• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.637-640
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• 1991

In this paper deals with linearized control of induction motor by vector control. Output equation induced from d-q axies voltage and current equation of induction moter. The condition of induced equation is that rotor's current of axies has 0 and state current of D axies which was driven by synchronous speed is constant. The fully digital controlled induction motor drive system based on the proposed linearized method and the control circuit of system consists of 16bits micro computer and all the function are implemented with software. When the voltage source inverter control with PI controller is empolyed, in spite of secondary resistance Rr Variation, the Vector control condition is satisfied.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권10호
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• pp.443-445
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• 2006

Generally PI controller is used to control the speed of an induction motor. It has the good performance of speed control in case of adjusting the control parameters. But it occurred the problem to change the control parameters in the change of operation condition. In order to solve this problem, Fuzzy control or Artificial neural network is introduced in the speed control of an induction motor. However, Fuzzy control have the problems as the difficulties to change the membership function and fuzzy rule and the remaining error Also Neural network has the problem as the difficulties to analyze the behavior of inner part. Therefore, the study on the combination of two controller is proceeded. In this paper, Fuzzy-neural controller to make up these controllers in parallel is proposed and the speed control of an induction motor is performed using the proposed controller Through the experiment, the fast response and good stability of the proposed speed controller is proved.

• 한국전자통신학회논문지
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• 제5권5호
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• pp.541-546
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• 2010

유연한 로봇팔은 모터에 의해 관절 축을 회전할 때 진동이 발생한다. 유연한 팔이 원하는 각으로 회전하면서 동시에 팔 끝의 진동이 안정화되도록 제어하였다. 본 논문에서 유연한 로봇팔의 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, 섹터 내부에 연속입력함수를 가진 슬라이딩 섹터이론을 이용하여 히스테리시스 사구간을 가진 비선형 제어기를 제안한다.

• PNF and Movement
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• 제10권1호
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• pp.1-7
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• 2012

Purpose : To verify the interrater reliability of upper extremity function assessment among three tools(Wolf motor function test, Motor assessment scale, Fugl-meyer assessment scale). Methods : The subjects of this study 40 (20 was physical therapists and 20 was physical therapy students). For the test one patients with chronic hemiparesis after stroke participated in the study. The Wolf Motor Function Test consists of 16 functional tasks. The motor assessment scale consists of 3 functional tasks. The fugl-meyer assessment scale consists of 8 functional tasks. All test sessions were videotaped and scored by 40 subjects. Analysis : The data was analysis by SPSS PC 14.0 with Cronbach alpha Coefficients, intraclass Correlation Coefficients Kendall tau-b value. Results : WMFT was highly scored in Cronbach's value, Cronbach's ${\alpha}=0.819$ that means high interrater reliability among assessment. WMFT was highly scored all items in p-value except one item, that means high p-value between therapists and students. WMFT was highly scored in Intrarater correlation coefficient (ICC) = 0.79, that means high interrater reliability of each examination item. WMFT was low index of coincidence from all items, MAS was low index of coincidence from a tim and FMA was low index of coincidence from 4 items. Conclusion : The interrater reliability of WMFT were compared with MAS, FMA and highly verified. WMFT can be more useful tool among upper extremity function assessment.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.575-588
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• 2005

Family and parents which serve as a primary group for the children's development also play important role in their cerebral palsy children's treatment. This study wants to know how the parents' participation in their children's physical therapy and satisfaction degree have an impact on their children's improvement of the motor function. For that purpose, a home made self filling survey was conducted of 156 cerebral palsy children's parents whose children were treated in 4 university general hospitals and 3 welfare centers from the 1st of April 2004 to the 31th of march 2005. The gross motor function was employed to evaluate the cerebral palsy children's motor function improvement. In this study, those questioned were divided into two groups according to the time of treatment. 'Group A' is consist of the patients whose parents attended to the treatment more than one hour at home. The patients who belonged to 'Group B' were treated less than one hour at home. The general features of the cerebral palsy children and their parents and the characteristics of their physical disability, the parents' participation and their satisfaction degree were examined by survey. Evaluating the difference between two groups' motor function according to their parents participation degree in the physical therapy leads to the following results. First, 'Group A' was better than 'Group B' in their satisfaction degree with the physical therapy and participation degree. Statistically 'Group A' was superior to 'Group B' in the requirements of the information and education for the children with cerebral palsy. Second, after two months of treatment, 'Group A' showed more statistically significant improvement than 'Group B' in every items as like lying in item 1, sitting in item2, crawling and kneeling in item 3, standing in item 4, walking,running, jumping in item 5. Third, parents' participation in physical therapy and satisfaction degree have some relevance to their children' motor function improvement. The satisfaction degree is related to motor function like crawling and kneeling in item 3, walking,running, jumping in item 5. It is showed that the parents' participation degree and information about handicapped children.

• Journal of Microbiology
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• 제42권4호
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• pp.319-327
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• 2004

An additional amylase, besides the typical $\alpha-amylase,$ was detected for the first time in the cytoplasm of B. subtilis SUH4-2, an isolate from Korean soil. The corresponding gene (bbmA) encoded a malto­genic amylase (MAase) and its sequence was almost identical to the yvdF gene of B. subtilis 168, whose function was unknown. Southern blot analysis using bbmA as the probe indicated that this gene was ubiquitous among various B. subtilis strains. In an effort to understand the physiological function of the bbmA gene in B. subtilis, the expression pattern of the gene was monitored by measuring the $\beta-galactosidase$ activity produced from the bbmA promoter fused to the amino terminus of the lacZ struc­tural gene, which was then integrated into the amyE locus on the B. subtilis 168 chromosome. The pro­moter was induced during the mid-log phase and fully expressed at the early stationary phase in defined media containing $\beta--cyclodextrin\;(\beta-CD),$ maltose, or starch. On the other hand, it was kept repressed in the presence of glucose, fructose, sucrose, or glycerol, suggesting that catabolite repression might be involved in the expression of the gene. Production of the $\beta-CD$ hydrolyzing activity was impaired by the spo0A mutation in B. subtilis 168, indicating the involvement of an additional regu­latory system exerting control on the promoter. Inactivation of yvdF resulted in a significant decrease of the $\beta-CD$ hydrolyzing activity, if not all. This result implied the presence of an additional enzyme(s) that is capable of hydrolyzing $\beta-CD$ in B. subtilis 168. Based on the results, MAase encoded by bbmA is likely to be involved in maltose and $\beta-CD$ utilization when other sugars, which are readily usable as an energy source, are not available during the stationary phase.