• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1038-1043
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• 2010

In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.61-66
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• 2009

This paper proposes an efficient sampled-data controller design technique for formation flying. To deal with the nonlinearity in the formation flying dynamics and to obtain a linear, rather than affine, model, we utilize the optimal linearization technique. The digital redesign technique is then developed based on the optimal linear model and formulated in terms of linear matrix inequalities. Simulation results show the advantage of the proposed methodology over the conventional controller emulation technique.

• 한국해양공학회지
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• 제28권4호
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• pp.363-369
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• 2014

In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.

• International Journal of Aeronautical and Space Sciences
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• 제9권2호
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• pp.71-78
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• 2008

New formation flight controller for unmanned aerial vehicles is proposed. A behavioral decentralized control approach called formation geometry center control is adopted. Trajectory tracking as well as formation geometry keeping are the purpose of the formation flight, and therefore two controllers are designed: a trajectory tracking controller for reference trajectory tracking, and a position controller for formation geometry keeping. Each controller is designed using Lyapunov stability theorem to guarantee the asymptotic stability. Formation flight controller is finally obtained by combining the trajectory tracking controller and the formation geometry keeping controller using a weighting parameter that depends on the relative distance error between unmanned aerial vehicles. Numerical simulations are performed to validate the performance of the proposed controller.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.439-444
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• 2012

In this study, we address the formation control problem of coupled unicycle-type mobile robots, each of which can interact with its neighboring robots by communicating their position outputs. Each communication link between two mobile robots is assumed to be established according to the given time-varying interconnection topology that switches within a finite set of connected fixed undirected networks and has a non-vanishing dwell time. Under this setup, we propose a distributed formation control algorithm by using the dynamics extension and feedback linearization methods, and by employing a consensus algorithm for linear multi-agent systems which provides arbitrary fast convergence rate to the agreement of the multi-agent system. Finally, the proposed result is demonstrated through a computer simulation.

• 대한치과보철학회지
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• 제36권6호
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• pp.816-831
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• 1998

Bony fixation of implants during the early phase of healing is important in order to get secondary stability of the implant assuring the success of the treatment. Because the successful placement of the implant is limited by the quality and quantity of bone, other agents which stimulate bone formation in the peri-implant spaces has been illustrated. Platelet-derived growth factor (PDGF) has been shown to regulate DNA and protein synthesis in bone cells in vitro and to interact synergistically to enhance soft tissue wound healing in vivo. The purpose of this study was to evaluate bone promotion around implants which were augmented with sagittal split osteotomy or autogenous veneer bone graft using the platelet derived growth factor(PDGF). After placement of newly designed twenty four screw-type implants, which were 12mm in length and 4mm in diameter in 6 dogs. $4{\mu}g$ of PDGF B/B was applied with surgicel carriers. The dogs were sacrificed at 3 days, 1, 2, 3, 6, and 12 weeks after implantation. Specimens were examined clinically, radiographically, histologically, and histomorphometrically. The results were as follows: 1. Clinically and radiologically, there was no significant difference in bone formation and healing pattern between experimental and control group. 2. In autogenous veneer bone graft group, bone formation was observed at 1st week in the experimental groups but 2nd week in the control groups. At 3rd week, the expeimental groups showed more bone formation comparing to the control groups. 3. In sagittal split osteotomy group, bone formation was observed at 1st week in both groups. But the experimental groups showed more bone formation comparing to the control groups after 2nd week. 4. The bone growth rate of experimental group was more rapid than that of control group. These results indicated that PDGF did not affect the initiation of new bone formation, but it accelerated the bone formation at the early period.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2007년도 한국우주과학회보 제16권2호
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• pp.135-138
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• 2007

The present work is to estimate the stability region of the State-Dependent Riccati Equation (SDRE) controlled system, which is used for a decentralized coordinated attitude control in satellite formation flying. In this research, currently emerging methods which estimate region of attraction for the SDRE controllers are introduced and the methods are applied to attitude control systems. The results guarantee the stability of the given decentralized coordinated attitude control system in satellite formation flying.

• Journal of Periodontal and Implant Science
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• 제37권4호
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• pp.791-803
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• 2007

The purpose of this study was to evaluate exophytically vertical bone formation in residual ridge of the beagle dog by the concept of guided bone regeneration with a titanium reinforced e-PTFE membrane combined with irradiated cancellous human bone. Twelve male beagle dogs(mean age 1.5 years and mean weight 12kg) were used for this study. The alveolar ridges after extraction of all mandibular premolars were surgically and horizontally removed. At 8 weeks after extractions, full-thickness flap was reflected and cortical bone was removed with round bur and copious irrigation. Rectangular parallelepiped(10mm in length, 5mm in width, and 4mm in height) bended with titanium-reinforced e-PTFE(TR e-PTFE) membrane was placed on the decorticated alveolar ridge, fixed with metal pins and covered with full-thickness flap and assigned as a control group. Test groups ere treated with TR e-PTFE membrane filled with irradiated cancellous human bone. Of twelve beagle dogs, four control dogs and four test dogs without membrane exposure to oral cavity were sacrificed at 8 and 16 weeks respectively. The surgical sites were dissected out, fixed in 4% buffered formaldehyde, dyed using a Villanueva staining technique, and processed for embedding in plastic resin. The cutting and grinding methods were routinely processed for histologic and histomophometric analyis of exophytic bone formation as well as statistical analysis. The results of this study were as follows: 1. Exophytic bone formation in the both of experimental groups was increased respectively after surgery from 23.40% at 8 weeks to 46.26% at 16 weeks in the control groups, from 40.23% at 8 weeks to 47.11% at 16 weeks in the test groups(p<0.05). 2. At 8 weeks after surgery, exophytic bone formation was made 40.23% in the test groups and 33.40% in the control groups. Exophytic bone formation was significantly made in the test group more than in the control group. At 16 weeks after surgery, exophytic bone formation was made 44.11% in the test groups and 46.26% in the control groups. Exophytic bone formation was made in the test groups more than in the control groups, but there was no statistically significant differences. 3. The membrane was fixed with metal pins to closely contact it to the bone surface. So, collapse and deviation of the membrane could be prevented and in growth of connective tissue also could be blocked from the periphery of the membrane. On the basis of these findings, wee suggest that intraoral experimental model for exophytic bone formation may be effective to evaluate the effect of bone graft material. And it indicates that combined use of membrane and ICB graft material is more effective than use of membrane only for exophytic bone formation.

• Journal of Trauma and Injury
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• 제26권3호
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• pp.81-88
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• 2013

Purpose: Among patients with multiple traumatic fractures, a tendency to form more callus exists in groups with multiple fractures combined with traumatic brain injury. This retrospective study evaluated the hematologic factors that might be useful to predict callus formation by comparing serologic tests and clinical and radiologic results in two groups. Methods: From January 2000 to December 2010, patients with femur shaft fractures were divided in two groups: one without traumatic brain injury (control group: 32 cases), and the other with traumatic brain injury (study group: 44 cases). We evaluated routine serologic exams and the amount of callus formation during the follow-up period. Results: Only the alkaline phosphatase level was statistically different between the two groups, not the White blood cell count, C-reactive protein, total calcium, and lactate dehydrogenase level. The amount of callus formation on the antero-posterior radiograph at the last follow up period was 74.9% in the study group and 42.1% in the control group. Then lateral radiograph showed 73.2% callus formation rate in the study group and 31.8% in the control group. Conclusion: In routine serologic exams, the two groups had no significant differences, except for the alkaline phosphatase level. The group with traumatic brain injury had much more callus formation, but there was no reliable factor to predict callus formation on the routine serologic exam.