monte Carlo methods was estimated to be < 4%.

• 한국환경과학회지
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• 제17권12호
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• pp.1353-1361
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• 2008

Quality control of Argo(Array for Real-time Geostrophic Oceanography) data is crucial by reason that salinity measurements are liable to experience some drift and offset due to biofouling, contamination of sensor and wash-out of biocide. The automated Argo real-time quality control has a limit of sorting data quality, so that WJO program is adopted as standardized method of Argo delayed mode quality control (DMQc) in the world that is a precise quality control method. We conducted DMQC on pressure, temperature and salinity measured by Argo floats in the Pacific Ocean including expert evaluation. Particularly, salinity data were corrected using WJO program. 4 salinity profiles of Argo delayed mode were compared with nearby in situ CTD data and other Argo data in deep layer where oceanographic conditions are stable in time and space. The differences of both salinities were lower than target accuracy of Argo. As compared with the difference of salinities before DMQC, those after DMQC decreased by 60-80 percent. Quality of delayed mode salinity data seemed to be improved correcting salinity data suggested by WJO program.