• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• 대한치과기공학회지
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• 제21권1호
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• pp.97-114
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• 1999

The first function of occlusion is mastication. Therefore the functional restoration of occlusal surface is very important. The restoration of occlusal surface is three method as wax bite technique, F.G.P. technique, cone technique. Many dental technician is using compound method. I have knew common point on each teeth during I have waxing up wax pattern. So I studied on the design waxup technique for maxillary molar occlusion. The results of the study were as follows ; 1. The dam wax up method can restore axial contour of teeth very easy and make short working time of wax pattern. 2. The height of dam must be same with cusp of adjacent teeth. 3. Automatically the contour of tooth is appeared if the contour of dam is relationship with cuspid line of adjacent teeth. 4. The height of contour of buccal, lingual surface is formed natural curve to add fluid wax by gravitation. 5. The development groove of Maxillary premolar is appeared V form. 6. The development groove of Maxillary molar is appeared W form. 7. The embrasure is formed to carve around contact point area as round convex. It affects to axial form of tooth. 8. I was knew that the lingual groove and stuart's groove of molar runs parallel with oblique ridge. 9. The buccal groove of molar is formed parallel with direction of teeth arrangement.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.547-553
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• 2006

This paper studies digital control of biodynamic model of HIV-1 via intelligent digital redesign (IDR). The purpose of the IDR is to develop an equivalent digital fuzzy controller maintaining the satisfactory performance of an existing continuous-time fuzzy controller in the sense of the state-matching. Some conditions for the stability as well as the global state-matching are provided.. They are given by the form of the linear matrix inequalities (LMIs) and thereby easily tractable by the convex optimization techniques. The main features of the proposed method are that 1) the generalized control scheme is provided for the multirate as well as the single-rate digital controllers; 2) a new compensated block-pulse function method is applied to closely match the states of the continuous-time and the sampled-data fuzzy systems in the discrete-time domain; 3) the two-step procedure of IDR is presented to prevent the performance degradation caused by the additional stability conditions. The applicability of the proposed approach is shown through the biodynamic model of HIV-1.

• 로봇학회논문지
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• 제12권1호
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• The Journal of Korean Physical Therapy
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• 제16권1호
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• pp.60-69
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• 2004

Many methods have been described for the early intervention of adolescent idiopathic scoliosis. Adolescent idiopathic scoliosis is lateral and rotational spinal curvature in absence of associated congenital or neurologic abnormalities, the most common type of scoliosis observed in child and young adults, and refers to curves that develop after the age of $10{\sim}18$. The curves of adolescent idiopathic scoliosis have the potential to progress rapidly during growth. Curves are currently universally measured by the Cobb's method and Ferguson method. Some curves do not remain small, these may be mildly or severely progressive and the ribs on the convex side of the curve separate, and those on the concave side ribs approximate so rib undergoes deformation with rib humping. The latter may make angles that can affect vestibular system, balance, sensory, especially cardipulmonary function. Intervention for adolescent idiopathic scoliosis is based on the patient's age, the angular value of the curve, the maturity of their skeleton, and the topography. The purpose of intervention for adolescent idiopathic scoliosis consists of knowing how to go to the best approach the correction of the lateral curve and rotational deformity holding the achieved for the remainder of spinal growth, preventing significant cosmetic abnormality, pain and cardiopulmonary complication, control the muscle imbalance and proprioceptive postural disturbances, be less need for radical surgery to avoid early surgery.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제45회 하계 정기학술대회 초록집
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• pp.274.1-274.1
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• 2013

We report the circumferential alignment of human aortic smooth muscle cells (HASMCs) in an orthogonally micropatterned circular microfluidic channel to form an in vivo-like smooth muscle cell layer. To realize a biomimetic smooth muscle cell layer which is aligned perpendicular to the axis of blood vessel, we first fabricated a half-circular polydimethylsiloxane (PDMS) microchannel by soft lithography using a convex PDMS mold. The orthogonally micro wrinkle patterns were generated inside the half-circular microchannel by stretching-releasing operation under UV irradiation. Upon UV treatment with uniaxial 40 % stretch of a PDMS substrate and releasing process, the microwrinkle patterns perpendicular to the axial direction of the circular microchannel were generated, which could guide the circumferential alignment of HASMCs successfully during cultivation. The analysis of orientation angle, shape index, and contractile protein marker expression indicates that the cultured HASMCs revealed the in vivo-like cell phenotype. Finally, we produced circular microchannels by bonding two half-circular microchannels, and cultured the HASMCs circumferentially with high alignment and viability for 5 days. These results are the first demonstration for constructing an in vivo-like 3D smooth muscle cell layer in the circular microfluidic channel which can provide novel bioassay platforms for in-depth study of HASMC biology and vascular function.

