• 드라이브 ㆍ 컨트롤
• /
• 제16권3호
• /
• pp.23-32
• /
• 2019

This study proposed a fault tolerant control algorithm for electro-hydraulic brake systems where permanent magnet synchronous motor (PMSM) drive is adopted to boost the braking pressure. To cope with motor position sensor faults in the PMSM drive, a braking pressure controller based on an open-loop speed control method for the PMSM was proposed. The magnitude of the current vector was determined from the target braking pressure, and motor rotational speed was derived from the pressure control error to build up the braking pressure. The position offset of the pump piston resulting from a leak in the hydraulic system is also compensated for using the open-loop speed control by moving the piston backward until it is blocked at the end of stroke position. The performance and stability of the proposed controller were experimentally verified. According to the results, the control algorithm can be utilized as an effective means of degraded control for electro-hydraulic brake systems in the case that a motor position sensor fault occurs.

• 대한의용생체공학회:의공학회지
• /
• 제36권4호
• /
• pp.115-122
• /
• 2015

A standard air flow generator system was developed to generate air flows of various levels simultaneously applied to two different air flow transducer modules. Axes of two identical standard syringes for spirometer calibration were connected with each other and driven by a servo-motor. Linear displacement transducer was also connected to the syringe axis to accurately acquire the volume change signal. The user can select either sinusoidal or square waveform of volume change and manually input any volume as well as maximal flow rate levels ranging 0~3 l and 0~15 l/s, respectively. Various volume and flow levels were input to operate the system, then the volume signal was acquired followed by numerical differentiation to obtain the air flow signal. The measured volumes and maximal air flow rates were compared with the user input data. The relative errors between the user-input and the measured stroke volumes were all within 0.5%, demonstrating very accurate driving of the system. In case of the maximal flow rate, relatively large error was observed when the syringe was driven very fast within a very short time duration. However, except for these few data, most measured flow rates revealed relative errors of approximately 2%. When the measure and user-input stroke volume and maximal flow rate data were analyzed by linear regression analysis, respectively, the correlation coefficients were satisfactorily higher than 0.99 (p < 0.0001). These results demonstrate that the servo-motor controls the syringes with enough accuracy to generate standard air flows. Therefore, the present system would be very much practical for calibration process as well as performance evaluation and comparison of two different air flow transducer modules.

• Korean Journal of Acupuncture
• /
• 제22권4호
• /
• pp.67-81
• /
• 2005

Objectives : Cervus Elaphus(CE) has been used to medication for ischemic stroke in the Oriental Medicine. So this study was planned to investigate the effects of CE herbal acupuncture therapy(CE-HAT) on the focal ischemia-induced by intraluminal filament insertion in the rats. Materials and methods : The focal ischemia was induced by middle cerebral artery occlusion for 2hours. The groups divided into 6 groups, normal(intachess group), control(no theray group after ischemia-induced), CE-HAT1(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9 after ischemia-induced), CE-HAT2(Cervus Elaphus-herbal acupuncture therapy group at LU8, KI7 after ischemia-induced), CE-HAT3(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9, LU8, KI7 after ischemia-induced), CE-HAT4(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9, HT3, KI10 after ischemia-induced). CE-HAT was carried out during 3 weeks after focal ischemia-induced. Eight-arm radial maze was used for the behavioral task and neuropretective effect of CE-HAT was observed by Cresyl violet, AchE, ChAT-stain. Results : The error rate in the eight-arm radial maze task was significantly decreased in CE-HAT1, CE-HAT2, CE-HAT4 on 3days, CE-HAT4 on 4days, CE-HAT2, CE-HAT4 on 5days, CE-HAT3, CE-HAT4 on 6days. The rate of correct choice was significantly increased in CE-HAT4. The density of neurons in the hippocampal CA1 was significantly increased in CE-HAT1, CE-HAT2, CE-HAT3, CE-HAT4, compared to control group. The density of ChAT in the hippocampal CA1 was significantly increase in CE-HAT4. The density of ChAT in the hippocampal CA1 was significantly increased CE-HAT1. Conrlusions : These results suggest that the Cervus Elaphus-herbal acupuncture therapy could be used as a medication for controlling the stroke induced by deficiency.

