• Journal of Applied Reliability
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• v.12 no.3
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• pp.215-224
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• 2012

This paper deals with a design of fault tolerant state feedback controllers for continuous time nonlinear time delay systems with actuator failures. The goal is to find an asymptotically stabilizing controller such that the closed loop system achieves the prescribed $H_{\infty}$ performance objective in the actuator fault cases. Based on a sum of squares (SOS) approach, a design method for $H_{\infty}$ fault tolerant controller is presented. In order to demonstrate our design method, a numerical example is provided.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.5
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• pp.177-184
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• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• Journal of the Korean Society for Railway
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• v.3 no.4
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• pp.185-193
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• 2000

In general, a third rail current collecting shoegear is widely used in the light rail transit system since it is more efficient and economical than an overhead pantograph. Therefore, its specification is prescribed in the Korean standard specifications for the light rail transit for its applications. This paper describes the development of the third rail current collecting shoegears which is suitable to Korean situation and satisfactory to the Korean standard specifications. Two types are developed for the steel wheel and the rubber tyred AGT system, and various experiments are executed. It is found that performance of the third rail current collecting shoegear developed is proved acceptable.

• Radiation Oncology Journal
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• v.31 no.4
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• pp.267-272
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• 2013

Although significant advances in the treatment of intrahepatic lesions, it is reported that the prognosis for patients with hepatocellular carcinoma (HCC) who have extrahepatic metastasis remains poor. We report a patient with lung, liver, brain, bone and subcutaneous metastasis from HCC who has survived more than 7 years maintaining relatively good performance status as a result of repeated therapies. A 55-year-old male patient with HCC underwent right lobectomy of the liver and cholecystectomy in September 2006. He received wedge resection for lung metastasis twice (July 2009, January 2011) and Gamma Knife stereotactic radiosurgery for brain metastasis (April 2011). Over the last 3 years, he has developed metastasis in subcutaneous tissues, muscle, and bone with pain. He has undergone 7 courses of radiotherapies for subcutaneous tissues, muscle, and bone metastasis and been prescribed sorafenib and he is still capable of all self-care.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.766-771
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• 1993

A mathematical model is developed to represent the batch reactor for free radical polymerization of PMMA The model is validated by comparing the simulation result with the experimental data. A computational scheme is proposed to determine the trajectory of the reactor temperature that will produce polymer product having the desired molecular weight distribution. For this instantaneous number average chain length and polydispersity are introduced to calculate the reactor temperature. The former is assumed to be a second order polynomial of the sum of the living and dead polymer concentrations. Various reactor temperature, trajectories are observed depending on the reactor conditions and prescribed molecular weight distributions. Fuzzy and PID control algorithms are applied to trace the reactor temperature trajectory. While the PID control gives rise to an overshoot when the trajectory changes its direction, the fuzzy controller yields a more satisfactory performance because it secures information on the trajectory pattern.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.173-178
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• 1993

In this paper, we present an algorithmic technique for determining a feedback compensator which will stabilize the interval dynamic system, specifically, the robust regulator design for interval plants. The approach taken here is to allow the system parameters to live within prescribed intervals then design a dynamic feedback compensator which guarantees closed-loop system stable. The main contribution of this paper is the idea of introducing a "simplified Kharitonov's result" for low order polynomials to search for suitable compensator parameters in the compensator parameter space to make the uncertain syste robust. We also design the robust regulator which will D-stabilize (have the closed-loop poles in the left sector only) the dynamic interval system while having good performance. The nuerical examples are given to show the substantially improved robustness which results from our approach. approach.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.14-19
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• 1993

In this paper, we proposed an indirect learning and direct adaptive control schemes using neural networks, i.e., composite adaptive neural control, for a class of continuous nonlinear systems. With the indirect learning method, the neural network learns the nonlinear basis of the system inverse dynamics by a modified backpropagation learning rule. The basis spans the local vector space of inverse dynamics with the direct adaptation method when the indirect learning result is within a prescribed error tolerance, as such this method is closely related to the adaptive control methods. Also hash addressing technique, similar to the CMAC functional architecture, is introduced for partitioning network hidden nodes according to the system states, so global neuro control properties can be organized by the local ones. For uniform stability, the sliding mode control is introduced when the neural network has not sufficiently learned the system dynamics. With proper assumptions on the controlled system, global stability and tracking error convergence proof can be given. The performance of the proposed control scheme is demonstrated with the simulation results of a nonlinear system.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.10a
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• pp.14-18
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• 1995

Since cement is one of materials of concrete and have an important effect upon physical properties of concrete, the quality characteristics of ordinary portland cement in domestic market are evaluated in this study. For this purpose, eight kinds of cement are selected and tested on the specific gravity, normal consistency, setting time, fincness, and compressive strength of cement ranged from 300kg/$\textrm{m}^3$ to 600kg/$\textrm{m}^3$ are tested for each kind of cement. As a result,ordinary portland cement in domestic market are satisfied with physical performance prescribed by KS L 5201(Portland Cement) and when unit weight of cement is 300~600kg/$\textrm{m}^3$, the maximum compressive strength of concrete cylinder is showed to be about 440-540kgf/$\textrm{cm}^2$.

• Korean Journal of Biological Psychiatry
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• v.5 no.1
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• pp.46-55
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• 1998

Any compound which disrupts the integrity of psychological aspects of performance, in particular, cognitive ability and psychomotor function analogous to the psychological behaviors of routine life, is known to be behaviorally toxic. A significant level of behavioral toxicity will interfere with patient safety and quality of life, and also may be counter-therapeutic by exacerbating the condition that the drug was prescribed for. Now, behavioral toxicity of psychotropic drugs has become one of the main growth areas of psychopharmacological research. Evaluation of the potential of drug-induced behavioral toxicity is important not only to the experimental researcher involved in human psychopharmacology, but also to the clinical practitioner treating psychiatric patients. This article attempts to describe behavioral toxicity of the three classes of psychotropic drugs - benzodiazepines, antidepressants and neuroleptics. After a brief discussion of some methodological issues arising in the investigation of behavioral toxicity, each of these drug classes is reviewed in the context of practical importance rather than purely scientific concern. The last session summarizes some suggestions for future studies on drug-induced behavioral toxicity.

• Journal of Industrial Technology
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• v.5
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• pp.51-57
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• 1985

The object of this study is in the development of the computer program to predict the performance of rotor in hovering by getting the aerodynamic load acting on blade. For this work the vortex theory was chosen among the aerodynamic theories, blade was replaced by planar vortex panels, and prescribed wake for the wake geometry was selected and then represented by vortex lattices. To get the aerodynamic load on blade, flow was assumed to be incompressible, irrotational and steady, and the surface boundary condition of inviscid flow was used as boundary condition. Then the relationships between this load and flight condition and blade geometry were examined.