• 한국전자통신학회논문지
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• 제11권12호
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• pp.1209-1218
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• 2016

4대의 전동실린더를 이용하여 대형 유리판과 같은 부하를 신속하고 안전하게 이송하기 위해서는 동기오차가 허용된 범위 내에서 지속적으로 유지되어야 한다. 본 연구에서는 4대 이상의 전동실린더 간의 동기화에 적용 가능한 동기제어기법이 제안된다. 이 동기제어시스템은 디커플링 구조에 기반을 두고 있으며, 기준모델, 위치제어기 그리고 동기제어기로 구성된다. 기준모델은 각각의 실린더에 대해 상호 분리된 동기오차와 제어입력의 계산이 가능하도록 한다. I-PD형의 위치제어기는 각 실린더가 오버슈트와 입력포화를 일으키지 않고 지령을 추종하도록, 그리고 진상보상기형의 동기제어기는 루프정형을 통해 안정적으로 정밀한 동기가 되도록 설계 된다. 끝으로 토크외란이 인가된 상태에서도 4개의 실린더가 신속하고 안정적으로 동기를 유지하면서 목표지점에 도달됨을 시뮬레이션으로 검증한다.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 1999년도 학술대회논문집-국제 전기방전 및 플라즈마 심포지엄 Proceedings of 1999 KIIEE Annual Conference-International Symposium of Electrical Discharge and Plasma
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• pp.262-266
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• 1999

In this paper, we consider to apply of 2-DOF (Degree of Freedom) PID controller at D.C servo motor system. Many control system use I-PD, PID control system, but the position control system have difficulty in controling variable load and changing parameter. We propose neural network 2-DOF PID control system having feature for removal disturbrances and tracking function in the target value point. The back propagation algorithm of neural network used for tuning the 2-DOF parameter ($\alpha$, $\beta$, ${\gamma}$, η). We investigate the 2-DOF PID control system in the position control system and verify the effectiveness of proposal method through the result of computer simulation.

• 전자공학회논문지CI
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• 제45권5호
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• pp.155-161
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• 2008

자동화된 건강관리 모니터링은 많은 시간이 소요되고, 많은 문제들이 발생할 수 있다. 왜냐하면 정시에 환자들의 건강 상태에 대한 모니터링 정보를 제공받기 어렵기 때문이다 이 논문에서는 임베디드된 건강 관리 서비스가 iSCSI 프로토콜에 의해 제안된다. 이 프로토콜은 자동화된 멀티에이전트와 제한된 자원의 디바이스들(예. PD4 스마트폰, 테블릿PC)의 협력체계에 기반을 두고 있다. 이 둘의 협력체계는 쌍방향 iSCSI 프로토콜에 의해 유지된다. 자동화된 건강관리 제어는 반복되는 방식에서 매우 유용할 수 있다. 완전 집중화된 제어에서는 이 방법이 적용될 수 없다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1521-1523
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• 2005

PID controller is applied mostly to two-order system. In third-order or higher- system, it's impossible to get high response quality because of having more zero point than the number of zero point being in the PID controller. To solve those, Jung & Dorf suggested a new type of PIDA controller and solved problen of a third-order system.. But, as the result of getting step response using PIDA controller, rising time is very quickly but wide overshoot is happened. Beside designing PIDA controller with using CDM(Coefficient Diagram Method) of Shunji Manabe decreases overshoot to desired but rising time is very slow. Therefore this paper suggest a I-PDA controller for low overshoot and fast responsibility. This paper applied designed PD-PIDA controller to position control of 3-Phase induction motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 F
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• pp.2467-2469
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• 1999

In this paper. the stability control system of constant output DC-DC converter is composed of considering a ripple source input and a transient variable sinusoidal power. Also, we design I-PD controller and add phase shift controller. Therefore, it is proposed controller that is stable about the input voltage and load alteration and tracking desired value.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.302-305
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• 2003

In this paper, dynamic behaviors of a small-sized flying robot with 4 rotors propelled by DC motor are discussed, and a control scheme based on the dynamic model to make stable flying motions, i.e., hovering, take-off, cruising behavior, etc. is proposed. The experimental results via some flying tests show good performances for practical use. The flying robot with 6DOF is controlled only 4 DOF, and the rest of two DOF are remained under the dynamic constraints. How to give the stability of all positions and orientations and to make the omni-directional motions in spite of such restrictions is analyzed. The proposed control scheme composes of two stages. First, PD control inputs for the trust-force and orientation are calculated, next the control inputs are distributed to each rotor by using a sort of Jacobian matrix. To design and control of a low cost - small sized flying robot, vibrated gyro sensor, cheap accelerometer, IR, and ultra sonic sensors are selected.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.907-915
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• 2002

