• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Explosives and Blasting
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• v.32 no.3
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• pp.10-17
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• 2014

In this study, the effect of the hole spacing and the detonation delay time in the long hole blasting of two free surface rock mass on the variation of the principal strains in the vicinity of blasting holes is investigated by use of the finite element program, Visual FEA. The cross section perpendicular to blasting holes is modelled and the maximum principal strains at some major points in the cracking zone are examined. As a result, it was found that the maximum principal strain in the cracking zone becomes larger in the long hole blasting with the narrower hole spacing and the longer detonation delay time. The maximum principal strain was affected by the detonation position in charge hole.

• The Korean Journal of Emergency Medical Services
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• v.16 no.1
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• pp.81-90
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• 2012

Objectives: This study is to research delay time comparison for later defibrillation after hands off according to the changes in defibrillation electrodes. Study purpose: In defibrillation treatment that is the only way for cardiac arrest by arrhythmia, it is to find defibrillator device which can minimize late defibrillation delay time after important affect of hands off. Study object and method: After hands off according to the defibrillator device, we collected total 40 people for emergency medicine doctor, internal medicine doctor, general surgeon, nurse, emergency medical technician who are working at 2 CN, CS University hospitals in Gwangju Jeollanamdo district to find out hand off shock interval(HOSI). We then researched their general properties like occupation sector, experiences in clinic, gender, completion of AHA ACLS-P training and more. Then 40 participants continued ventricular fibrillation cardiac arrest simulation training (using human-model mannequin) designed by researcher and performed their roles as defibrillation operator. Each of participant used manual paddle and performed 4 times of defibrillation (150J) during 8 minutes of CPR and in 8day, the defibrillator devices were replaced from manual paddle to self-adhesive electrodes pads and 4 times of defibrillation (150J) under same simulation condition as manual paddle were performed. Study result: In comparison for delay time of later defibrillation after hands off of manual paddle and self adhesive electrodes pad, the self adhesive electrodes pad ($7.0{\pm}0.5sec$) seemed to reduce delay time of later defibrillation significantly (p<0.05) compared to manual paddle ($10.0{\pm}0.9sec$). The self adhesive electrodes pad, according to the general properties of participants, had no particular change in delay time after later defibrillation for the statistics (p>0.05) but the manual paddle had statistically significant differences for the occupation sector, experiences in clinic and gender (p<0.05). Conclusion: In defibrillation, the self adhesive electrodes pad($7.0{\pm}0.5sec$) showed short HOSI compared to manual paddle ($10.0{\pm}0.9sec$) significantly (p<0.05) and it applied identically for both existence and non-existence of ACLS-P training completion, experiences in clinic, gender and occupation sector. The manual paddle had also significant difference in experiences in clinic and occupation sector (p<0.05). which means the effect on HOSI according to the job mastery. Therefore, if the clinic experience is short or in case for the occupations without frequent defibrillation treatment has a danger of lowering success rate for the defibrillation using manual paddle. Therefore, it is true that using self adhesive electrodes pad for defibrillation electrodes when performing manual defibrillation in pre-hospital as well as in-hospital steps can generally minimize delay time of later defibrillation after hands off.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.3
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• pp.12-20
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• 2002

As numerous sensors and actuators are used in many automated systems, various industrial networks are adopted for real-time distributed control. In order to take advantages of the networking, however, the network implementation should be carefully designed to satisfy real-time requirements considering network induced delays. This paper presents an implementation scheme of a networked control system via Profibus-DP network fur real-time distributed control. More specifically, the effect of the network induced delay on the control performance is evaluated on a Profibus-DP testbed. Also, two conventional PID gain tuning methods are slightly modified fur fouling controllers fur the networked control system. With appropriate choices for gains, it is shown that the networked control system can perform almost as well as the traditional control system.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.120-129
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• 2001

As many sensors and actuators are used in many automated systems, various industrial networks are adopted for real-time distributed control. In order to take advantages of the networking, however, the network implementation should be carefully designed to satisfy real-time requirements considering network delays. This paper presents the implementation of a remote feedback control system via Profibus-DP net work for real-time distributed control More specifically, the effect of the network delay on the control performance evaluated on Profibus-DP testbed. Also, the traditional PID gain tuning methods are used to demonstrate the feasibility of the remote feedback control.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.293-301
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• 2006

