• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.977-981
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• 2015

We propose a method for the implementation of an EtherCAT communication bus in a Linux-based open source Computerized Numerical Control (CNC) system. Recently, increasingly more CNC systems support real-time Ethernet protocols such as EtherCAT, which is a high-performance industrial communication protocol. For real-time CNC control over an Ethernet-based protocol, an additional layer driver needs to be implemented between the CNC system and the master of industrial communication protocol. Among the various solutions for the connection layer driver, we employ a Hardware Abstraction Layer (HAL) driver based on Linux. The operation of the implemented CNC system is demonstrated and confirmed by Hal Meter, which is used to observe the pins, signals, or parameters of HAL.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.2
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• pp.55-60
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• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• PNF and Movement
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• v.16 no.1
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• pp.105-113
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• 2018

Purpose: The aim of this study was to explore the effects of dynamic balance training on pain, physical function, and dynamic balance in individuals with knee osteoarthritis. Methods: Fourteen patients with knee osteoarthritis participated in this study. The patients were randomly assigned to two groups: an experimental group (n=7) or a control group (n=7). All the patients took part in a lower extremity strength program for 30 min. In addition, the experimental group participated in a 30-min dynamic balance program. Both groups performed the program five times a week for 3 weeks. Outcomes, including the numeric rating scale (NRS), Western Ontario and MacMaster Universities Arthritis Index (WOMAC), and Community Balance and Mobility Scale (CB&M), were measured at baseline and after 3 weeks. Results: Both groups showed pre-to-post intervention improvements on all outcome measures (p<0.05). The experimental group showed a significant improvement in WOMAC (p = 0.00; Z = -2.82) and CB&M (p = 0.03; Z = -2.20) scores after the intervention as compared with those of the control group. Conclusion: The results revealed that dynamic balance training improved physical function, as well as balance ability, in patients with knee osteoarthritis as compared with that of a control group with no balance training.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1144-1155
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• 2006

Digital communication networks have become a core technology in advanced building automation systems. BACnet(Building Automation and Control networks) is a standard data communication protocol designed specifically for building automation and control systems. BACnet adopts Master-Slave/Token-Passing(MS/TP) protocol as one of its field level networks. In this study, we introduce a method of implementing a bandwidth allocation scheme in the MS/TP protocol. The bandwidth allocation scheme improves the capability of real-time communication of the original MS/TP protocol. The bandwidth allocation scheme introduced in this paper can be easily implemented in the existing MS/TP protocol with a slight modification. In this study, we actually developed the hardware and firmware of the modified MS/TP communication module in which the bandwidth allocation scheme is implemented. Using the modified MS/TP communication module, we developed an experimental model in order to examine the validity of the bandwidth allocation scheme in the MS/TP protocol. Experimental results show that the modified MS/TP protocol satisfies the requirements of real time communication for periodic and urgent messages of BACnet communication services.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.284-287
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• 1987

In this paper, the design and implementation of a multiprocessor based Die Bonder Machine for the semiconductor will be described. This the partial research result, that is, the 1st year portion of the project to be performed for a period of two years from June, 1986 to May, 1988. The mechanical system consists of the following three subsystems : (i) transfer head unit, (ii) die feeding XY-table unit, and (iii) plunge up unit. The overall control system is designed to be essentially a master-slave type in which each slave is functionally fixed in view of software and also the time shared common bus structure with hardwired bus arbitration scheme is utilized, the control system consists of the following three subsystems each of which employs a 16 bits microprocessor MC 68000 : (i) die bonder processor controller, (ii) visual recognition/inspection and display system, (iii) the servo control system. It is reported that the proposed control system were applied to Working Sample and tested in real system, and the results are successful as a working sample phase.

• Journal of muscle and joint health
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• v.16 no.2
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• pp.145-153
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• 2009

Purpose: The effects of aroma massage on pain, activities of daily living, and fatigue were investigated in the patients who have knee osteoarthritis. Method: A quasi-experimental design with non-equivalent control group pretest-posttest measures was used. Twenty one and twenty subjects were included in control and experimental group, respectively. Subjects in experimental group had aroma massage which used lavender, chamomile, and ginger oil on painful knee. They were encouraged to implement aroma massage at least two times a day for 2 weeks. Subjects in the control group had conventional oil massage implementing by exactly same method as did in the experimental group. GRS(graphic rating scale), Korean version of WOMAC (Western Ontario and McMaster) osteoarthritis index, and MAF(multidimensional assessment of fatigue) were used to measure the outcome variables such as pain, activities of daily living and fatigue, respectively. Results: After 2 weeks, those in the experimental group reported significantly less pain and fatigue and better activities of daily living than those in the control group. Conclusion: Based on these results, aroma massage could be recommended as a self managed intervention for the patients with knee osteoarthritis.

