• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1489-1494
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• 2003

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.5
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• pp.888-896
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• 2011

A white smoke hand grenade, KM8 is used to make smoke screen in order to provide visual field interceptions or signals. The grenade fails when its time to emit smoke is longer than the specified emission time so that the smoke concentration becomes lighter. This paper considered failure in smoke emission time, and evaluated its storage lifetime. The main objective of this paper is to modify the present specification limits of smoke emission time for the efficient process control in manufacturing, through analyzing effect of its specification change on the storage lifetime, based on the lifetime evaluation results. Accelerated degradation test was performed and then failure in smoke emission time was reproduced from the test. And estimated storage lifetimes from the accelerated test results was compared to evaluated lifetimes of grenades using the ASRP data. Past process testing results of the grenade in manufacturing were analyzed in this paper. Then, each storage lifetime for the specifications, ${\pm}3$ and ${\pm}5$ in seconds, extended from the current specification in manufacturing were estimated using the past testing results, and compared to one another.

• Journal of Biomedical Engineering Research
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• v.40 no.6
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• pp.242-249
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• 2019

Forearm electromyography (EMG) generated by wrist movements has been widely used to develop an electrical prosthetic hand, but EMG generated by finger movements has been rarely used even though 20% of amputees lose fingers. The goal of this study is to improve the classification performance of different finger movements using a deep learning algorithm, and thereby contributing to the development of a high-performance finger-based prosthetic hand. Ten participants took part in this study, and they performed seven different finger movements forty times each (thumb, index, middle, ring, little, fist and rest) during which EMG was measured from the back of the right hand using four bipolar electrodes. We extracted mean absolute value (MAV), root mean square (RMS), and mean (MEAN) from the measured EMGs for each trial as features, and a 5x5-fold cross-validation was performed to estimate the classification performance of seven different finger movements. A long short-term memory (LSTM) model was used as a classifier, and linear discriminant analysis (LDA) that is a widely used classifier in previous studies was also used for comparison. The best performance of the LSTM model (sensitivity: 91.46 ± 6.72%; specificity: 91.27 ± 4.18%; accuracy: 91.26 ± 4.09%) significantly outperformed that of LDA (sensitivity: 84.55 ± 9.61%; specificity: 84.02 ± 6.00%; accuracy: 84.00 ± 5.87%). Our result demonstrates the feasibility of a deep learning algorithm (LSTM) to improve the performance of classifying different finger movements using EMG.

• The Journal of Dong Guk Oriental Medicine
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• v.8 no.2
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• pp.155-173
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• 2000

The diagnosis in Oriental medicine is done by inspection, auscultation and olfaction, interrogation, four diagnostics of pulse feeling and palpation, and various system of identification like identification according to Qi(vital energy), Xue and body fluids, identification according to fair principles, identification according to principles of Wei, Qi, Ying and Xue, identification according to Sanjiao(the triple heater), identification according to four type physical constitution. Sometimes, symptoms and diagnosis techniques according to symptoms is selectively applied for the diagnosis. Among them the pulse feeling and palpation diagnosis technique using the sense of finger and palm of the hand is divided into feeling of pulse and palpation and pressing maneuver. Pressing maneuver is a diagnosis technique pressing and rubbing the affected part in order to attain data of identification including inside and outside condition of the body with regard to the nature, condition and relative seriousness of disease. There are palpation of the skin, palpation the hand and foot, palpation the chest and the abdomen, palpation shu points in pressing maneuver. The diagnosis of the Back Shu points is a technique to examine the change of disease condition from pressure ache, spontaneous ache, tension, relaxation, solidification revealed through channels and collaterals. I investigates starting disease and an attack of disease of twelve pulse and pulse condition through the study relative to the substance and technique of pressing maneuver, and adjusts diagnosis techniques of a region for acupuncture and matters to be attended. The conclusions are as follows. 1. The Shu or stream points in which pathogenic factors go are important to medical treatment of dormant diseases like bowels disease, cold symptom complex and insufficiency symptom complex. 2. Disease classified by system is diagnosed by the condition of process part like pro-trusion, cave-in, tension, relaxation, pressure ache through palpating the Shu or stream points, that is pressing upward or downward left and right sides of the backbone process by hands. 3. In real clinic pressing maneuver of one's back side is very important to patient's diagnosis treatment. Thus, pressing maneuver of one's back side have to be done without omission. 4. Diagnosis must be accomplished through the perception about the diversity of diagnosis technique of bowels disease, the exact knowledge about pressing maneuver of one's back side for enlargement of treatment range and rising of treatment rate, and pressing maneuver of the Shu or the stream points.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Restorative Dentistry and Endodontics
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• v.23 no.1
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• pp.477-486
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• 1998

Recently the development of rotary instrument makes it possible that in root canal treatment operator saves much more time, maintans original curved canal shape and easily prepares continuous tapered root canal. The purpose of this experiment was to examine the smoothness of the internal surface of prepared root canal and the effectiveness of debridement in prepared root canal by SEM for the comparison of hand and Ni-Ti rotary instrument. 25 extracted human teeth were access opened and # 10 K-type file was introduced into canal until it was appeared at the apical foramen. The working length was established by subtracting 0.5mm from this measurement. Group 1. The root canal preparation was done to # 30 with working length and then step-back until # 45 with K-Flexofile (Maillefer, Swiss). Group 2. Root canal preparation was done by Naviflex Ni-Ti file (Brasseler, USA) as the same technique with group 1. Group 3. Canal was prepared by Profile .04 (Maillefer, Swiss) taper until #30. Group 4. With use of Quantec (Tycom, USA) root canal was prepared from file number 1 to 8. In group 1 and 2, the root canal irrigant was NaOCl and the other groups, NaOCl and RC-prep (Premine Dental Products, USA) was used. The prepared teeth were notched with high-speed bur as bucco-lingual direction and fractured with chisel and mallet, then examined with SEM. Group 1 showed smooth internal surface. There were scratches mainly to the axial direction. Group 2 showed similar characteristics to those in group 1. Group 3 showed more smoother and linear cutting surface with bised scratches. Group 4 has the almost same characteristics group 3 and there was no difference in the file design. Ni-Ti rotary root canal instrument prepare the dentinal wall more smoother than hand instrument. The effectiveness of debridement was not fully affected by file design. The isthmus area and accessory canals of the root canal system were not prepared in any group. According to the result, hand and rotary type instrumentation techniques were effective in removal of major amount of tissue from root canal but it was not complete. In the direction of cutting movement there was difference between them.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2278-2282
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• 2003

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, a general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, the immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1531-1536
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• 2003

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, A general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, The immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

• Annual Conference on Human and Language Technology
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• 1989.10a
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• pp.126-131
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• 1989

본 논문에서는 Error Back Propagation 학습을 이용해 한글 문자를 On-Line 인식하는 시스템을 제안한다. Pointing device의 궤적을 추적해 입력 패턴의 특징(feature)을 추출해 신경 회로망 입력으로 준다. 이때 사용하는 특징은 기본 획 (stroke)의 종류 및 획간의 상대적 위치 관계이다. 학습과정에서는 자소의 정의를 읽어 초성, 중성, 종성에 대해 각 획수마다 정의된 신경회로망의 weight를 조정한다. 인식 과정에서는 초성, 중성, 종성의 순으로 에러가 최소인 획수의 신경회로망 출력을 택하여 2 바이트 조합형 코드로 완성한다. 이로써 Intelligent Man-Machine Interface 시스템중 위치 및 크기에 무관한 전필 입력 시스템을 구현한다.