• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.32-43
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• 1999

Adaptive robust control scheme is introduced for flexible joint manipulator with nonlinearities and uncertainties. The system does not satisfy the matching condition due to insufficient actuators for each node. The control only relies on the assumption that the bound of uncertainty exists. Thus, the bounded value does not need to be known a prior. The control utilizes the update law by estimating the bound of the uncertainties. The control scheme uses the backstepping method and constructs a state transformation. Also, stability analysis is done for both transformed system and original system.

• Journal of Veterinary Clinics
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• v.34 no.5
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• pp.318-324
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• 2017

The objective of this study was to establish kinematic reference ranges for the femorotibial (FT) joint and the patellofemoral (PF) joint in healthy small-breed dogs by measuring 3D kinematics at the walk. Single-plane fluoroscopy was used to image the stifle joints of five healthy beagle dogs while the dogs were walking. 3D bone models of the femur, patella, and tibia were reconstructed by computed tomography scanning of the beagle dogs' hind limbs. The shape-matching technique was used to measure kinematic data from the fluoroscopic images and the 3D bone models. The cranial translation of the tibia during walking was inversely proportional to the FT joint flexion. There were significant correlations between the patellar motion and the tibial motion. The FT joint flexion had a strong correlation with the patellar proximodistal translation and flexion. Additionally, the tibial mediolateral translation had a strong correlation with the patellar shift and tilt. In this study, normal in vivo 3D FT joint and PF joint kinematics were demonstrated, and the average kinematic parameters were determined in walking beagle dogs.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.5
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• pp.1597-1610
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• 2022

At present, the main method of high-speed train chassis detection is using computer vision technology to extract keypoints from two related chassis images firstly, then matching these keypoints to find the pixel-level correspondence between these two images, finally, detection and other steps are performed. The quality and accuracy of image matching are very important for subsequent defect detection. Current traditional matching methods are difficult to meet the actual requirements for the generalization of complex scenes such as weather, illumination, and seasonal changes. Therefore, it is of great significance to study the high-speed train image matching method based on deep learning. This paper establishes a high-speed train chassis image matching dataset, including random perspective changes and optical distortion, to simulate the changes in the actual working environment of the high-speed rail system as much as possible. This work designs a convolutional neural network to intensively extract keypoints, so as to alleviate the problems of current methods. With multi-level features, on the one hand, the network restores low-level details, thereby improving the localization accuracy of keypoints, on the other hand, the network can generate robust keypoint descriptors. Detailed experiments show the huge improvement of the proposed network over traditional methods.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.369-375
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• 2008

The kinematics and control problem of a visual alignment system is investigated, which plays a crucial role in the fabrication process of flat panel displays. The first solution is the inverse kinematics of a 4PPR parallel alignment mechanism. It determines the driving distance of each joint to compensate the misalignment between mask and panel. Second, an efficient vision algorithm for fast alignment mark recognition is suggested, where by extracting essential feature points to represent the geometry of a mark, the geometric template matching enables much faster object recognition comparing with the general template matching. Finally, the overall visual alignment process including the kinematic solution, vision algorithm, and joint control is implemented and experimental results are given.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.5
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• pp.492-506
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• 2009

Index structures that are based on sequence matching for XPath processing such as ViST, PRIX and LCS-TRIM have recently been proposed to reduce the search time of XML documents. However, ViST can cause a lot of unnecessary computation and I/O when processing structural joint queries because its numbering scheme is not optimized. PRIX and LCS-TRIM require much processing time for matching XML data trees and queries. In this paper, we propose a novel index structure that solves the problems of ViST and improves the performance of PRIX and LCS-TRIM. Our index structure provides the minimum sequence matching scheme to efficiently process structural queries. Finally, to verify the superiority of the proposed index structure with the minimum sequence matching scheme, we compare our index structure with ViST, PRIX and LCS-TRIM in terms of query processing of a single path or of a branching path including wild-cards ('*' and '//' ).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.565-566
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• 2012

• Journal of Korean Physical Therapy Science
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• v.9 no.1
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• pp.183-186
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• 2002

Five week SUKI therapy for the DeQuervian Disease was very successful. Ki energy physical therapy harmonizes the physiological rhythm and balance by matching the positive thought flux with respiration, obtaining maximized energy for life-maintain. If the physical therapist given confidency and hope to the patient, the result world be satisfactory.

• Korean Journal of Optics and Photonics
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• v.13 no.6
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• pp.493-500
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• 2002

Fingerprint recognition is concerned with fingerprint acquisition and matching. Our research was focused on a fingerprint matching method using an inkless fingerprint input sensor at the fingerprint acquisition step. Since an inkless fingerprint sensor produces a digital-image-processed fingerprint image, we did not consider noise that can happen while acquiring the fingerprint. And making the user attempt fingerprint input as random, we considered image distortion that translation and rotation are included as complex. NJTC algorithm is used for fingerprint identification and verification. The method to find the center of the fingerprint is added in the NJTC algorithm to supplement discrimination of fingerprint recognition. From this center point, we decided the optimum cropping size for effective matching with pixels and demonstrated that the proposed method has high discrimination and high efficiency.

• Clinics in Shoulder and Elbow
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• v.27 no.3
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• pp.353-360
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• 2024

Background: Total shoulder arthroplasty (TSA) in patients with rheumatoid arthritis (RA) can present unique challenges. The aim of this study was to compare both systemic and joint-related postoperative complications in patients undergoing primary TSA with RA versus those with primary osteoarthritis (OA). Methods: Using the TriNetX database, Current Procedural Terminology and International Classification of Diseases, 10th edition codes were used to identify patients who underwent primary TSA. Patients were categorized into two cohorts: RA and OA. After 1:1 propensity score matching, postoperative systemic complications within 90 days following primary TSA and joint-related complications within 5 years following anatomic TSA (aTSA) and reverse shoulder arthroplasty (RSA) were compared. Results: After propensity score matching, the RA and OA cohorts each consisted of 8,523 patients. Within 90 days postoperation, RA patients had a significantly higher risk of total complications, deep surgical site infection, wound dehiscence, pneumonia, myocardial infarction, acute renal failure, urinary tract infection, mortality, and readmission compared to the OA cohort. RA patients had a significantly greater risk of periprosthetic joint infection and prosthetic dislocation within 5 years following aTSA and RSA, and a greater risk of scapular fractures following RSA. Among RA patients, RSA had a significantly higher risk of prosthetic dislocation, scapular fractures, and revision compared to aTSA. Conclusions: Following TSA, RA patients should be considered at higher risk of systemic and joint-related complications compared to patients with primary OA. Knowledge of the risk profile of RA patients undergoing TSA is essential for appropriate patient counseling and education.