• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.591-601
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• 2006

In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.

• 생물정신의학
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• 제23권4호
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• pp.130-139
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• 2016

Objectives The objective of this study is to investigate differences of clinical characteristics between a healthy female control group and female panic disorder (PD) patients with early sexual abuse history (PD+S) and without early sexual abuse history (PD-S). Methods We examined data from 83 patients diagnosed with PD and 20 healthy control subjects. We divided the patients with PD into PD+S (32 patients) and PD-S (51 patients) to compare demographic and clinical characteristics. The following instruments were applied: the Stress coping strategies, the Beck Depression Inventory (BDI), the Panic Disorder Severity Scale, the Anxiety Sensitivity Index-Revised (ASI-R), the Albany Panic and Phobia Questionnaire (APPQ) and the NEO-neuroticism. Results Compared to the PD-S, the PD+S group showed higher scores in neuroticism and the APPQ. And, in the PD+S group, the scores of neuroticism were correlated with the ASI-R and APPQ subscale scores and the APPQ total scores were associated with the scores of BDI. Conclusions This study shows that female PD+S patients have higher scores in neuroticism and the APPQ than the PD-S group, and these factors are associated with the panic-related symptoms severity. It emphasizes the need of specific strategies considering the childhood abuse history such as early sexual abuse in clinical approach among patients with PD.

• Journal of Information Processing Systems
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• 제18권4호
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2009년도 춘계학술대회 논문집
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• pp.386-388
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• 2009

차세대 에너지로 연료전지가 각광을 받고 있는 현재, 세계 각국에서는 연료전지의 상용화를 위해 노력하고 있다. 그러나 촉매분야에서 백금계 촉매의 사용량의 문제에 따른 매장량 한계점과 귀금속이라는 문제점이 존재하기 때문에 이에 대하여 대책강구가 필요한 시점이다. 이에 백금 촉매의 활성을 증대하고자 나노 크기의 제어 연구가 진행되고 있다. 또한, 촉매의 구조적인 면에 따라 촉매의 활성이 달라지는 점을 착안하여 백금계의 나노 형상 조절 연구와 백금계 촉매를 대체할 비백금계의 촉매 개발 연구가 활발히 진행되어지고 있다. 이에 본 연구는 백금계 촉매 중 Pd을 polyol process에 의한 나노 형상 조절을 통하여 단위 질량당(or 단위 부피당) 촉매의 활성을 높이고자 하였다. Polyol process에서는 환원제, 계면활성제, 온도, 시간, 기타 첨가제에 따라 나노 형상이 다르게 조절되는데, 이에 계면활성제로 PVP를 사용하고, 반응속도 및 형상조절을 위해 다양한 첨가제를 이용하여 polygonal Pd NPs을 형성하였다. 본 나노 형상 조절에서는 첨가제와 온도가 가장 큰 영향을 미치는 요인으로 착안하여 그에 따른 polygoanl Pd NPs의 사이즈 조절을 통해 전기화학 특성이 차이의 연구에 중점을 두었다. 이에 따라 나노 형상 조절이 된 Pd촉매를 이용하여 상용화된 촉매(Pd/C(XC-72R))에 비하여 전기화학적인 특성의 차이와 Pd 촉매의 촉매적 특성의 효과를 보고자 한다.

• Journal of Advanced Research in Ocean Engineering
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• 제2권4호
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• pp.192-201
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• 2016

This study examined a PD controller and its application to automatic berthing control of an unmanned surface vehicle (USV). First, a nonlinear mathematical model was established for the maneuvering of the USV in the presence of environmental forces. A PD control algorithm was then applied to control the rudder and propeller during an automatic berthing process. The algorithm consisted of two parts, namely the forward velocity control and heading angle control. The control algorithm was designed based on longitudinal and yaw dynamic models of the USV. The desired heading angle was obtained using the "line of sight" method. Finally, computer simulations of automatic USV berthing were performed to verify the proposed controller subjected to the influence of disturbance forces. The results of the simulation revealed a good performance of the developed berthing control system.