• 한국측량학회지
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• 제33권3호
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• pp.155-161
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• 2015

Dike lines are important features for describing the detailed shapes of dikes and for detecting topographic changes on dike surfaces. Historically, dike lines have been generated using only the LiDAR data. This paper proposes a new methodology for selecting an appropriate dike line on various dike surfaces using the topographic LiDAR data and multispectral orthoimages taken in the Nakdong River basins. The fi rst baselines were generated from the given LiDAR data using the modified convex hull algorithm and smoothing spline function, and the second baselines were generated from the given orthoimages by the Canny operator. Next, one baseline was selected among the two baselines at 10m intervals by comparing their elevations, and the selected baseline at 10m interval was defined as the dike line segment. Finally, the selected dike line segments were connected to construct the 3D dike lines. The statistical results show that the dike lines generated using both the LiDAR data and multispectral orthoimages had the improved horizontal and vertical accuracies than the dike lines generated only using the LiDAR data on the various dike surfaces.

• Structural Engineering and Mechanics
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• 제55권6호
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• pp.1121-1137
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• 2015

High powered computers and engineering computer systems allow designers to routinely simulate complex physical phenomena. The presented work deals with the analysis of two finite element method optimization techniques (First Order Method-FOM and Subproblem Approximation Method-SAM) implemented in the individual Design Optimization module in the Ansys software to analyze the behavior of real problems. A design optimization is a difficult mathematical process, intended to find the minimum or maximum of an objective function, which is mostly based on iterative procedure. Using optimization techniques in engineering designs requires detailed knowledge of the analyzed problem but also an ability to select the appropriate optimization method. The methods embedded in advanced computer software are based on different optimization techniques and their efficiency is significantly influenced by the specific character of a problem. The efficiency, robustness and accuracy of the methods are studied through strictly convex two-dimensional optimization problem, which is represented by volume minimization of two bars' plane frame structure subjected to maximal vertical displacement limit. Advantages and disadvantages of the methods are described and some practical tips provided which could be beneficial in any efficient engineering design by using an optimization method.

• 한국전자파학회논문지
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• 제30권5호
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• pp.399-406
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• 2019

비균일 지하에 매설된 비금속관에 의한 지표투과레이다(GPR) 신호 특성의 변화를 수치 모의계산을 통해 비교하였다. 지하의 상대유전율 분포는 연속적인 랜덤 매질(CRM) 기법을 이용하여 생성하였다. 비균일 지하에 매설된 비금속관 속을 채우고 있는 물질의 상대유전율 변화에 따른 GPR 신호를 유한차분시간영역(FDTD)법으로 모의계산하였다. 균일 지하와는 달리, 비균일 지하에 매설된 비금속관의 전방 볼록면과 후방 오목면에 의해 발생한 각각의 반사파에 대한 왜곡 특성이 비금속관 내부와 외부 사이의 유전율 차이에 따라 달라짐을 보였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권5호
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• pp.2454-2468
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• 2019

The existing direct position determinations(DPD) for coherently distributed(CD) sources are mostly applicable for uniform linear array(ULA), which result in a low degree of freedom(DOF), and it is difficult for them to realize the effective positioning in underdetermined condition. In this paper, a novel DPD algorithm for coherently distributed sources based on compressed sensing with a moving nested array is present. In this algorithm, the nested array is introduced to DPD firstly, and a positioning model of signal moving station based on nested array is constructed. Owing to the features of coherently distributed sources, the cost function of compressed sensing is established based on vectorization. For the sake of convenience, unconstrained transformation and convex transformation of cost functions are carried out. Finally, the position coordinates of the distribution source signals are obtained according to the theory of optimization. At the same time, the complexity is analyzed, and the simulation results show that, in comparison with two-step positioning algorithms and subspace-based algorithms, the proposed algorithm effectively solves the positioning problem in underdetermined condition with the same physical element number.