• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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• pp.297-303
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• 2015

We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

• Journal of Korean Academy of Medicine & Therapy Science
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• v.10 no.2
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• pp.21-30
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• 2018

Objective: The purpose of this study was to investigate questions and instructions for internal feedback effects on functional recovery and task performance while chronic stroke patients practised task-specific training. Method: Twenty-four chronic stroke patients were randomly divided into two groups; when patients performed same tasks, one was treated using questions and the other using instructions for internal feedback Both lasted 30 minutes, 5 times a week for 8 weeks. Outcome measures included Erasmus MC Modifications to the Nottingham Sensory Assessment (EmNSA), Measurement Properties of the Motor Evaluation Scale for Upper Extremity in Stroke patients (MESUPES), Chedoke Arm and Hand Activity Inventory (CAHAI), Korean version of Modified Barthel Index (K-MBI). Results: There were no significant differences between the two groups in EmNSA and K-MBI(p>.05). But, in MESUPES and CAHAI, there was significant difference between the two groups(p<.05). Conclusion: In this study, questions for internal feedback during task-specific training are more effective in improving upper extremity motor function and task performance than instructions for internal feedback.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.48-54
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• 2010

Ankle-foot orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of ankle muscular activities was developed. In this study, the effectiveness of the system was investigated during plantarflexion motion of ankle joint. To find a effectiveness of the system, the subjects performed maximal voluntary isokinetic plantarflexion contraction on a Biodex-dynamometer. Plantarfexion torque of the ankle joint is assisted by subject's soleus muscle that is generated when ankle joint do plantarflexion motion. We used the muscular stiffness signal of a soleus muscle for feedback control of ankle-foot orthosis as physiological signal. For measurement of this signal, we made the muscular stiffness force sensor. We compared a muscular stiffness force of a soleus muscle between with feedback control and without it and a maximal plantarflexion torque between not wearing a ankle-foot orthosis, without feedback control wearing it and with feedback control wearing it in each ten elderly adults. The experimental result showed that a muscular stiffness force of a soleus muscle with feedback control was reduced and plantarflexion torque of an ankle joint only wearing ankle-foot orthosis was reduced but a plantarflexion torque with feedback control was increased. The amount of a increasing with feedback control is more higher than the amount of a decreasing only wearing it. Therefore, we confirmed the effectiveness of the developed ankle-foot orthosis with feedback control.

• KSBB Journal
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• v.15 no.3
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• pp.280-284
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• 2000

The simple imcroprocessor device was provided for the control of dissolved oxygen(DO) level. The DO analog signal output from fementer was used as a measurement variable and the agitation speed of fermenter was used as a manipulatio variable. Agitation speed was manipulated to maintain DO level above 10% of saturation condition during cell growth period with microprocessor. Since the experimental resultsshowed that the DO level was maintained above 10% and agitation speed was inverse proportional to DO level ithis simple control device can be used for the DO control of fermenter.

• Wind and Structures
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• v.30 no.1
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• pp.37-54
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• 2020

To investigate the motion-induced aeroelastic effects (or aerodynamic feedback effects) on a square cylinder in uniform flow, a series of wind tunnel tests involving the pressure measurement of a rigid model (RM) and simultaneous measurement of the pressure and vibration of an aeroelastic model (AM) have been systematically carried out. More specifically, the aerodynamic feedback effects on the structural responses, on the mean and root-mean-square wind pressures, on the power spectra and coherence functions of wind pressures at selected locations, and on the aerodynamic forces were investigated. The results indicated the vibration in the lock-in range made the shedding vortex more coherent and better organized, and hence presented unfavorable wind-induced effects on the structure. Whereas the vibration in the non-lock-in range generally showed insignificant effects on the flow structures surrounding the square cylinder.

• Journal of ILASS-Korea
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• v.5 no.3
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• pp.9-16
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• 2000

In a SI engine, three-way catalyst converter has the best efficiency when A/F ratio is near the stoichiometry. The feedback control using oxygen sensors in the commercial engine has limits caused by the system delays. So it is necessary to control fuel quantity in accordance with intake air amount in order to reduce exhaust emission and improve the specific fuel consumption. Precise A/F ratio control requires measurement of air amount with respect to the cylinder and injection fuel according to the air amount In this paper, we applied nonlinear fuel injection model and developed the algorithm of A/F ratio control. This algorithm includes the methods of measurement of transient air mass flowing into each cylinder, of calculation of injection pulse width for measured air mass, and the method of feedback and engine control by using lambda sensor. Also we developed control program for IBM-PC by using C++ Builder, and tested it in the commercial engine.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.529-536
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• 2000

A robust controller to attenuate the various disturbances of tandem cold mills (TCM) is synthesized by measurement-feedback $H_{\infty}$ control techniques which can reflect the input direction of disturbances and the knowledge of entry thickness variation (disturbance) is synthesized by discrete-time measurement-feedback $H_{\infty}$ control theory. It is demonstrated that the $H_{\infty}$ preview control gain can be easily obtained by the seperation principle of the control and estimation problems in $H_{\infty}$ control. Finally the effectiveness of the proposed control method for TCM is evaluated by the computer simulation and compared to the other control methods which have been previously studied.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.4
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• pp.559-566
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• 2013

PURPOSE: The present study examines how feedback respiratory exercise affects gait performance of stroke patients. METHODS: Forty stroke patients were randomly divided into an experiment group and a control group. For the former group, patients went through a half-hour of training therapy and a half-hour of feedback respiratory device exercise. For the latter group, patients went through 30 minutes of training therapy and a half-hour of motomed exercise. All participants had five training sessions each week for four weeks. For measurement, a GAITRite system was used to examine spatial parameters, and functional ambulation performance before and after the training. RESULT: In terms of spatial parameters, double support ratio, stance phase increased significantly in the experiment group after the walking exercise(p<.05). FAP rose more significantly in the experiment group than in the control group(p<.05). In comparison of two exercise groups, double support ratio, Stance phase, gait velocity, FAP was significant difference(p<.05). CONCLUSION: The experiment results showed that feedback respiratory exercise is effective in enhancing gait performance.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.740-756
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• 2017

This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation's parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm's accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.

• Journal of Sensor Science and Technology
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• v.22 no.4
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• pp.256-261
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• 2013

This paper presents an extension of the dynamic range in a complementary metal-oxide-semiconductor (CMOS) active pixel sensor (APS) using a stacked photodiode and feedback structure. The proposed APS is composed of two additional MOSFETs and stacked P+/N-well/P-sub photodiodes as compared with a conventional APS. Using the proposed technique, the sensor can improve the spectral response and dynamic range. The spectral response is improved using an additional stacked P+/N-well photodiode, and the dynamic range is increased using the feedback structure. Although the size of the pixel is slightly larger than that of a conventional three-transistor APS, control of the dynamic range is much easier than that of the conventional methods using the feedback structure. The simulation and measurement results for the proposed APS demonstrate a wide dynamic range feature. The maximum dynamic range of the proposed sensor is greater than 103 dB. The designed circuit is fabricated by the $0.35-{\mu}m$ 2-poly 4-metal standard CMOS process, and its characteristics are evaluated.