• Journal of Mechanical Science and Technology
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• 제14권11호
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• 제54권3호
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• pp.127-133
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• 2005

Korean multi-propulsion system consists of a synchronous alternator driven by a gas turbine driving synchronous alternator coupled to a rectifier - DC link - DC/DC converter and traction system based on modification of the G7 high-speed train. The simulation modules include turbine engine system, alternator, rectifier, DC/DC converter and power management module. Simulation for the multi-propulsion system such as a modular is presented in order to confirm the system stability for loads with uncertain input impedances and control loop speeds. This paper deals with various simulation modules with a specific control loop to help the development of the real lame-scaled system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• Proceedings of the KIEE Conference
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• Journal of Yeungnam Medical Science
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• 제38권2호
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• pp.83-94
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• 2021

The global obesity epidemic and the growing elderly population largely contribute to the increasing incidence of type 2 diabetes. Insulin resistance acts as a critical link between the present obesity pandemic and type 2 diabetes. Naturally occurring reactive oxygen species (ROS) regulate intracellular signaling and are kept in balance by the antioxidant system. However, the imbalance between ROS production and antioxidant capacity causes ROS accumulation and induces oxidative stress. Oxidative stress interrupts insulin-mediated intracellular signaling pathways, as supported by studies involving genetic modification of antioxidant enzymes in experimental rodents. In addition, a close association between oxidative stress and insulin resistance has been reported in numerous human studies. However, the controversial results with the use of antioxidants in type 2 diabetes raise the question of whether oxidative stress plays a critical role in insulin resistance. In this review article, we discuss the relevance of oxidative stress to insulin resistance based on genetically modified animal models and human trials.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제3권1호
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• pp.31-44
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• 2004

The study of Estimation model for the short-term travel time prediction. There is a different solution which has predicted the link travel time to solve this problem. By using this solution, the link travel time is predicted based on link conditions from time to time. The predicated link travel time is used to search the shortest path. Before providing a dynamic shortest path finding, the prediction model should be verified. To verify the prediction model, three models such as Kalman filtering, Stochastic Process, ARIMA. The ARIMA model should adjust optimal parameters according to the traffic conditions. It requires a frequent adjustment process of finding optimal parameters. As a result of these characteristics, It is difficult to use the ARIMA model as a prediction. Kalman Filtering model has a distinguished prediction capability. It is due to the modification of travel time predictive errors in the gaining matrix. As a result of these characteristics, the Kalman Filtering model is likely to have a non-accumulative errors in prediction. Stochastic Process model uses the historical patterns of travel time conditions on links. It if favorably comparable with the other models in the sense of the recurrent travel time condition prediction. As a result, for the travel time estimation, Kalman filtering model is the better estimation model for the short-term estimation, stochastic process is the better for the long-term estimation.

• Journal of Korean Society of Transportation
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• 제22권4호
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• pp.135-146
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• 2004

For improving the effectiveness of travel information, some rational paths are needed to provide them to users driving in real road network. To meet it, k-shortest path algorithms have been used in general. Although the k-shortest path algorithm can provide several alternative paths, it has inherent limit of heavy overlapping among derived paths, which nay lead to incorrect travel information to the users. In case of considering the network consisting of several turn prohibitions popularly adopted in real world network, it makes difficult for the traditional network optimization technique to deal with. Banned and penalized turns are not described appropriately for in the standard node/link method of network definition with intersections represented by nodes only. Such problem could be solved by expansion technique adding extra links and nodes to the network for describing turn penalties, but this method could not apply to large networks as well as dynamic case due to its overwhelming additional works. This paper proposes a link-based shortest path algorithm for the travel information in real road network where exists turn prohibitions. It enables to provide efficient alternative paths under consideration of overlaps among paths. The algorithm builds each path based on the degree of overlapping between each path and stops building new path when the degree of overlapping ratio exceeds its criterion. Because proposed algorithm builds the shortest path based on the link-end cost instead or node cost and constructs path between origin and destination by link connection, the network expansion does not require. Thus it is possible to save the time or network modification and of computer running. Some numerical examples are used for test of the model proposed in the paper.

• The Journal of Korean Institute of Communications and Information Sciences
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• 제33권5A호
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• pp.509-516
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• 2008

The Fast Handover in Hierarchical Mobile IPv6(F-HMIPv6) scheme provides a seamless handover in mobile IP networks effectively. However, there is a problem that the mobile node can lose its connectivity to the previous access router because of a sudden degradation of the link quality during fast handover procedure. Additionally, in many cases, the mobile node does not have enough time to exchange messages during the fast handover procedure, especially in case of movement with high speed during handover. In this paper, we propose a modification to F-HMIPv6 that significantly reduces the time to exchange messages during fast handover procedure and thereby increases the probability which the F-HMIPv6 can perform the fast handover in predictive mode.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제12권8호
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• pp.3391-3397
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• 2011

These excavators have been widely used due to their flexibility in handing various tasks via simple changes of their attachments. Since the performance of manually-operated excavators heavily depend on the operators' skill level, there is a strong need for developing automatic excavators in the industry. In order to achieve such goals, exiting approaches have studied direct modification of existing hydraulic systems in the excavator for feed back control of each link. This paper presents a miniaturized automatic excavator that can be used for the development and demonstration of advanced control algorithm for excavators under a safer environment with reduced cost. Two PCs were installed and connected to the excavator through wireless communications for its control and monitoring. Tracking control of each link using a time varying sliding mode controller was performed through experiments on the developed system to demonstrate its ability.

• The Journal of Advanced Prosthodontics
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• 제4권1호
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• pp.37-42
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• 2012

PURPOSE. The influence of the modified process in the fiber-reinforced post and resin core foundation treatment on the fracture resistance and failure pattern of premolar was tested in this study. MATERIALS AND METHODS. Thirty-six human mandibular premolars were divided into 4 groups (n = 9). In group DCT, the quartz fibre post (D.T. Light-post) was cemented with resin cement (DUO-LINK) and a core foundation was formed with composite resin (LIGHT-CORE). In group DMO and DMT, resin cement (DUO-LINK) was used for post (D.T. Lightpost) cementation and core foundation; in group DMO, these procedures were performed simultaneously in one step, while DMT group was accomplished in separated two steps. In group LCT, the glass fiber post (LuxaPost) cementation and core foundation was accomplished with composite resin (LuxaCore-Dual) in separated procedures. Tooth were prepared with 2 mm ferrule and restored with nickel-chromium crowns. A static loading test was carried out and loads were applied to the buccal surface of the buccal cusp at a 45 degree inclination to the long axis of the tooth until failure occurred. The data were analyzed with MANOVA (${\alpha}$= .05). The failure pattern was observed and classified as either favorable (allowing repair) or unfavorable (not allowing repair). RESULTS. The mean fracture strength was highest in group DCT followed in descending order by groups DMO, DMT, and LCT. However, there were no significant differences in fracture strength between the groups. A higher prevalence of favorable fractures was detected in group DMT but there were no significant differences between the groups. CONCLUSION. The change of post or core foundation method does not appear to influence the fracture strength and failure patterns.