• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1104-1109
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• 2010

This paper deals with the attitude control of an underactuated spacecraft that has fewer than three actuators. Even though such spacecrafts are known as uncontrollable, restricted missions are possible with controlling two-axis attitude angles. A variable speed control moment gyroscope is considered as an actuator. It is a kind of momentum exchange device and it shows highly nonlinear dynamical properties. Speed commands are generated by kinematic equations represented by Euler angles. A control law, that is designed to make a spacecraft follow the speed commands, is derived by the backstepping method. Angular speeds are estimated from the attitude measurements. Several estimation methods have been compared.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.188-196
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• 2016

For the balancing control of a one-wheel mobile robot, CMG (Control Moment Gyro) can be used as a gyroscopic actuator. Balancing control has to be done in the roll angle direction by an induced gyroscopic motion. Since the dedicated CMG cannot produce the rolling motion of the body directly, the yawing motion with the help of the frictional reaction can be used. The dynamic uncertainties including the chattering of the control input, disturbances, and vibration during the flipping control of the high rotating flywheel, however, cause ill effect on the balancing performance and even lead to the instability of the system. Fuzzy compensation is introduced as an auxiliary control method to prevent the robot from the failure due to leaning aside of the flywheel. Simulation studies are conducted to see the feasibility of the proposed control method. In addition, experimental studies are conducted for the verification of the proposed control.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1064-1069
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• 2015

Control Moment Gyro (CMG) has been used as an indirect actuator of a single-wheel robot system GYROBO, developed at Chungnam National University. The flip motion of the gimbal system produces the gyroscopic motion onto the body system while the body motion also produces the gyroscopic motion onto the gimbal system inversely. In this paper, the intuitive equation of the inverse gyroscopic effect is derived as the direct relation between the rate of the body system and the rate of the gimbal system. Experiments on the inverse gyroscopic effect under the chaotically generated disturbance are conducted. Experimental data are approximated by a linear equation using the least square method.

• Journal of Aerospace System Engineering
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• v.7 no.4
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• pp.12-17
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• 2013

Control Moment Gyroscope(CMG) is one of the most efficient momentum exchange devices for satellite attitude control and essential device for agile maneuver system. This paper presents the details of a designed Single Gimbal CMG with a constant speed momentum wheel and single axis attitude control unstable to stable. In order to keep the naturally unstable equivalent point, it should be controlling the gimbal constantly. The experimental data are compared with theoretical result and requirements are used to verify their performance specifications.

• Journal of Nutrition and Health
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• v.22 no.2
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• pp.84-90
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• 1989

Allergic disorders may be defined as the abnormal reactions to proteins. Cow milk is the first foreign protein which the human being would contact postnatally. Serveral studies suggested that this contact had certain effects on the development o allergic disorders with great controlversies. Seven hundred seventy eight students from middle class in Seoul, aged 6 to 17 wears, were surveyed to delineate the relationshpis between the cow's milk contacts in infancy and the subsequent development of allergic disorders in Koran population. Questionaire were included the nursing patterns in infancy, the past medical history of asthma or wheezy bronchitis and the presence of infantile eczema. Skin tests to three common resporatory allergens in Korea(house dust, house dust mite; D. farinae, D. ptoeronssinus) were performed. The positivity was determined by the wheal size larger than that to histamine. 70.2% of whole mateials was fed by breast milk, 13.1% by cow's milk and 16.7% by mixed nutsing. From the obsevation of nursing patterns by (table 2), we find that the number of breast milk group has been decreasing in 1970's. 10.1% of breast milk group(BMG) had wheezy bronchitis, 8.8% of cow's milk group(CMG) and 11.5% of mixed nursing group(MNG). Infantile eczema history was positive in 27.8% of BMG, in 26.5% of CMG and in 29% of MNG. Skin test positivity was 23.8% in BMG, 25.5% in CMG and 26.2% in MNG. There prevalences of allergic disorders in each nursing group did not reveal any statistically significant differences. In conclusion, nursing patterns in infancy do not seem to have certain effects on the development of allergic disorders such as infantile eczema. wheezv bronchitis or skin test positivity.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.11
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• pp.25-31
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• 2016

Parasitic capacitance and resistance of FinFET transistors are the important components that determine the frequency performance of the circuit. Therefore, the researchers in our group developed more accurate parasitic capacitance and resistance for FinFETs than BSIM-CMG. To verify the RF performance, proposed model was applied to design an LNA that has $S_{21}$ more than 10dB and center frequency more than 60GHz using HSPICE. To verify the accuracy of the proposed model, mixed-mode capability of 3D TCAD simulator Sentaurus was used. $S_{21}$ of LNA was chosen as a reference to estimate the error. $S_{21}$ of proposed model showed 87.5% accuracy compared to that of Sentaurus in 10GHz~100GHz frequency range. The $S_{21}$ accuracy of BSIM-CMG model was 56.5%, so by using the proposed model, the accuracy of the circuit simulator improved by 31%. This results validates the accuracy of the proposed model in RF domain and show that the accuracies of the parasitic capacitance and resistance are critical in accurately predicting the LNA performance.