• Food Science and Preservation
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• v.20 no.6
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• pp.751-759
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• 2013

There is increasing interest in freshly cut products, that is, foods produced without washing and cutting. In this study, the quality of freshly cut sliced Deodeok was compared with that of what based on its washing methods. In bubble washing, the Deodeok rises to the water surface apace and is broken into centimeter sizes. Microbubble washing calls for the production of a great number of 0.1 mm-sized bubbles in anions-bearing water and their passing through a trumpet-shaped hole at a high pressure. To compare the product deterioration rates of the specimens, they were stored at $10^{\circ}C$ for 10 days. In the specimens washed with the control method and with hand washing, the deterioration rate was 80%; and in the specimens washed with bubble and microbubble washing, 20~30%. The L-value (an index of browning) was higher in the bubble and microbubble washing than in the control and the hand washing, which implies that browning was minimized during the storage. As for the viable cell and coliform group counts that were measured during the storage, the specimens washed with the control method showed the highest values. In contrast, the specimens washed with microbubble washing showed the lowest values. In the sensory test, the specimens washed with microbubble were highest in storage preference. In conclusion, the Deodeok that was stored after it was washed with microbubble washing was found to have had the best quality.

• The Journal of Korean Academy of Prosthodontics
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• v.59 no.1
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• pp.27-35
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• 2021

Purpose: The purpose of this study is to compare the accuracy of digital scans of implants according to different shapes of scanbodies, and to compare the accuracy of library merging according to different oral exposure height. Materials and methods: A master model with a single tooth edentulous site was prepared. For the first experiment, three types of intraoral scanbodies were prepared, divided into three groups, and the following experiments were conducted for each group: An internal hex implant was placed. The master model with the scanbody connected was scanned with a model scanner, and a master reference file (control group) was created. 10 files (experimental group) were created by performing 10 consecutive scans with an intraoral scanner. After superimposing the control and experimental groups, the following values were calculated: 1) Distance deviation of a designated point on the scanbody 2) Angle deviation of the major axis of the scanbody. For the second experiment, the scanbody scan data were prepared in 6 different heights. Library files were merged with each of the scan data. The distance and angular deviation were calculated using the 7 mm scan data as control group. Results: In the first experiment, there were no significant differences between A and B (P=.278), B and C (P=.568), and C and A (P=.711) in the distance deviations. There were no significant differences between A and B (P=.568), B and C (P=.546), and C and A (P=.112) in the angular deviations. Also, the scanbody showed significantly higher library merging accuracy in the groups with high oral exposure height (P<.5). Conclusion: There were no significant differences in scan accuracy according to the different shapes of scanbodies, and the accuracy of library merging increased according to exposure height of the scanbody in the oral cavity.

• Nuclear Engineering and Technology
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• v.38 no.1
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• pp.81-92
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• 2006

In this study, the core dynamics of a PWR reactor is identified online by a recursive least-squares method. Based on the identified reactor model consisting of the control rod position and the core average coolant temperature, the future average coolant temperature is predicted. A model predictive control method is applied to designing an automatic controller for the thermal power control of PWR reactors. The basic concept of the model predictive control is to solve an optimization problem for a finite future at current time and to implement as the current control input only the first optimal control input among the solutions of the finite time steps. At the next time step, this procedure for solving the optimization problem is repeated. The objectives of the proposed model predictive controller are to minimize both the difference between the predicted core coolant temperature and the desired temperature, as well as minimizing the variation of the control rod positions. In addition, the objectives are subject to the maximum and minimum control rod positions as well as the maximum control rod speed. Therefore, a genetic algorithm that is appropriate for the accomplishment of multiple objectives is utilized in order to optimize the model predictive controller. A three-dimensional nuclear reactor analysis code, MASTER that was developed by the Korea Atomic Energy Research Institute (KAERI) , is used to verify the proposed controller for a nuclear reactor. From the results of a numerical simulation that was carried out in order to verify the performance of the proposed controller with a $5\%/min$ ramp increase or decrease of a desired load and a $10\%$ step increase or decrease (which were design requirements), it was found that the nuclear power level controlled by the proposed controller could track the desired power level very well.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.104-106
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• 2005

In this work, a PWR reactor core dynamics is identified online by a recursive least squares method. Based on this identified reactor model consisting of the control rod position and the core average coolant temperature, the future average coolant temperature is predicted. A model predictive control method is applied to design an automatic controller for thermal power control in PWRs. The basic concept of the model predictive control is to solve an optimization problem for a finite future at current time and to implement as the current control input only the first optimal control input among the solutions of the finite time steps. At the next time step, the procedure to solve the optimization problem is then repeated. The objectives of the proposed model predictive controller are to minimize both the difference between the predicted core coolant temperature and the desired one, and the variation of the control rod positions. Also, the objectives are subject to maximum and minimum control rod positions and maximum control rod speed. Therefore, the genetic algorithm that is appropriate to accomplish multiple objectives is used to optimize the model predictive controller. A 3-dimensional nuclear reactor analysis code, MASTER that was developed by Korea Atomic Energy Research Institute (KAERI), is used to verify the proposed controller for a nuclear reactor. From results of numerical simulation to check the performance of the proposed controller at the 5%/min ramp increase or decrease of a desired load and its 10% step increase or decrease which are design requirements, it was found that the nuclear power level controlled by the proposed controller could track the desired power level very well.