• 정보처리학회논문지B
• /
• 제9B권4호
• /
• pp.481-490
• /
• 2002

오프라인 필기체 문자 인식은 동적인 정보를 가지고 있지 않고, 다양한 필기와 자음과 모음의 겹침이 심하며, 획 사이의 잡영을 많이 가지고 있어 불완전한 전처리를 수행하여야 하는 어려움이 있다. 따라서 오프라인 필기체 문자 인식은 다양한 방법의 전처리 즉 이진화 및 세선화에 대한 연구가 필요하다. 본 논문에서는 오프라인 필기체 한글 문자 인식의 전처리로서 워터쉐드 알고리즘의 수행 시간과 결과 영상의 품질을 고려해 그레이 레벨 문자 영상에서의 문자 영역과 배경 영역의 분할을 위한 효과적인 워터쉐드 알고리즘의 적용 방법과 추출된 워터쉐드 영상을 이진화하는 분할 함수를 제안한다. 또한 수행 시간과 골격선의 품질을 고려한 조건 검사 마스크를 통해서 효과적으로 골격선을 추출하는 세선화 방법을 제안하고 기존의 방법과 본 논문 방법을 수행 시간과 품질로써 성능을 평가한다. 실험 결과 기존의 방법은 평균 2.16초, 본 논문 방법은 평균 1.72초의 수행 시간이 걸렸다. 또한 결과 영상의 품질은 본 논문 방법이 문자 획 사이의 잡영을 효과적으로 처리함을 알 수 있었다.

• 항공우주기술
• /
• 제6권1호
• /
• pp.146-156
• /
• 2007

본 논문에서는 KSLV-I 상단부 시험을 목적으로 실물형으로 제작된 킥모터 조합체에 대한 TVC 구동특성시험과 분석 결과에 대해 정리하고자 한다. 실물형 킥모터 조합체는 추진제 대신 물을 채울 수 있는 구조로 되어서 수압으로 연소압 상황을 모사하면서 챔버압에 따른 플렉스씰 TVC 노즐의 특성을 파악할 수가 있으며, 챔버압에 따른 TVC 정적 및 동적특성 변화 또한 분석할 수가 있다. 실물형 킥모터 조합체에 대한 TVC 구동 시험을 수행하는 데 필요한 설비 구축 과정에 대해서 개략적으로 설명하고, TVC 정적 시험을 통한 제어 특성 분석 결과 및 TVC 동적 시험을 통한 동특성 분석 결과를 정리한다. 이러한 결과들은 KSLV-I 의 TVC 자세제어 정밀도를 높이는 데 있어서 중요한 역할을 담당하고 있다.

• 대한의용생체공학회:의공학회지
• /
• 제36권5호
• /
• pp.183-190
• /
• 2015

Invasive blood pressure (IBP) is measured for the patient's real time arterial pressure (ABP) to monitor the critical abrupt disorders of the cardiovascular system. It can be used for the estimation of cardiac output and the opening and closing time detection of the aortic valve. Although the unexplained inflections on ABP make it difficult to find the mathematical relations with other cardiovascular parameters, the estimations based on ABP for other data have been accepted as useful methods as they had been verified with the statistical results among vast patient data. Previous windkessel models were composed with systemic resistance and vascular compliance and they were successful at explaining the average systolic and diastolic values of ABP simply. Although it is well-known that the blood pressure reflection from peripheral arteries causes complex inflection on ABP, previous models do not contain any elements of the reflections because of the complexity of peripheral arteries' shapes. In this study, to simulate a reflection wave of blood pressure, a new mathematical model was designed with four elements that were the impedance of aorta, the compliance of aortic arch, the peripheral resistance, and the compliance of peripheral arteries. The parameters of the new model were adjusted to have three types of arterial blood pressure waveform that were measured from a patient. It was used to find the relations between the inflections and other cardiovascular parameters such as the opening-closing time of aortic valve and the cardiac output. It showed that the blood pressure reflection can bring wide range errors to the closing time of aortic valve and cardiac output with the conventional estimation based on ABP and that the changes of one-stroke volumes can be easily detected with previous estimation while the changes of heart rate can bring some error caused by unexpected reflections.