A new discretization method for calculating a sampled-data representation of a nonlinear continuous-time system is proposed. The proposed method is based on the well-known Taylor series expansion and zero-order hold (ZOH) assumption. The mathematical structure of the new discretization method is analyzed. On the basis of this structure, a sampled-data representation of a nonlinear system with a time-delayed input is derived. This method is applied to obtain a sampled-data representation of a non-affine nonlinear system, with a constant input time delay. In particular, the effect of the time discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. 'Hybrid' discretization schemes that result from a combination of the 'scaling and squaring' technique with the Taylor method are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method parameters to meet CPU time and accuracy requirements are examined as well. The performance of the proposed method is evaluated using a nonlinear system with a time-delayed non-affine input.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.75-80
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• 2000

Recently, there are a great many research for magnetic levitation system. In case electromagnet is operated as the actuator of control system, first of all, we must analysis about an electromagnet. Important parameters of this system are inductance(L) and resistance(R) which are induced from the coil of electromagnet. And attractive force equation is also important. If the load of this system is large, phase delay is caused by self-inductance effect. Because this delay effect cause stability of whole magnetic evitation system to grow worse, a measures to diminish time constant must have been taken. And the linearized attractive force equation which is used at small range of the operating point is compensated to use at larger range, thus the experiment of magnetic levitation system will get a better result.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.386-391
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• 2019

This paper presents analysis results for the effect of the directional group delay of the antenna to implement a precision radio navigation system. The analysis was conducted through antenna simulation and test, and the test was performed in an anechoic chamber. The directional group delay of the antenna was calculated in phase-based analysis method. The results showed that a variation of up to 7.7ns in group delay occurred per antenna direction. The group delay variation from the analysis is 2.31 meters when converted into distance. It was tested using a real radio navigation system based on the time of arrival (TOA). The test verified the distance variation of 2.1 meters, and this value is similar to those obtained from the simulation and chamber test analysis.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.8
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• pp.3723-3730
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• 2012

Delay in help-seeking behaviour which is potentially preventable has a major effect on the prognosis and survival of patients with breast cancer. The objective of this study was to explore reasons for delay in seeking help among patients with breast cancer from the East Coast of peninsular Malaysia. A qualitative study using face-to-face in-depth interview was carried out involving 12 breast cancer patients who had been histo-pathologically confirmed and were symptomatic on presentation. Respondents were selected purposely based on their history of delayed consultation, diagnosis or treatment. All were of Malay ethnicity and the age range was 26-67 years. Three were in stage ll, seven in stage lll and two in stage lV. At the time of interview, all except one respondent had accepted treatment. The range of consultation time was 0.2-72.2 months with a median of 1.7 months, diagnosis time was 1.4-95.8 months( median 5.4 months )and treatment time was 0-33.3 months (median 1.2 months). The themes derived from the study were poor knowledge or awareness of breast cancer, fear of cancer consequences, beliefs in complementary alternative medicine, sanction by others, other priorities, denial of disease, attitude of wait and see and health care system weakness. Help-seeking behaviour was influenced by a complex interaction of cognitive, environmental, beliefs, culture and psycho-social factors. Breast cancer awareness and psychological counselling are recommended for all patients with breast symptoms to prevent delay in seeking clinical help.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.10
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• pp.715-721
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• 2014

In decades, many researchers have studied the time delay estimation (TDE) method for the signals in the two different receivers. The channel estimation based TDE is one of the typical TDE methods. The channel estimation based TDE models the time delay between two receiving signals as an impulse response in a channel between two receivers. In general the impulse response becomes sparse. However, most conventional TDE algorithms cannot have utilized the sparsity. In this paper, we propose a TDE method taking the sparsity into consideration. The performance comparison shows that the proposed algorithm improves the estimation accuracy by 10 dB in the white gaussian source. In addition, even in the colored source, the proposed algorithm doesn't show the estimation threshold effect.