• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.426-426
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• 2000

When real robot manipulators arc mathematically modeled, uncertainties are not avoidable. The uncertainties are often nonlinear and time varying, The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance and etc. We proposed a class of robust hybrid position/force control of manipulators and provided the stability analysis in the previous work. In the work, we propose a class of adaptive robust hybrid position/force control of manipulators with bound estimation and the stability based on Lyapunov function is presented. Especially, this controller does not need the information of uncertainty bound. The simulation results are provided to show the effectiveness of the algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.980-984
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• 2001

When robot manipulatros as mathematically modeled. uncetainties may not be avoided. The uncertain factors come from imperfect knowledge of system parameters, payload change. friction, external disturbance and etc. In this work, we proposed a class of robust hybrid control of manipulatosrs. We propose a class of expanded robust hybrid control with the separated bound function and the simulation results are provided to show the effectiveness of the algorithm.

• Proceedings of the Korean Society for Environmental Edudation Conference
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• 2005.12a
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• pp.138-147
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• 2005

In the present study, the middle school students' perception on the environment course was surveyed before and after three different lessons. It was found that most students were taking environment related issues mainly from mass media including internet and broadcasting. The young students were satisfied at practical experiments, but at the same time a few old fashioned experimental programs would not be preferred. Utilization of multimedia such as audio-visual tools was one of the effective tools for the environment class, because it could help to understand even the profound principles of the chemical and physical processes. However, some students did not concentrate on the display, causing frequent disturbance of the class. Since the school for this investigation did not choose the environment as a selective course, practical tools and materials for the experiment should not be sufficient, and thereby a further detailed work must be followed with the students who are taking environment lessons.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1726-1727
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• 2007

In this paper, a systematic guideline is introduced to design a stable adaptive fuzzy wavelet controller with sliding mode for a class of uncertain nonlinear systems. Based on the Lyapunov synthesis approach, we construct the fuzzy wavelet controller such that it can basically control and guarantee the stability of the whole control system. On the other hand, a robust controller is design to restrain or eliminate the disturbance and assure the desired output accuracy of a control system. Some experimental results for a chaotic system are provided here to demonstrate the effectiveness of the control algorithm.

• Proceedings of the National Institute of Ecology of the Republic of Korea
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• v.2 no.3
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• pp.153-165
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• 2021

The objective of this study was to provide basic data for the conservation of wetland ecosystems in the Civilian Control Zone and the management of Yongyangbo wetlands in South Korea. Yongyangbo wetlands have been designated as protected areas. A field survey was conducted across five sessions between April 2019 and August of 2019. A total of 248 taxa were identified during the survey, including 72 families, 163 genera, 230 species, 4 subspecies, and 14 varieties. Their life-forms were Th (therophytes) - R₅ (non-clonal form) - D₄ (clitochores) - e (erect form), with a disturbance index of 33.8%. Three taxa of rare plants were detected: Silene capitata Kom. and Polygonatum stenophyllum Maxim. known to be endangered species, and Aristolochia contorta Bunge, a least-concern species. S. capitata is a legally protected species designated as a Class II endangered species in South Korea. A total of 26 taxa of naturalized plants were observed, with a naturalization index of 10.5%. There was one endemic plant taxon (Salix koriyanagi Kimura ex Goerz). In terms of floristic target species, there was one taxon in class V, one taxon in Class IV, three taxa in Class III, five taxa in Class II, and seven taxa in Class I. Three invasive alien species (Ambrosia trifida L., Ambrosia artemisiifolia L., and Humulus japonicus Siebold & Zucc) were observed. For continuous conservation of Yongyangbo Wetlands, it is necessary to remove invasive alien plants and block the inflow of non-point pollutants.

