• 항공우주시스템공학회지
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• 제17권5호
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• pp.34-41
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• 2023

본 논문은 최근 각광받고 있는 소형 무인항공기에 결빙효과와 윙락 불확실성을 적용하고 여러 제어기법을 활용하여 자세 제어 시뮬레이션 수행하였으며 그 결과를 다룬다. 먼저 선정 기체인 BWB 형태의 소형 무인 항공기인 Skywalker X8 기체의 기본 형상과 결빙효과가 적용된 형상에 대하여 선형화를 수행하였다. 이후 MATLAB SimulinkⓇ를 활용하여 외란 관측기 기반 PID 제어, 모델 참조 적응 제어, 모델 예측 제어기법을 사용하여 기본 형상과 결빙효과가 적용된 형상에 대하여 roll 및 pitch 자세 제어 시뮬레이션을 수행한다. 또한, 기존 연구에서 진행되지 않았던 윙락 불확실성을 결빙이 적용된 형상에 동시 적용하여 시뮬레이션을 수행하였으며 각 제어기법의 성능을 비교 분석하였다.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2007년도 7th International Meeting on Information Display 제7권2호
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• pp.1729-1732
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• 2007

We introduce a mobile-type 3D display that achieves a full directional motion parallax and the real time interactions between the observer and the 3D image at the same time. These effects can be unique specified to the mobile-type 3D display.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2014년도 추계학술대회 논문집
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• pp.41-43
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• 2014

본 논문은 전류모델과 전압모델의 장점을 취해 자속을 추정하는 고피나스(Gopinath) 모델 자속 추정기에 속도 피드백 오차가 미치는 영향에 대해 분석하였다. 속도 오차는 전류 모델의 위상 지연 및 크기 오차를 발생시키고, 이로 인해 고피나스 모델에 의해 추정 된 회전자 자속의 위상 및 크기에 오차가 발생하였다. 따라서 전류모델에 발생한 위상 지연을 통해 속도 오차를 보상하여 자속 추정 오차를 감소시키는 새로운 알고리즘을 제시하였고, 시뮬레이션 결과를 통해 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.351-354
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• 1989

In a speed_controlled system with cascade control which shows an optimal performance in the linear case, limit cycles can occur due to backlash. The various effects observed can be explained with the aid of the describing function. With a first-order load torque observer these limit cycles can be avoided. Moreover the dynamic performance improves considerably and the range of application of cascade control is extended.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.6-11
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• 1988

Alight-weight robot arm carrying a payload is modelled as a cantilever beam with a tip mass subjected to a high speed rotation. Equations of Motion, for modal control, are represented as discrete state variable form. Digital optimal control law with observer is developed to suppress the arm vibration and control the position of the joint angle. The effects of the number of controlled modes, weighting factors of the performance index, reference rotation time, and sampling time on the control performance are analyzed by computer simulation and experiments.

• 부모자녀건강학회지
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• 제8권1호
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• pp.37-48
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• 2005

Purpose: The purpose of this study was to develop a play education program to reduce children's fear of needle insertion to the implanted port, and to assess the effect of this program. Method: The play education program was composed of play education before needle insertion, encouragement during needle insertion, and a present to reward then after needle insertion. Measurement instruments were the Procedure Behavior Check List(PBCL) and Faces Rating Scale(FRS). Results: The first hypothesis, "the PBCL point of children with malignant disease would decrease after play education program", was rejected(before insertion : Z=-0.189, p= .850, during insertion : Z=-0.350. p= .727, after insertion : Z=-0.590, p= .555). The second hypothesis, "the FRS point of children with malignant disease would decrease after play education program education", was rejected(observer 1 : Z=-0.245, p= .806, observer 2 : Z=-0.912, p= .362, self-report : Z=-0.181, p= .856). The third hypothesis, "the Time of needle insertion would decrease after play education program", was rejected(Z=-0.464, p= .642). Conclusion: The effect on fear-reduction of play education program for children with malignant disease inserted implanted port was not significant but continuous education is needed for parents and children.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 B
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• pp.784-786
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• 1993

Recently, in the industrial applications, the sensorless system is developed, but the sensorless system is required to have robustness for the measurement noise and disturbance. In this paper, for the sensorless system, the method of designing a robust sliding mode observer taking account of the ability of disturbance and noise attenuation is presented. Also, the strategy for the estimation of rotor flux using the sliding mode observer, which is robust to the measurement noise, is described. Robustness are achieved by assigning the pole of the the system during the sliding motion in such a way as to minimize the effects of the disturbances on the rotor flux estimation error. Finally, using worst case desist and LQC(least square error design), the sliding mode absolver is verified by computer simulations.

