• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.653-657
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• 1990

Since linearized equations of notion have much modelling errors, robust controller for disturbances and noises Is necessary for autopilot. In this paper, notion equations for underwater vehicle with six degree-of-freedom are derived and linearized. And robust autopilot for this system is designed by using LQG/LTR methodology.

• Journal of muscle and joint health
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• v.8 no.1
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• pp.5-26
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• 2001

Many studies have reported that regular aquatic exercise can lead to improvement of health for patients suffering from arthritis. In spite of these benefits, the adherence rate has shown as few as 26% of patients with arthritis who had completed the aquatic exercise education program. Moreover, when patients with arthritis begin an aquatic exercise, 47% withdraw within the first 6 month. No study has been found that constructs model to explain aquatic exercise adherence of patients with arthritis. The purpose of this study were to identify the factors influencing exercise adherence and to construct and test a structural model to explain aquatic exercise adherence of patients with arthritis. Hypothesized model was constructed on the basis of Bandura's social cognitive theory and literature review. Exogenous latent variables included in this model are group cohesion and barrier, endogenous latent variables are self-efficacy, outcome expectancy and self-evaluation. Empirical data used was collected through individual interviews with the structural questionnaire on 249 patients with arthritis who had completed the 6-week aquatic exercise education program of Korean Rheumatology Health Professionals Academy. The interviews were performed from September 6, 1999 through October 8, 1999. A model tested by the covariance structural analysis with LISREL 8.12a program and by descriptive statistics and correlation with SAS 6.12 program. The results are summarized as follows: First, hypothesized model showed a good fit to the empirical data. In the modified model added one new path showed a much better fit. Second, group cohesion had a direct, indirect positive effects, self-efficacy and self evaluation had a direct positive effects on exercise adherence. Barrier had a direct, indirect negative effects on exercise adherence. Outcome expectancy had a direct negative effect, indirect positive effects through self-evaluation on exercise adherence, but total effects was not significant. Total effect size of the variables were group cohesion, self-efficacy, barrier and self evaluation in order. All variables accounted for 54% of the total variance of exercise adherence in the model. In conclusion, this model confirmed to be proper in explaining of aquatic exercise adherence. Group cohesion, self-efficacy, outcome expectancy, self-evaluation, barrier contributed to the aquatic exercise adherence of patients with arthritis. The results of this study suggested that improvement of group cohesion, self-efficacy and self-evaluation, motivation of outcome expectancy through self-evaluation, and reduction of the barrier should be included in the strategy of nursing intervention for the aquatic exercise adherence of patients with arthritis.

• The Journal of the Acoustical Society of Korea
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• v.42 no.4
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• pp.320-328
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• 2023

Underwater active target detection is vital for defense systems, requiring accurate detection and estimation of distance and velocity. Sequential transmission is necessary at each beam angle, but divided pulse length leads to range ambiguity. Multi-frequency transmission results in time-bandwidth product losses when bandwidth is divided. To overcome these problem, we propose a novel method using Generalized Sinusoidal Frequency Modulation (GSFM) for rapid target detection, enabling low-correlation pulses between subpulses without bandwidth division. The proposed method allows for rapid updates of the distance and velocity of target by employing GSFM with minimized pulse length. To evaluate our method, we simulated an underwater environment with reverberation. In the simulation, a linear frequency modulation of 0.05 s caused an average distance estimation error of 50 % and a velocity estimation error of 103 % due to limited frequency band. In contrast, GSFM accurately and quickly tracked targets with distance and velocity estimation errors of 10 % and 14 %, respectively, even with pulses of the same length. Furthermore, GSFM provided approximate azimuth information by transmitting highly orthogonal subpulses for each azimuth.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.2
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• pp.288-295
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• 2011

The paper proposes a localization method of an underwater robot using Monte Carlo Localization(MCL) approach. Localization is one of the fundamental basics for autonomous navigation of an underwater robot. The proposed method resolves the problem of accumulation of position error which is fatal to dead reckoning method. It deals with uncertainty of the robot motion and uncertainty of sensor data in probabilistic approach. Especially, it can model the nonlinear motion transition and non Gaussian probabilistic sensor characteristics. In the paper, motion model is described using Euler angles to utilize the MCL algorithm for position estimation of an underwater robot. Motion model and sensor model are implemented and the performance of the proposed method is verified through simulation.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.15 no.3
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• pp.350-359
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• 2008