• 한국추진공학회지
• /
• 제19권1호
• /
• pp.68-75
• /
• 2015

본 논문에서는 고체추진기관 밸브의 내부에 장착한 핀틀의 구동 응답, 추력 및 압력 데이터를 이용하여, 연소시험 시 발생한 고체추진기관 내부 압력의 비정상 특성을 분석하였다. 고체추진기관 밸브의 내부에 핀틀이라는 구조체를 장착하여 핀틀의 축방향 구동을 통해서 노즐목 면적을 조절하고, 이를 통해 고체추진기관의 압력 및 추력을 실시간으로 제어할 수 있다. 이때 연소관 내부의 압력에 비정상 특성이 나타날 수 있으며, 이러한 비정상 특성은 다양한 원인이 종합적으로 영향을 미친 결과이다. 이 경우 핀틀의 구동 응답을 이용한 내부 압력의 재예측 및 추력 대 압력 비 분석을 통해서 핀틀 구동 응답 오차와 중공 튜브 삭마에 의한 노즐목 면적 변화라는 두 가지 큰 비정상 특성의 원인을 찾아내고, 각 원인들이 연소관 내부 압력에 미치는 영향을 개별적으로 분석하였다.

• 대한물리의학회지
• /
• 제11권4호
• /
• pp.85-92
• /
• 2016

PURPOSE: A good, valid, and feasible tool for evaluating sit to stand (STS) is needed to help clinicians quantify the STS ability of stroke patients and people with balance disorders. The purpose of this study was to evaluate the concurrent validity of the Nintendo Wii Balance Board (WBB) and a force plate during STS and gait. METHODS: Seventeen healthy adults performed five trials of STS and gait on the WBB placed on the force plate. The force plate and the WBB were compared in regard to center of pressure (COP) and ground reaction force (GRF) data that were collected simultaneously. The variables used for analysis were time (s), integral summation (%), COP path length (mm), COP x range, and COP y range, all of which were measured for both tasks. Counter (%), peak (%), and rebound (%) were analyzed for STS, and $1^{st}$ peak (%), min peak (%), and 2nd peak (%) were analyzed for gait. The concurrent validity was analyzed using an intraclass correlation coefficient (ICC) and a standard error of measurement (SEM) with a 95% confidence interval. RESULTS: The concurrent validity of the WBB for STS ranged from fair to good (ICC=.701~.994, SEM=.029~3.815). The concurrent validity for gait was good (ICC=.869 ~.989, SEM=.007~2.052) aside from path length and x and y ranges of COP (ICC=-.150~.371, SEM=3.635~4.142). CONCLUSION: The GRF of the WBB has a good validity for STS and gait analysis. The WBB is remarkably portable, easy to use, and convenient for clinically assessing STS and gait.

• 전기학회논문지
• /
• 제58권1호
• /
• pp.203-209
• /
• 2009

The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.

• 한국전문물리치료학회지
• /
• 제23권3호
• /
• pp.40-47
• /
• 2016

Background: Assessments of Sit-to-Stand (STS) and gait functions are essential procedures in evaluating level of independence for the patients after stroke. In a previous study, we developed the software to analyze center of pressure (COP) in standing position on Wii Balance Board (WBB). Objects: This purpose of this study is to measure test-retest reliability of ground reaction forces, COP and time using WBB on STS and gait in healthy adults. Methods: Fifteen healthy participants performed three trials of STS and gait on WBB. The time (s), vertical peak (%) and COP path-length (cm) were measured on both tasks. Additionally, counter (%), different peak (%), symmetry ratio, COP x-range and COP y-range were analyzed on STS, 1st peak (%), 2nd peak (%) of weight were analyzed on gait. Intra-class correlation coefficient (ICC), standard error measurement (SEM) and smallest real difference (SRD) were analyzed for test-retest reliability. Results: ICC of all variables except COP path-length appeared to .676~.946 on STS, and to .723~.901 on gait. SEM and SRD of all variables excepting COP path-length appeared .227~8.886, .033~24.575 on STS. SEM and SRD excepting COP path-length appeared about .019~3.933, .054~11.879 on gait. Conclusion: WBB is not only cheaper than force plate, but also easier to use clinically. WBB is considered as an adequate equipment for measuring changes of weight bearing during balance, STS and gait test which are normally used for functional assessment in patients with neurological problems and elderly. The further study is needed concurrent validity on neurological patients, elderly patients using force plate and WBB.