• Journal of the korean academy of Pediatric Dentistry
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• v.38 no.3
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• pp.296-302
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• 2011

Idiopathic gingival fibromatosisrarely occurs, but frequently recurred after surgical removal. It usually occurs in generalized symmetrical pattern but sometimes in localized unilateral pattern. The localized pattern usually affects the maxillary molar and tuberosity area. This disease usually causes tooth migration, malocclusion, and problems in eating, speech, and esthetics. A boy showed dense gingival fibromatosis localized at primary maxillary right lateral incisor area at the age of 5 years, and his maxillary right lateral incisor become severely displaced at the age of 9 years. He had no medical and hereditary factors relevant to the gingival fibromatosis. However, the dense fibrous tissue was dominant in his labial gingiva of maxillary right incisors. In order to realign the displaced incisors by orthodontic treatment, the dense fibrous tissue covered the defect space between the central incisor and the displaced lateral incisor was surgically removed. The removed specimen was examined by simple immunohistochemical(IHC) array method. IHC array showed increased expression of CTGF, HSP-70, MMP-1, PCNA, CMG2, and TNF-${\alpha}$ in keratinocytes, fibroblasts, endothelial cells, and macrophages of gingival fibromatosis tissue. Therefore, it was suggested that the gingival fibromatosis be caused by the concomitant overexpression of CTGF, HSP-70, MMP-1, PCNA, CMG2, and TNF-${\alpha}$, and resulted in the fibroepithelial proliferation and the inflammatory reaction of gingival tissue.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.1
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• pp.38-44
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• 2003

In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.422.1-422.1
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• 2016

Graphene quantum dots (GQDs), a new kind of carbon-based photo luminescent nanomaterial from chemically modified graphene oxide (CMGO) or chemically modified graphene (CMG), has attracted extensive research attention in the last few years due to its outstanding chemical, optical and electrical properties. To further extended its potential applications as optoelectronic devices, solar cells, bio and bio-sensors and so on, intensive research efforts have been devoted to the CMG. However, the CMG, a suspension of aqueous, have problematic since they are prone to agglomeration after drying a solvent. In this study, we synthesized the GQDs from graphite and deposited on silicon substrate by kinetic spray. The photo luminescent properties of deposited GQD films were analyzed and compared with initial GQDs suspension. In addition, its carbon properties were investigated with GQDs solution properties. The properties of deposited GQD films by kinetic spray were similar to that of the GQDs suspension in water. We could provide a pathway for silicon-based silicon based device applications. Finally, the well-adjusted GQD films with photo luminescence effects will show Energy-Down-Shift layer effects on silicon solar cells. The GQD layers deposited at nozzle scan speeds of 40, 30, 20, and 10 mm/s were evaluated after they were used to fabricate crystalline-silicon solar cells; the results indicate that GQDs play an important role in increasing the optical absorptivity of the cells. The short-circuit current density (Jsc) was enhanced by about 2.94 % (0.9 mA/cm2) at 30 mm/s. Compared to a reference device without a GQD energy-down-shift layer, the PCE of p-type silicon solar cells was improved by 2.7% (0.4 percentage points).

• Journal of Industrial Convergence
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• v.18 no.2
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• pp.27-35
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• 2020

The purpose of this study was to investigate the effect of cervical and thoracic joint mobilization on cervical pain, cervical range of motion(ROM) and balance in adults with forward neck posture. A total 26 subjects were divided into a cervical joint mobilization group(CMG, n=13) and a thoracic joint mobilization group(TMG, n=13). performed joint mobilization three times per week for four weeks. As for changes in pain and ROM, statistically significant decrease were founded within group comparison(p<.05). In changes of static balance within group comparison, the CMG showed statically significant improvement in right foot on eyes closed(p<.05), while there were no significant changes in the TMG(p<.05). There were no significant differences were observed between group comparison(p<.05). In changes of dynamic balance within group comparison, the CMG and TMG were showed statistically significant improvement(p<.05). In conclusion, the joint mobilization on cervical and thoracic were effective on improving cervical pain, cervical range of motion and balance in adults with forward neck posture.