• Journal of the Korean Society of Industry Convergence
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• v.12 no.3
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• pp.129-135
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• 2009

This paper describes traveling systems consisting of one major-wheel and three minor-wheels attached to each tip of three spokes. A link of inter-axle plays an important role of the system. It connects secondary axle to the major wheel axle. Its length is determined to ascend stably various stairs. The systems was designed to mount a cart for carrying agricultural products. The systems was applied to ascend stairs, travel on sand and cross a obstacle, despite of simple design.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.10
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• pp.4007-4024
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• 2020

It is tremendously important to construct decision trees to use as a tool for knowledge representation from a given decision table. However, the usual algorithms may split the decision table based on each value, which is not efficient for numerical attributes. The methodology of this paper is to split the given decision table into binary groups as like the CART algorithm, that uses binary split to work for both categorical and numerical attributes. The difference is that it uses split for each attribute established by the directed acyclic graph in a dynamic programming fashion whereas, the CART uses binary split among all considered attributes in a greedy fashion. The aim of this paper is to study the effect of binary splits in comparison with each value splits when building the decision trees. Such effect can be studied by comparing the number of nodes, local and global misclassification rate among the constructed decision trees based on three proposed algorithms.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.9A
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• pp.2211-2220
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• 1998

This paper presetns an adaptive critic self-learning control system with cerebellar model articulation controller (CMAC)-based decoder integrated with the associative search element (ASE) and adatpive critic element(ACE)- based scheme. The tast of the system is to balance a pole that is hinged to a movable cart by applying forces to the cart's base. The problem is that error feedback information is limited. This problem can be sloved when some adaptive control devices are involved. The ASE incorporates prediction information for reinforrcement from a critic to produce evaluative information for the plant. The CMAC-based decoder interprets one state to a set of patways into the ASE/ACE. These signals correspond to te current state and its possible preceding action states. The CMAC's information interpolation improves the learning speed. And design inverted pendulum hardware system to show control capability with neural network.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.1
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• pp.116-121
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• 2018

In this paper, we propose the SIIM fuzzy Quasi-sliding mode controller for the system of a double inverted pendulum on a cart. Since it is difficult to handle this 6th-order system, we decoupled the entire system into three $2^{nd}$ order subsystem, and we designed the SIIM fuzzy Quasi-sliding mode controller for each subsystem, which was easy and did not require the derivation of the equivalent control. The stability of the entire system is guaranteed using Lyapunov function. The validity and robustness of the proposed controller are demonstrated through the computer simulation, and the results are compared with the results of former studies.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Journal of Korean Academy of Nursing
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• v.23 no.3
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• pp.325-338
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• 1993

This study was conducted to evaluate the methods used in nursing procedures for infection control. Skilled nursing procedures are related to prevention of hospital infection. The sample consisted of 301 nurses’ response to the questionnaire. Data were collected from Feb. to March, 1993 from 35 hospitals located in five major cities. The findings of the study are as follows : 1) Rotatively unsafe nursing procedures were reported for preperation of IV therapy, change of IV site and aseptic dressing on IV site, hand wash-ing and use of paper towels, use of sterile urine bottle with indwelling urinary catheter, management of dressing cart, disinfection of transfer forcep, ambu respirator, laryngoscope, humidifier and handling of incubator. 2) Relatively safe nursing procedures were reported for management of suction tube, marking for contaminated materials and waste collection. The rate of participation in education programs for infection control by the nurses was higher than in other research results. 3) Further study on procedures for IV site in-fusion and care of dressing cart are recommended.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.125-126
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• 2018

최근 대형마트 측에서는 계산대의 지연 시간 문제를 해결하기 위해 셀프 계산대라는 방식을 도입했지만 사용하는데 번거로운 점과 사용과정의 어려움을 느끼는 소비자들이 많아서 이 또한 근본적인 문제를 해결해주지 못하고 있는 실정이다. 본 논문은 이러한 문제점들을 해결하기 위해 자동화 계산이 가능한 스마트 카트를 제작하고자 한다. 스마트 카트를 도입함으로써 마트에서의 번거로운 과정과 대기시간의 지연으로 인해 생기는 소비자들의 불만을 해결해 주고자 한다. 또한 소비자의 빠른 순환으로 인해 마트의 이윤을 얻어 줄 수 있는 자동화 계산이 가능한 스마트 카트를 제작하고자 한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.304-309
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• 1998

In this paper, a fuzzy controller for stabilization of the inverted pendulum system is propose. The facility of this fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point ($\Phi$veq) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference structur made substantially the inverted pendulum system robust and stable.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.2
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• pp.217-223
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• 1991

Most common applications of neural networks to control problems are the automatic motor controls using the artificial perceptual function. These control mechanisms are similar to those of the intelligent and pattern recognition control of an adaptive method frequently performed by the animate nature. In this paper, the pole-balancing problem is selected as the control object and an actual cart-pole controller is implemented by a computer interfacing and demonstrated as motor control using the reinforcement learning rule. In the experiment, given a change of the main parameters of cart-pole dynamics, a comparison is made between the LQR scheme and neural network method. The neural network method exhibits a more effecftive control action in a real situation having a large uncertainty than the LQR scheme.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2242-2244
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• 2003

This paper considers a networked control system (NCS) that consists of an inverted cart pendulum, a digital controller, and a controller area network (CAN) in which the actuator and sensors of the pendulum are connected to form a closed-loop system. The worst-case message response time (WCMRT) in the CAN is analyzed and the analysis results are applied to the target control system. For the case where the control system cannot satisfy the WCMRT condition and therefore time delays are inevitable, the Luck and Ray method is used to compensate the network-induced time delays. Simulations are carried out to show the feasibility of the proposed scheme.