• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1789-1790
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• 2007

이 논문에서 우리는 생체모방 시스템을 구현하기 위해 일반적인 기계 시스템과 인간의 신경 진동자 모델을 결합하였다. 이러한 시스템은 외부환경의 변화에 따른 효과적인 자율 적응 운동 형태를 생성할 수 있다. 인간 및 동물의 주기적 자율 운동을 관장하는 Central Pattern Generator (CPG)는 신경 진동자 네트웍에 의해서 표현가능하고 이는 신경 진동자 모델 내부의 sensory 피드백 신호를 통해, 주기성을 같은 외란에 상호 작용하여 적절한 운동을 생성해 낸다. 따라서 이를 기계 시스템에 결합하면 이러한 시스템은 변화되는 환경이나 잘 알지 못하는 외란에 대하여 자율적으로 적응된 운동을 보일 수 있다. 이를 위해 본 논문은 이러한 신경 진동자 모델과 결합된 realtime 시스템을 구현하고 그 자율 적응 운동의 생성 가능성을 살펴본다.

• 건강소식
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• v.37 no.10
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• pp.32-33
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• 2013

운동 전후에 챙겨야 할 중요한 2가지 과정. 바로 몸이 본운동에 적응할 수 있도록 긴장을 풀어주는 준비운동과 본운동 후 신체 각 부위의 근육을 풀어주는 마무리운동이다. 쉽게 잊어버리고 넘어가기 쉬운 과정이지만 습관화하면 운동의 효율성을 높이고 각종 안전사고를 예방하는 효과가 있다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.8
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• pp.725-734
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• 2011

At high angles of attack, aircraft dynamics can display an oscillatory lateral behavior that manifests itself as a limit cycle known as wing rock. In this paper, a classical and neural network based adaptive control design methods of adaptively stabilizing the oscillatory motion by adapting uncertainties are described in detail. All methods are simulated and compared using a model for an 80o swept delta wing.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.4
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• pp.335-341
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• 2010

To improve the performance of inner loop based on PD controller for a unmanned helicopter, neural networks are applied. The performance of PD controller designed on the response characteristics of error dynamics decreases because of uncertain nonlinearities of the system. The nonlinearities are decoupled to modified dynamic inversion model(MDIM) and are compensated by the neural networks. For the training of the neural networks, online weight adaptation laws which are derived from Lyapunov's direct method are used to guarantee the stability of the controller. The results of the improved performance of PD controller by neural networks are illustrated in the simulation of unmanned helicopter with nonlinearities,

• Journal of Korean Academy of Fundamentals of Nursing
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• v.2 no.1
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• pp.67-85
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• 1995

The purpose of this study was to determine the effects of rhythmic movement therapy for adaptation state in mastectomy patients. The quasi-experimental study was designed using nonequivalent control group pretest-posttest design within the framework of Laszarus & Folkman's stress-adaptation model. The subjects of the study were composed thirty-two mastectomy patients, of these fifteen were assigned to the experimental group and seventeen to the control group. Rhythmic movement therapy was carried out twice a week for thirty-five, minutes or forty minutes for six weeks period from August 22 to September 30 in 1994. Data was collected before and after the experimentation. Collected data was analyzed by mens of chi-square test, t-test, two-way ANOVA, Pearson's correlation coefficient with $SPSS/PC^+$. The results were summarized as follows : 1. Physical symptom score in the experimental group and control group was not significant difference. 2. Joint Movement Parameter in the experimental group and control group was significant difference. 3. Depression score in the experimental group and contrl group was significant difference. 4. Body image score in the experimental group and control group was significant difference. 5. Stress perception score in the experimental group and control group was significant difference. 6. Social adjustment score in the experimental group and control group was significant difference. 7. Each adaptational level in the experimental group and control group according to type of Health Locus of Control were partially significant difference. Depression score and social adjustment score between the experimental group and control group according to others Health Locus of control were significant difference. This data suggest that rhythmic movement therapy was more effective in the group of Others health Locus of Control. 8. Each adaptational level between the experimental group and control group according to amount of spouse support were not significant difference. 9. The significant positive correlation between physical symptom score and body image, between body image and social adjustment, were observed. The significant negative correlation between stress perception score and social adjustment, between depression and body image, between depression and social adjustment, were observed. This data suggest that the more physical symptom score increased, the more body image increased and the more body image, the more social adjustment. And then the more stress perception score decreased, the more social adjustment increasded and the more depression score, the more body image and social adjustment. Thus it is concluded that the rhythmic movement therapy was a useful nursing intervention for adaptation of mastectomy patients.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.4
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• pp.509-517
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• 1985

