• Smart Structures and Systems
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• 제25권5호
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• pp.559-567
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• 2020

Vibration at the tip of various flexible manipulators may affect their operation accuracy and work efficiency. To suppress such vibrations, the feasibility of using MFC actuators and sensors is investigated in this paper. Considering the convergence of the famous filtered-x least mean square (FXLMS) algorithm could not be guaranteed while it is employed for vibration suppression of plants with varying secondary path, this paper proposes a new multiple model switching adaptive control algorithm to implement the real time active vibration suppression tests with a new multiple switching strategy. The new switching strategy is based on a cost function with reconstructed error signal and disturbance signal instead of the error signal from the error sensor. And from a robustness perspective, a new variable step-size sign algorithm (VSSA) based FXLMS algorithm is proposed to improve the convergence rate. A cantilever beam with varying tip mass is employed as flexible manipulator model. MFC layers are attached on both sides of it as sensors and actuators. A co-simulation platform was built using ADAMS and MATLAB to test the feasibility of the proposed algorithms. And an experimental platform was constructed to verify the effectiveness of MFC actuators and sensors and the real-time vibration control performance. Simulation and experiment results show that the proposed FXLMS algorithm based multiple model adaptive control approach has good convergence performance under varying load conditions for the flexible cantilever beam, and the proposed FX-VSSA-LMS algorithm based multiple model adaptive control algorithm has the best vibration suppression performance.

• Pediatric Gastroenterology, Hepatology & Nutrition
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• 제16권3호
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• pp.171-177
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• 2013

Purpose: This study was aimed to evaluate the frequency and course of adverse events associated with azathioprine treatment in Korean pediatric patients with inflammatory bowel disease. Methods: Total of 174 pediatric patients (age range, 1 to 19 years) with inflammatory bowel disease who received azathioprine in order to maintain remission at Samsung Medical Center (Seoul, Korea) from January 2002 through December 2012 were included in this study. Medical records of these subjects were retrospectively reviewed regarding the development of adverse events associated with azathioprine treatment. Results: Ninety-eight patients (56.3%) of 174 patients experienced 136 episodes of adverse events, requiring dose reduction in 31 patients (17.8%), and discontinuation in 18 patients (10.3%). The mean dose of azathioprine that had been initially administered was $1.32{\pm}0.42$ mg/kg/day. Among the adverse reactions, bone marrow suppression developed in 47 patients (27.0%), requiring dose reduction in 22 patients (12.6%) and discontinuation in 8 patients (4.6%). Other adverse events that occurred were gastrointestinal disturbance (15.5%), hair loss (12.1%), pancreatitis (7.5%), arthralgia (6.9%), hepatotoxicity (2.9%), skin rash/allergic reactions (2.9%), headache/dizziness (2.3%), sepsis (0.6%), and oral mucositis (0.6%). Conclusion: Bone marrow suppression, especially leukopenia was most commonly associated with azathioprine treatment in Korean pediatric inflammatory bowel disease patients. Close observation for possible adverse events is required in this population with inflammatory bowel diseases who are under treatment with azathioprine.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권2호
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• pp.155-161
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• 2014

Industrial Static Var Generator (SVG) is typically applied at or near the load center to mitigate voltage fluctuation, flicker, phase unbalance, non-sine distortion or other load-related disturbance. Special attention is paid to the influence of grid voltage quality on SVG current, the non-sine distortion and unbalance of grid voltage causes not only the AC current distortion and unbalance but also the DC voltage fluctuation. In order to let the inverter voltage contain the fundamental negative sequence and harmonic component corresponding to the grid voltage, a new dual-loop control scheme is proposed to suppress the influence in this paper. The harmonic and negative sequence voltage decomposition algorithm and DC voltage control are also introduced. All these analyses can guide the practical applications. The simulation results verify the feasibility and effectiveness of the present control strategy and analyses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1275-1280
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• 2004

This paper presents the construction of an active suspension system of a one-wheel car model by using fuzzy reasoning. The car model is approximately described by a nonlinear two degrees freedom system subject to excitation from a road profile, and the active control force is constructed by actuating a pneumatic actuator, and the degradation of the performance due to the delay of the pneumatic actuator is improved by inserting a compensator. The fuzzy control is obtained by single input rule modules fuzzy reasoning, and the excitation from the road profile is estimated by using a disturbance observer. The experimental result shows that the proposed active suspension system much improves the performance in the vibration suppression of the car model.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 F
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• pp.2196-2199
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• 1997

In the industrial motor drive system, a shaft torsional vibration is often generated when a motor and a load are connected with a flexible shaft. This paper treats the vibration suppression control of such a system. In this paper, a control system design method using Linear Matrix Inequality (LMI), which is a tool for control design that replaces or complements Lyapunov-Riccati equations, is provided and a $H_{\infty}$ speed controller for a induction motor by LMI is proposed. In the $H_{\infty}$ speed controller, weights are used to satisfy tracking and disturbance rejection. Experimental results show the validity of the proposed $H_{\infty}$ speed controller by LMI, and this controller is compared with the state feedback controller.

• 소음진동
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• 제7권3호
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.225-228
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• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.257-262
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• 2000

This research is concerned with the active vibration control of slewing smart structures subjected to rotating disturbance. When cantilever beam rotates about axes perpendicular to the undeformed beam's longitudinal axis, it experiences inertial loading. Hence, the beam vibrates after the slewing ends. In this paper, the analytical model for a single slewing flexible beam with surface bonded piezoelectric sensor and actuator is developed using the Hamilton's principle with discretization by the assumed mode method. The theoretial model is verified by the experimental open loop frequency response data. The controller is designed for residual vibration suppression after slewing. The designed cotroller is a positive position feedback (PPF) controller for controlling the first mode vibration.

• Journal of the Korean Academy of Child and Adolescent Psychiatry
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• 제19권2호
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• pp.61-71
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• 2008

Attention-deficit hyperactivity disorder (ADHD) is characterized by inattention, hyperactivity, impulsiveness and problems in other higher cognitive processes such as executive function deficits. Currently, there are many treatment modalities, of which pharmacotherapy is the most strongly supported by scientific and clinical evidence. Stimulants, which are first choice in the pharmacological treatment of ADHD, block dopamine reuptake by binding the dopamine transporter and so increasing the concentration of dopamine in synaptic clefts. Stimulants are effective in improving core ADHD symptoms, as well as the nonspecific symptoms, such as aggressiveness and oppositional behavior. Frequently reported short-term adverse effects are decreased appetite, sleep disturbance, headache, dizziness and irritability. Although questions have been raised about the long-term side effects of stimulants, including growth suppression, cardiovascular events, and abuse potential, there is no clear evidence to support these concerns.

• 한국해양공학회지
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• 제19권2호
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• pp.60-66
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• 2005

This paper investigates the relationship between the fleet-angle of the hoisting rope and the swaying and pitching angles of a cargo in container cranes. It is found that for a given disturbance, when the fleet-angle is large, the sway Angle becomes smaller, but the pitching angle becomes larger. Therefore, for a quick suppression of a sway motion, it is desirable to have a large fleet-angle. The compatibility and bifurcation conditions, regarding instability, are characterized.