We present a state-space approach to design a passivity-based dynamic output feedback control of a finite collection of non-square linear systems. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating (i.e. rendering passive) control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedfornward compensator (PFC) is given by the static output feedback fomulation, which enables to utilize linear matrix inequality (LMI). The effectiveness of the proposed method is illustrated by some examples including the systems which can be stabilized by the proprotional-derivative (PD) control law.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2000년도 춘계종합학술대회
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• pp.378-385
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• 2000

산업 현장에서 제어 시스템은 l-PD와 PID 제어시스템을 널리 이용된다. 고정밀, 고정도의 위치 제어 시스템에서는 부하변동이나 외란에 의한 제어대상의 파라메타 변동에 따라 제어하기가 어렵다. 목표치 주종에 대해서 PID제어기의 파라메타 값을 설정하면 외란에 대해여 파라메타 설정에 난조가 발생하므로 목표치 추종성능과 외란제거에 강인하게 제어하기가 어렵다. 본 논문에서는 목표치 추종에 대해서 PID 제이기의 파라메타 간을 설정하면 외란에 대해여 파라메타 설정에 날조가 발생하므로 목표치 추종성능과 외란제거에 모두 만족하는 강인성제어에 용이한 2자유도 PID 제어기를 제안하고 그 제어기의 파라메타($\alpha$,$\beta$,${\gamma}$,η)을 신경망 역전파 알고리즘을 이용하여 투닝하므로서 신경망에 의한 2자유도 PID의 각 파라메타를 조정하여 직류 서보 전동기의 위치제어계에서 강인한 제어성능을 고찰하도록 하였다. 신경망 2자유도 PID제어기를 제안하여 제어성능을 컴퓨터 시뮬레이션으로 그 성능을 검토하였다.

• 한국연소학회:학술대회논문집
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• 한국연소학회 1999년도 제19회 KOSCO SYMPOSIUM 논문집
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• pp.129-138
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• 1999

In this paper, our main issue is that establishing the control procedure of continuous gas flow rate according to combustion fan RPM. For this, first, we decide the optimum operating condition of gas swirl burner through analysis of combustion characteristics - thermal efficiency, combustion efficiency and exhaust gases such as CO, $CO_{2}$, $O_{2}$, $NO_{x}$ and THC. Second, fuel gas flow rate of gas valve is decided with considering excess air ratio and combustion fan RPM is decided by the target of combustion air flow rate. Finally, experimental operating equation is acquired by regression for gas valve and combustion fan. This equation is the control equation of continuous gas flow rate and always gas flow rate is decided by combustion fan operating RPM.

• Journal of Periodontal and Implant Science
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• 제35권4호
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• pp.907-919
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• 2005

Porphyromonas gingivalis is a gram negative. black-pigmented anaerobe, associated with periodontitis & peri-implantitis. Fimbriae(fimA) of P. gingivalis are filamentous components on the cell surface and important in the colonization and invasion of periodontal tissue. But all P. gnigivalis strains don't have equal pathogenicity, inequality among strains originates from different fimA genotype. P. gnigivalis fimA gene encoding fimbrillin(structural subunit of fimbriae) has been classified into 5 genotypes(types I to V) based on the nucleotide sequences. In the present study, we examined the prevalence of these fimA genotypes in patients with dental implant and the relationship between prevalence of these genotypes and a condition of peri-implant tissue. Dental plaque specimens obtained from 189 peri-implant sulci of 97 patients with dental implants were analyzed by 16S rRNA fimA gene-directed PCR assay. P. gingivalis were detected in 86.2% of the alll samples. Among the P. gingivalis-positive samples, a significant difference in the occurrence of typeII was observed between test and the two control groups. In two control groups, typeII fimA were detected in 6.3%(PD<5mm/BOP-). 18.7%(PD<5mm/BOP+). In the test $group(PD{\geqq}5mm/BOP+)$, type II fimA genotype were detected most frequently in 50.0% . And a correlation between specific fimA types and peri-implantitis was found in $typeII(R^2=l.105)$. These results suggest that P. gingivalis strains that possess typeII fimA are gradually increased, as a condition of peri-implant tissue is getting complicated and are closely associated with peri-implant health status. We speculate that these organisms be involved in peri-implantitis