• 전자공학회논문지
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• 제51권1호
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• pp.202-208
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• 2014

로봇 시스템에 작용하는 마찰력은 비선형 형태이며 특히 저속에서의 정밀 제어를 어렵게 만든다. 본 논문에서는 로봇 연구에서 자주 활용되고 있는 벤치마크 로봇 시스템의 단축 모델에 대한 동적 마찰 보상 문제를 다룬다. 마찰 모델은 동적 특성 및 다양한 효과를 나타낼 수 있도록 비선형 동적 모델인 LuGre 모델을 고려한다. 본 논문에서 제안하는 제어기는 두 부분으로 구성된다. 동적 마찰의 추정 및 보상을 위해 Dual 관측기 기반의 적응 제어기를 사용한다. 마찰 추정 오차 및 나머지 외란을 보상하기 위해 PI 관측기를 추가로 설계한다. 모의실험을 통해 비선형 동적 마찰이 벤치마크 로봇 시스템의 제어 성능에 미치는 영향을 확인하고 제안된 제어기를 사용함으로써 동적 마찰에 대한 제어 성능이 향상됨을 보인다.

• Journal of Astronomy and Space Sciences
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• 제23권3호
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• pp.167-176
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• 2006

We investigate the correlation between the peak energy and the burst duration using available long GRB data with known redshift, whose circumburst medium type has been suggested via afterglow light curve modeling. We find that the peak energy and the burst duration of the observed GRBs are correlated both in the observer frame and in the GRB rest frame. For our total sample we obtain, for instance, the Spearman rank-order correlation values ${\sim}0.75\;and\;{\sim}0.65$ with the chance probabilities $P=1.0{\times}10^{-3}\;and\;P=6.0{\times}10^{-3}$ in the observer frame and in the GRB rest frame, respectively. We note that taking the effects of the expanding universe into account reduces the value a bit. We further attempt to separate our GRB sample into the 'ISM' GRBs and the 'WIND' GRBs according to environment models inferred from the afterglow light curves and apply statistical tests, as one may expect that clues on the progenitor of GRBs can be deduced directly from prompt emission properties other than from the ambient environment surrounding GRBs. We find that two subsamples of GRBs show different correlation coefficients. That is, the Spearman rank-order correlation are ${\sim}0.65\;and\;{\sim}0.57$ for the 'ISM' GRBs and 'WIND' GRBs, respectively, after taking the effects of the expanding universe into account. It is not yet, however, statistically very much significant that the GRBS in two types of circumburst media show statistically characteristic behaviors, from which one may conclude that all the long bursts are not originated from a single progenitor population. A larger size of data is required to increase the statistical significance.

• Child Health Nursing Research
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• 제7권3호
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• pp.383-396
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• 2001

This study was designed to investigate the effects of the progressive muscle relaxation on behavioral states and emotional reactions of adolescent athletes. The participants were 167 adolescent male soccer players aged between 12 and 18 who were junior or high school students in Seoul. Ninety-three of them were assigned to the experimental group, while seventy-four to the control group. The experimental group was treated by 10 sessions (20 min./session) of Jacobson's progressive muscle relaxation for two weeks, while the control group was not treated. The self and observer reported behavioral states, general stress by visual analogue scale, physical symptoms of stress, athletic stress, state anxiety, depression, self-esteem were measured before and after two weeks of the progressive muscle relaxation. The results were as follows ; 1. The self and observer reported behavioral states were significantly decreased in the experimental group compared with the control group. 2. The general stress and the gastrointestinal symptoms of stress were significantly decreased in the experimental group compared with the control group. No significant difference on athletic stress was found between the two groups. The depression and the state anxiety were significantly decreased in the experimental group compared with the control group. The self-esteem was significantly increased in the experimental group compared with the control group. 3. The influential factors on behavioral state of adolescent male athlete were depression and state anxiety. The accelerating factor on behavioral state change after the progressive muscle relaxation was state anxiety. These results are suggested that the progressive muscle relaxation could be effective in stabilizing behavioral state, decreasing general stress, gastrointestinal symptoms of stress, depression, state anxiety, in increasing self-esteem of adolescent male athletes. And the behavioral state change after the progressive muscle relaxation was influenced by state anxiety.