• 한국산학기술학회논문지
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• 제16권3호
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• pp.1957-1963
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• 2015

본 연구의 목적은 불안정 지지면에서의 동적 안정화 운동이 배가로근과 뭇갈래근의 두께와 밀도 및 백색영역지수(white area index, WAI)에 미치는 영향을 연구하였다. 연구대상은 20대 성인 27명이며 세 그룹으로 나누어 각기 다른 면에서 동적 안정화 운동을 6주 동안 실시하여 실험 전 후에 배가로근과 뭇갈래근의 두께와 근육 밀도, 백색영역지수를 측정하였다. 그 결과 세 그룹 간 의미있는 차이를 보였다(p<.05). 반복측정분산분석(repeated ANOVA) 결과, 배가로근과 뭇갈래근의 두께가 시기별 차이에서 그룹 간 의미있는 차이를 보였으며(p<.05), 뭇갈래근의 근육 밀도와 백색영역지수의 그룹 간 비교결과 의미있는 차이를 보였다(p<.05). 결론적으로 불안정 지지면에서 허리부 안정화 운동의 효과에 의미있는 차이가 있었고 이 같은 결과는 허리안정화 운동에 대한 추후 연구에 기초 자료로 활용 가능할 것으로 보인다.

• 대한기계학회논문집B
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• 제36권11호
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• pp.1099-1104
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• 2012

본 연구에서는 새로운 후방요추간체의 고정재로서 뼈에 나사를 삽입고정하지 않고 후방요추간체에 걸어 시술하는 형상기억합금을 이용한 오메가형 스프링 유동적 고정재의 기계적 변형특성을 평가하였다. 사용된 오메가와형 스프링 고정재에 대해 인장, 압축, 동적피로시험을 실시하였다. 또한, 기존에 시판 중인 후방요추간체에 나사를 삽입하여 시술되는 나선형 스프링 유동적 고정재와 함께 유한요소방법을 이용하여 허리를 굽힐 때 가해지는 굽힘에 대한 변형해석을 실시하였다. 오메가형 스프링 고정재의 양단 고리중심간 거리가 60 mm인 시편의 평균 극한 인장하중은 3981.7 N, 평균 극한 압축하중은 535.6 N으로 나타났으며, 5 Hz의 반복주기로 10 N/1N의 압축피로하중을 가할 경우 5백만회 반복하는 동안 파단 없이 8~9 mm의 압축변위가 발생하였다. FEA 결과에서 보면 오메가형 스프링 고정재가 나선형 스프링 고정재보다 허리 굽힘에 대해 유연한 변형특성을 보였다.

• 대한의용생체공학회:의공학회지
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• 제29권2호
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• pp.139-145
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• 2008

Many recent studies suggest that the posterior dynamic stabilization(PDS) can be a more physiologically-relevant alternative to the rigid fixation for the patients suffering from low back pain. However, its biomechanical effects or clinically proven efficacies still remain unknown. In this study, we evaluated kinematic behaviors of the lower lumbar spine with the PDS system and then compared to those of the rigid fixation system using finite element (FE) analysis. A validated FE model of intact lumbar spine(L2-L5) was developed. The implanted model was then constructed after modification from the intact to simulate two kinds of pedicle screw systems (PDS and the rigid fixation). Hybrid protocol was used to flex, extend, laterally bend and axially rotate the FE model. Results showed that the PDS systems are more flexible than rigid fixation systems, yet not flexible enough to preserve motion. PDS system allowed $16.2{\sim}42.2%$ more intersegmental rotation than the rigid fixation at the implanted level. One the other hand, at the adjacent level it allowed more range of motion ($2.0%{\sim}8.3%$) than the rigid fixation. The center of rotation of the PDS model remained closer to that of the intact spine. These results suggest that the PDS system could be able to prevent excessive motion at the adjacent levels and restore the spinal kinematics.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권4호
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• pp.215-219
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• 2005

This paper aims at asymptotic stabilization for uncertain dynamic systems with state and input delays. We propose a memoryless state feedback controller which maximizes the delay bound for guaranteeing stability of the system. Using Lyapunov method and linear matrix inequality (LMI) approach, a delay-dependent stabilization criterion is devised by taking the relationship between the terms in the Leibniz-Newton formula into account. The criterion is represented in terms of LMIs, which can be solved by various efficient convex optimization algorithms. Numerical examples are given to illustrate our main method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.454-457
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• 1997

As in most industrial processes, the dynamic characteristics of an electric power system are subject to changes. Amongst those effects which cause the system to be uncertain, faults on transmission lines are considered. For the stabilization of the power system, we present an indirect adaptive control method, which is capable of tracking a sudden change in the effective reactance of a transmission line. As the plant dynamics are nonlinear, an input-output feedback linearization method equipped with nonlinear damping terms is combined with an identification algorithm which estimates the effect of a fault. The stability of the resulting adaptive nonlinear system is investigated.

• 대한전기학회논문지
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• 제39권8호
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• pp.792-804
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• 1990

This paper describes an efficient optimization algorithm by calculating sensitivity function for power system stabilization. In power system, the dynamic performance of exciter, governor etc. following a disturbance can be presented by a nonlinear differential equation. Since a nonlinear equation can be linearized for small disturbances, the state equation is expressed by a system matrix with system parameters. The objective function for power system operation will be related to the system parameter and the initial state at the optimal control condition for control or stabilization. The object function sensitivity to the system parameter can be considered to be effective in selecting the optimal parameter of the system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1221-1224
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• 1996

As in most industrial processes, the dynamic characteristics of an electric power system are subject to changes. Amongst those effects which cause the system to be uncertain, faults on transmission lines are considered. For the stabilization of the power system, we present an indirect adaptive control method, which is capable of tracking a sudden change in the effective reactance of a transmission line. As the plant dynamics are nonlinear, an input-output feedback linearization method is combined with an identification algorithm which estimates the effect of a fault.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.517-518
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• 2006

In this study, a commercial fixation device, BioFlex, which was designed with shape memory alloy(SMA) for dynamic stabilization of spine was biomechanically evaluated. The finite element model of intact lumbar spine from L1 to S was developed using CT images. Also, low FE models of 2-level(L4-L5-S) and 3-level(L3-L4-L5-S) posteriori fixation using titanium(Ti) rod and BioFlex(SMA) rod. The rotations of bone segments in the intact model and four models were predicted. Although the rotations of the BioFlex fixation model were smaller than those of the intact model, they were relatively larger than those of Ti fixation. The present can be applied for not only evaluation of the stability of interbody fixator, but also development of new implant.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.608-611
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• 2012

This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500 Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.