작업 공간내에서 원하는 속도와 가속도로, 주어진 경로를 따라 이동하는 k차원 좌표계를 구성하고, 메니퓰레이터의 운동 방정식을 이 좌표계로 변환하여 운동 경로에 대한 선형화 식을 구하였다. 이 시스템의 입력을 변위와 속도의 함수로 정의한 후 안정성을 고려하여 이득을 결정하여 비례-적분제어 시스템을 구성하였다. 이와 같이 구한 적응 제어 알고리즘은 메니퓰레이터의 동적 특성에 대한 정확한 지식을 요하지 않고 또 계산이 간단하여 실시간 응용이 가능하다. 예로서 3차원 공간상의 반경 10cm의 원궤도에 적용하였을 때 최대 오차는 대략 1mm이었으며 상황 변화에 무감각함을 보였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.189-192
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• 2003

본 논문에서는 인간 두뇌 정보처리 시스템 모델링의 일환으로 강정적 요소 기반의 제어를 제시하였다. 일반적인 제어 시스템과는 달리 인간 두뇌 시스템의 경우 감정적인 요인이 제어에 상당한 영향을 미친다는 의학적 보고에 따라 일차적인 환경요소에 의한 감정요인을 적용하여 모델을 구현하였다. 주어진 모듈 로봇은 랜덤으로 주어지는 환경에 대해 정보수집 단계를 거쳐 주행에 필요한 일차적인 운동 패턴을 습득하고 이를 메모리에 저장하여 분석하며 적응하는 이차적인 운동 패턴을 시행하게 된다 감정요인을 기반으로 한 판단 알고리즘에 의해 모듈 로봇은 환경에 적응하면서 주행하는 패턴을 보여주게 된다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.990-998
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• 2007

Adaptive output feedback control technique using Neural Networks(NN) is proposed for uncertain nonlinear Multi-Input Multi-Output(MIMO) systems. Modified Dynamic Inversion Model(MDIM) is introduced to decouple uncertain nonlinearities from inversion-based control input. MDIM consists of approximated dynamic inversion model and inversion model error. One NN is applied to compensate the MDIM of the system. The output of the NN augments the tracking controller which is based upon a filtered error approximation with online weight adaptation laws which are derived from Lyapunov's direct method to guarantee tracking performance and ultimate boundedness. Several numerical results are illustrated in the simulation of Van der Pol system and unmanned helicopter with model uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.582-590
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• 2007

Nonlinear adaptive control of overhead cranes is investigated for anti-sway trajectory tracking with high-speed hoisting motion. The sway dynamics of two dimensional underactuated overhead cranes is heavily coupled with the trolley acceleration, hoisting rope length, and the hoisting velocity which is an obstacle in the design of decoupling control based anti-sway trajectory tracking control law To cope with this obstacle. we propose a fuzzy nonlinear adaptive anti-sway trajectory tracking control law guaranteeing the uniform ultimate boundedness of the sway dynamics even in the presence of uncertainties in such a way that it cancels the effect of the trolley acceleration and hoisting velocity on the sway dynamics. In particular. system uncertainties, including system parameter uncertainty unmodelled dynamics, and external disturbances, are compensated in an adaptive manner by utilizing fuzzy uncertainty observers. Accordingly, the ultimate bound of the tracking errors and the sway angle decrease to zero when the fuzzy approximation errors decrease to zero. Finally, numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• 건강소식
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• v.30 no.2 s.327
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• pp.12-13
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• 2006

일반적으로 아이들은 어른보다 활동적인 경향이 있어 적절한 체력수준을 유지한다. 그러나 해부학적, 생리학적, 심리학적으로 미성숙하기 때문에 운동프로그램을 고안할 때 특별한 주의가 필요하다.아이들을 위한 운동프로그램에서 가장 중요한 것이 안정성이다. 아이들은 신체활동 시 부상률이 높고, 지구성운동이 과할 경우 골단성장판을 다칠 수 있기 때문에 더욱 안정에 유의한다. 또한 아이들은 성인에 비해 열자극에 적응하는데 상대적으로 무력하므로 온도가 높은 여름날 야외에서 운동할 경우, 물을 많이 섭취하게 하고 자주 휴식을 취하도록 한다.