• Korean Journal of Environment and Ecology
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• v.3 no.1
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• pp.81-94
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• 1989

Use impacts to trail and campground deteriorations and their changes of natural environment were studied in Mt. Kaya National Park in 1989. The entire width, bare width and maximum depth of trail as the trail condition were significantly greater on the more heavily used trail. Deteriorations of trail which were surveyed at the total of 51 were significantly different from those of non-deteriorated points. The changes of soil and vegetation of trailsides were not found at a uniform tendency but could be more clearly grouped by the types of user's disturbance, and use impact on trailside had reached 15m inside of forest. Percentage of area for Class 5 in campsite was about 36% and about 69% of campsite area was more severe than Class 3. Recreational activities retarded the diameter growth of trees in campsite and accelerated the different composition of species. Soil and vegetative factors adapted to understand the difference of use amount and the realm of use impact could be sorted. The realm influenced by user's disturbance was about 50m from the core of campsite. Fraxinus rhynchophylla, Rhus trichocarpa, Symplocos chinensis for. pilosa and Stephanandra incisa were considered as the tolerant species to user's impact.

• Journal of Wetlands Research
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• v.11 no.2
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• pp.17-28
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• 2009

The investigated Varcular plants in Youngsan River Streams of Downtown in Gwangju Metropolitan City consist of total 437 taxa: 2 forms, 49 varieties, 386 species, 265 genera, 91 families. Among 53 taxa of hydrophytes, emerged plants were 16taxa, floating-leaved plants were 10taxa, suvmerged plants were 10taxa, and free-floating plants were 3taxa and swamp plants were 14taxa. Based on the list of Rare and Endangered plants, 5taxa were recorded such as Hydrocharis dubia, Euryale Ferox, Penthorum chinense, Prunus yedoensis, Nymphoides coreana. And Korean endemic Plants were appeared as 5taxa: Poa annua, Forsythia koreana, Paulownia coreana, Galium koreanum, Aster koraiensis. From the specific plant species sorted by classes, class I has 10taxa, class II has 2taxa, class III has 2taxa, class IV has 3taxa, class V has 5taxa. Naturalized plant were listed as 62taxa: 15families, 44genera, 59species, 3varieties, and naturalization index was 14.19%. The ecosystem disturbance plants assigned by the Ministry of Environment, 3taxa were recorded: Paspalum distichum, Ambrosia artemisiifolia var. elatior, Solanum carilinense.

• Korean Journal of Environment and Ecology
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• v.37 no.1
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• pp.13-34
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• 2023

Many ecologists try to understand plant communities and societies' changing processes by interacting with environmental factors. Plant communities formed in the sidings of streams, which are more dynamic than forest vegetation, are closely related to the disturbance regime of streams. U. pumila, which forms communities at the edges of streams, is distributed over the central and northern regions of the Korean Peninsula. In this study, we intended to explain the regeneration of U. pumila communities in the upstream region of the Namhangang River. Heights from the stream surface to the mid-high points of communities increased when the age class of U. pumila communities increased. On the other hand, the height of U. pumila tended to increase and decrease as the age class increased. The richness (S), evenness (J'), diversity (H'), and maximum diversity (H'max) also showed a tendency to increase and then decrease as the age class increased. On the other hand, the number of stems per individual and density (D) decreased as the age class increased. Seedlings of U. pumila failed to regenerate in the communities at the intermediate or higher stage of the age class. Regeneration of seedlings occurred in the spaces formed by the flooding, which occurred periodically in streams. After regeneration, U. pumila communities grew like a single organism. On the other hand, the plant species consisting of U. pumila communities exhibited a process in which the S and H' increased and then decreased as they developed. In other words, we determined that the changes in the species compositions were associated with changes in each species' environment and community. A space where seeds can regenerate seedlings should be provided for the regeneration of U. pumila communities. In the mid/upstream region of the Namhangang River, where the present study focused, newly formed communities were rare because the space required to regenerate U. pumila ceased to exist. Accordingly, we suggest securing an appropriate space for the regeneration of seedlings to maintain the U. pumila communities in the upstream region of the Namhangang River.

• Advances in robotics research
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• v.2 no.3
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.