Purpose: The purpose of this study was to identify change in the exercise behavior and to identify factors influencing long-term adherence to aquatic exercise in patients with arthritis as a follow-up study after five years. Method: Baseline data had been collected using a structured interview 6 months after participants completed the aquatic exercise educational program. This second follow-up data collection included 133 participants from the original baseline study and was done 5 years after the original baseline study. Data was analyzed using SPSS 16 Win program. Results: The stage of change for the participants was as follows: Precontemplation (44.3%), Contemplation (24.1%), Preparation (3.0%), Action (0%) and Maintenance (adherence, 28.6%). The adherers (N=38) had significantly higher scores than non-adherers (N=91) in self-efficacy, outcome expectancy, group coherence and self-evaluation, and significantly lower scores in barriers to exercise. In logistic regression analysis, self-efficacy, group cohesion, barriers to exercise and self-evaluation were associated with exercise adherence (Chi Square=17.14, p=.002). Group cohesion (OR=2.5871, 95% CI=1.094-6.113, p= .030) was the most important factor. Conclusion: Self-efficacy, group cohesion, barriers to exercise and self-evaluation need to be considered in planning exercise programs to improve exercise adherence.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.4 s.142
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• pp.299-306
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• 2005

To determine a guidance law which is suitable for Target Tracking System(TTS) of an underwater vehicle, the performance (hitting probability) of TTS were calculated with four different guidance schemes, considering underwater vehicle's manoeuvrability and characteristics of seeking equipment such as sonar To evaluate the performance of TTS with each guidance law, numerous target-tracking simulations of underwater vehicle were performed under the condition of target's various motion scenario. Furthermore, the effect of sonar characteristics to the performance of guidance law in TTS was studied by changing parameters of sonar such as frequency of ping and detecting error of target. The pursuit-tail guidance law showed the best performance among four different guidance laws. Complex motion of target from straight line to turning circle and zigzag movement, low frequency of sonar ping and large detecting error of target decreased the hitting probability.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.4
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• pp.183-193
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• 2019

PURPOSE: This study assessed the exercise programs for improving the spinal angle and trunk flexibility by applying the aquatic exercise and sling exercise to young adults with scoliosis. METHODS: The subjects were 14 participants diagnosed with scoliosis. They were assigned randomly either to an aquatic exercise group (n=7) that received the WATSU exercise program or to a sling exercise group (n=7) that received a sling exercise program. The exercise program was 50 minutes once, three times a week, 12 times for four weeks. The spinal angle and flexibility were measured using the Cobb's angle and modified sit and reach test, respectively. Two variables were analyzed before and after the intervention, and the aquatic exercise group and sling exercise group were compared. RESULTS: After the intervention, the Cobb's angle decreased significantly, and the flexibility increased significantly in both groups (p<.05). A larger increase in flexibility was observed in the aquatic exercise group than in the sling exercise group (p<.05). CONCLUSION: These results showed that the two exercise programs improved the spine angle and flexibility. The increased flexibility showed that aquatic exercise was more effective than the sling exercise. Therefore, aquatic exercise and sling exercise can be used in the treatment and prevention of scoliosis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.355-358
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• 2006

An underwater mooing target position tracking system using image tracking system of CPMC is developed to use in a test basin. Generally the performance tests of Autonomous Underwater Vehicles(AUVs) are conducted in the sea. Some efforts to perform the test in a test basin are exist, because the real sea tests need much time and manpower. And also the real sea tests are high cost. There is a restriction to acquire the position of AUVs using sonar sensor system in the test tank, because many sound reflecters are exist in a test basin. In this paper a position tracking system for underwater mooing target developed to break though this restriction. A Tank-test is conducted to examine the performance of the position tracking system.

• Journal of Ocean Engineering and Technology
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• v.32 no.3
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• pp.208-212
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• 2018

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.