• 한국운동역학회지
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• 제26권3호
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• pp.293-301
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• 2016

Objective: The purpose of this study was to analyze the effects of freezing of gait and visual information on the static postural control ability in patients with Parkinson's Disease (PD) during the bipedal stance with feet together. Method: This study included a total of 36 patients with PD; the freezer group included 17 PD patients (age: $69.3{\pm}6.2yrs$, height: $159.6{\pm}9.0cm$, weight: $63.4{\pm}9.78kg$) and the nonfreezer group included 19 PD patients (age: $71.4{\pm}5.6yrs$, height: $155.8{\pm}7.1cm$, weight: $57.7{\pm}8.6kg$). Static postural control ability was analyzed using variables of center of pressure (COP) and dividing by mediolateral, anteroposterior, and integration factors during a bipedal stance with the eyes open and closed. Results: Freezers and nonfreezers showed increases in anteroposterior velocity, mediolateral velocity, averaged velocity, and mediolateral 95% edge frequency when visual information was blocked. Additionally, freezers had greater anteroposterior range, 95% confidence ellipse area, and COP anteroposterior mean position than nonfreezers. Conclusion: Freezers and nonfreezers showed a reduction in static postural control ability when visual information was blocked. Additionally, the results of this study found a significant difference in static postural control ability between freezers and nonfreezers with PD. In particular, anteroposterior range, 95% confidence ellipse area, and COP anteroposterior mean position might be used to distinguish between freezers and nonfreezers with PD.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 학술대회 논문집 전문대학교육위원
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• pp.66-70
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• 2000

This paper deal with a design and a constant output power control of Zero Current Zero Voltage Switching(ZCZVS) resonant type DC-DC converter by a digital I-PD phase shift controller. When the DC-DC converter for a high density and a high effect control is operated in high speed switching, the switching loss and switching stress of the switching devices are increased. So, the ZCZVS method, which has the phase shift control with the digital I-PD controller, must be use in order to reduce its. And the constant output power voltage that controlled by the digital I-PD controller tracks a reference without steady state error in variable input voltage. The validity of control strategy that proposed is verified experimental results by the Digital Signal Processor TMS320C32.

• Parasites, Hosts and Diseases
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• 제60권4호
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• pp.281-288
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• 2022

Malaria continues to be one of the most crucial infectious burdens in endemic areas worldwide, as well as for travelers visiting malaria transmission regions. It has been reported that 8-aminoquinolines are effective against the Plasmodium species, particularly primaquine, for anti-hypnozoite therapy in P. vivax malaria. However, primaquine causes acute hemolytic anemia in individuals with glucose-6-phosphate dehydrogenase (G6PD) deficiency. Therefore, G6PD deficiency testing should precede hypnozoite elimination with 8-aminoquinoline. Several point-of-care devices have been developed to detect G6PD deficiency. The aim of the present study was to evaluate the performance of a novel, quantitative G6PD diagnostics based on a metagenomic blue fluorescent protein (mBFP). We comparatively evaluated the sensitivity and specificity of the G6PD diagnostic modality with standard methods using 120 human whole blood samples. The G6PD deficiency was spectrophotometrically confirmed. The performance of the G6PD quantitative test kit was compared with that of a licensed control medical device, the G6PD strip. The G6PD quantitative test kit had a sensitivity of 95% (95% confidence interval (CI): 89.3-100%) and a specificity of 100% (95% CI: 94.3-100%). This study shows that the novel diagnostic G6PD quantitative test kit could be a cost-effective and time-efficient, and universally mandated screening tool for G6PD deficiency.

• 전자공학회논문지S
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• 제34S권1호
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• pp.54-64
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• 1997

In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.21-24
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• 1999

There-have been many control strategies for the enact joint position tracking of flexible manipulators, but direct cartesian space tracking control methods an not developed well. In this paper, we propose a PD control method based on the cartesian error in the end point trajectory tracking. the proposed controller is composed of PD control combined with nonlinear saturation term hut has a very simple form. the effect of this term is continuous suppression of vibration which is induced by the coupling of rigid motion. This control works both on the regulation and on the tracking cases. The performance and validity of this control method is shown by simulation examples.