• Korean Journal of Psychosomatic Medicine
• /
• v.15 no.2
• /
• pp.73-80
• /
• 2007

Anumber of prior studies have reported eye movement dysfunction in patients with dementia. The eye movement test which is non-invasive can evaluate the local brain function quantitatively. Therefore, it can be a useful method for characterizing regional brain abnormalities of patients with dementia. The aim of this paper is to review the literatures on eye movement abnormalities in dementia patients. Saccade system dysfunctions in Alzheimer disease include increased latency, reduced accuracy, and increased antisaccade error rates. Patients with frontotemporal dementia showed impaired reflexive saccade inhibition and increased latency and errors of antisaccade task. And delayed initiation of voluntary saccades, slow saccades, and increased errors and latency on antisaccade task were found in Huntington's disease. Patients with Parkinson’s disease dementia and dementia with Lewy bodies have characteristics of impaired in both reflexive saccade execution and complex saccade performance. However, there were few reports of abnormal eye movements in Creutzfeldt-Jakob disease; they could be found at the later stages after symptoms of dementia came to be evident, and secondary to cerebellar and vestibular involvement. Slowing of saccades and hypometric saccades might precede the supranuclear limitation of vertical gaze in PSP. Dysfunction of voluntary eyelid movements was a characteristic finding of PSP as well. In conclusion, patients with dementia can show various abnormal eye movements and they are related with cortial and subcortical brain dysfunctions. The research on localization of brain relevant to each symptom can promise more clinical implications of eye movement of dementia.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.11
• /
• pp.1072-1078
• /
• 2008

An adaptive control algorithm for spacecraft rendezvous and docking in a Keplerian orbit is presented. The equations of relative motion of two spacecrafts expressed in a local-vertical-local-horizontal rectangular frame are converted to a general Hamiltonian form, then an adaptive control method developed for the uncertain Hamiltonian system is applied to the rendezvous and docking problem. A smooth projection algorithm is applied to keep the parameter estimates inside a singularity-free region, and a numerical example shows that the developed controller successfully deals with the unknown mass of the chaser spacecraft.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1995.10a
• /
• pp.261-266
• /
• 1995

본 연구에서는 자기부상시스템에 대해 흡인식 자기부상방식을 채택하고 쇠구슬에 대한 운동을 상하 1자유도로 가정하여 운동방정식을 세운다. 이때 전자석이 자기 부상력은 전자석에 흐르는 전류와 인덕턴스의 함수라 가정하고, 모델의 불확실성은 자기부상계의 운동 방정식으로부터 선형화 할 때 발생하는 오차 및 파라미터 변동으로 생각한다. 또한 모델의 불확실성이 존재하더라도 정상편차 없이 부상하는 서보제어계를 설계한다. 그런데 저자등은 강인성 문제 및 정상편차 없는 것에 역점을 두어 H$_{\infty}$ 제어이론에 기초한 1형 로바스트 서보 제어기를 구하여 자기부상 시스템의 안정화 제어계로써 적용한 적이 있다. 이때 중심해 이외의 해를 이용하여 설계한 서보 제어계는 자기부상계의 과도상태시에 일어나는 오버슈트를 줄일 수 없었다. 따라서 시스템 내부 안정화를 위하여 H$_{\infty}$ 제어이론에 의해 설계된 피드백(feedback) 제어기와 물체가 부상할 때 오버슈트를 줄이고 제어량이 목표치에 잘 추종하기 위해 설계된 피드 포워드(feed forward) 제어기로써 2자유도를 갖는 제어계를 설계한다. 이렇게 설계한 2자유도 제어계를 가지고 모의 응답실험과 본 연구자들이 만든 자기부상 시스템의 실험결과를 비교함으로써 설계된 제어기의 타당성을 조사한다.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.6
• /
• pp.774-779
• /
• 2010

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

• Journal of Korean Philosophical Society
• /
• v.144
• /
• pp.141-166
• /
• 2017

Adorno's most important criticism in popular movement is the identity of revolutionary leaders and followers. The identification process has three characteristics. The first characteristic is to create a sense of solidarity within the group by creating an image more real than the antagonist and ensuring the distinction between the enemy and the comrades. Individual entities that resist the mass created by the sense of solidarity disappear, and only the subject identified with the group exists. The second characteristic is to present an optimistic utopia, which makes the public believe that salvation comes from transcendent values. This mass movement also leads to criticism of other groups or people who are deemed off-limits to their own solidarity. The third characteristic is that the public, whose individual subject disappears through the narcissism-based public hypnotic state, is identified with the conductors, and forces other subjects to hypnotize themselves. The purpose of this paper is to examine how Adorno criticizes the fascist violence of mass movements and analyze what this suggests about the task of mass movements.

• Journal of Sensor Science and Technology
• /
• v.10 no.1
• /
• pp.52-61
• /
• 2001

We propose a new saccadic eye movement system with visual selective attention. Saliency map models generate the scan pathways in a natural scene, of which the output makes an attended location. Saccadic eye movement model is used for producing the target trajectories to move the attended locations very rapidly. To categorize human saccadic eye movement, saccadic eye movement model was divided into three parts, each of which was then individually modeled using different neural networks to reflect a principal functionality of brain structures related with the saccadic eye movement in our brain. Based on the proposed saliency map models and the saccadic eye movement model, an active vision system using a CCD type camera and BLDC motor was developed and demonstrated with experimental results.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.4
• /
• pp.276-283
• /
• 2017

This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.

• ICROS
• /
• v.21 no.1
• /
• pp.31-36
• /
• 2015

운전자에게 편의성을 제공하는 차량의 주행관련 Advanced driver assist system (ADAS)에는 차량의 종방향과 횡방향 운동에 대한 제어기가 요구된다. 횡방향 제어를 위해서는 조향 시스템의 조향각 제어가 요구되는데 최근 구조적으로 간단하고 연비향상, 차량의 중량 감소, 빠른 응답성을 가지고 있는 전기적 파워 조향 (Electric power steering, EPS) 시스템이 자동차 산업에서 널리 사용되고 있다. 차량의 주행관련 ADAS를 사용하여 자율 주행 시 EPS 시스템은 상위 제어기에서 계산된 필요한 조향각을 추종 할 수 있도록 조향 핸들의 각 제어를 해야 한다. 그러나 일반적인 EPS 시스템은 운전자가 조향 핸들에 인가된 토크를 보조해 줄 수 있는 토크를 출력해 준다. 본 논문에서는 이러한 문제를 해결하는 방법들을 설명한다. 먼저 EPS 시스템의 기본 기능에 대해서 설명을 하고, 자율 추행 차량을 위한 조항 핸들의 각 제어를 위한 proportional-integral 제어, 슬라이딩 모드 제어 (Sliding mode control), 관측기 기반 비선형 댐핑 제어(Observer based nonlinear damping control) 등과 같은 다양한 기법의 제어 알고리즘들에 대한 방법들이 고찰되었다.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.458-463
• /
• 2000

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.5
• /
• pp.44-51
• /
• 2008

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.