• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.423-427
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• 1993

A velocity planning method is proposed that ensures collision-free and minimal delay-time motions for two robotic manipulators and auxiliary equipments. Additional path, which makes robot start with possible largest speed, is added to the original prescribed path of one of two robots, and this running start along the additional path reduces delay time introduced to avoid collision between the robots and therefore reduces total traveling time.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.83-88
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• 2001

The robust linear H(sub)$\infty$ FIR filter, which guarantees a prescribed H(sub)$\infty$ performance, is designed for continuous time-varying systems with unknown cone-bounded nonlinearity. The infinite horizon filtering for time-varying systems is systems is investigated in therms of two Riccati equations by the finite moving horizon.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.786-790
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• 1987

An optimization problem minimizing n given time-weighted performance index for discrete-time linear multi-input systems is investigated for the prespecified closed-loop eigenvalues. Necessary conditions for an optimality of the controller that satisfies the specified closed-loop eigenvalues are derived. A computational algorithm solving the optimal constant feedback gain is presented and a numerical example is given to show the effect of a time-weighted performance index on the transient responses.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.359-361
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• 1993

In this paper, a variable structure controller with time-varying sliding surface is proposed for robot manipulators. The proposed time-varying sliding surface ensures the existence of sliding mode from an initial state, while the contentional sliding surface cannot achieve the robust performance against parameter variations and disturbances before the sliding mode occurs. Therefore, error transient can be fully prescribed in advance for all time. Furthermore, it is shown that the overall system is globally exponetially stable. The efficiency of the proposed method for the trajectory tracking has been demonstrated by simulations.

• Journal of The Korean Society of Clinical Toxicology
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• v.3 no.2
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• pp.130-134
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• 2005

Lithium is mainly prescribed for manic and depressive disorder, also frequently prescribed for the other diseases such as migraine, cluster headache, alcoholism, and obsessive-compulsive disorder. An acute lithium intoxication occurs in cases of patients ingesting large amount lithium at a time, a chronic lithium intoxication occurs in patients on chronic lithium therapy. Acute or chronic lithium poisoning occurs frequently in case of patients on chronic lithium therapy ingesting larger dose than prescribed. Manifestations of lithium poisoning are various. It is possible nervous, cardiovascular, renal, gastrointestinal and endocrine systems to be involved. Due to intracellular high concentration, mortality rate is high in acute lithium intoxication patients on chronic lithium therapy. We report a case of acutely intoxicated 40-year-old male on chronic lithium therapy. His chief complaints were deterioration and high fever. On his arrival to an emergency department, he was in cardiac arrest. He restored return of spontaneous circultion (ROSC) 5 minutes later after cardiopulmonary cerebral resuscitation (CPCR) and referred to department of internal medicine for hemodialysis. Vigorous treatment was given to the patient, but he was expired at 4th hospital day.

• Journal of Arbitration Studies
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• v.27 no.1
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• pp.37-57
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• 2017

An arbitrator in Pakistan is required to file an arbitral award in a civil court of competent jurisdiction for its recognition and enforcement if an arbitral award is domestic or before the concerned High Court if the arbitral award is international. The court of law is required to issue a decree upon submitted arbitral award if an interested party do not apply for modification or remission of an arbitral award and do not challenge it for setting it aside or for revocation of its recognition and enforcement within a prescribed time limit. The challenging process of an arbitral award can be started by the aggrieved party of an arbitration agreement at the seat of arbitration or at the place where recognition and enforcement of an arbitral award is sought. The aggrieved party to an arbitration agreement is required to challenge an arbitral award within a prescribed time limit if contracting parties have not excluded the right to challenge an arbitral award. Limitation for challenging an arbitral award in Pakistan is 30 days under article 158 of the Limitation Act 1908, starting from the date of service of notice of filling of an arbitral award before the court of law. Generally, 90 days are given for an appeal against decision of the civil court of law under section 96 of the Code of Civil Procedure 1908, it is therefore highly recommended that challenging time of an arbitral award should be increased from 30 to 90 days.

• Journal of Sasang Constitutional Medicine
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• v.17 no.2
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• pp.52-63
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• 2005

1. Objectives Due to a lack of detail guidelines for prescriptions to ordinary and pathological symptoms in ${\ulcorner}$DongyiSuseBowon${\lrcorner}$, doctors depend on their own decision when give a prescription. This study aimed to compare ordinary symptoms and pathological symptoms in regards to six prescriptions being applied to Soyangin to utilize them as guidelines in practices. 2. Methods Date were collected from September, 2003 to August, 2004 at the Sasang Constitutional clinic of Pohang Oriental Medicine Hospital. Patients were first asked to fill Out a questionnaire of symptoms that they had at the time of visiting. Data from 273 Soyangin patients whose chief complains got alleviated after taking the prescribed drug were analyzed to examine if there were differences in prescriptions according to ordinary or pathological symptoms complained. 3. Results and Conclusions 1. Hyungbangpaedog-san(Paedog) was given more to the patients having good digestive function than Hyungbangjihwang-tang(Hyungji) and Hyungbangdojeok-san (Dojeok) ; Dojeok was given for bloating symptom compared to Hyungbangsabaek-san(Sabaek). Yangkyuksanhwa-tang(Yangkyuk) and Dojeok were more like for patients with stomachache compared to Paedog. Doghwaljihwang-tang(Dogji) was prescribed to patients complaining frequent voiding compared to Sabaek while Sabaek was given for patients who prefer cold water and feel their body warm compared to other prescriptions. Yangkyuk and Dojeok were prescribed more likely to patients with feeling of suffocation than Sabaek. 2. In symptom comparisons between one prescription and the group of the rest of 5 prescriptions, Paedog was found to be prescribed when patients had good digestive function while Dojeok was given in symptoms cases of indigestion, bloating, constipation and dizziness. Sabaek was applied more for patients having tendency of preferring cold water and feeling of heat body as well as good digestive function. Hyungji was used for patients complaining a symptom of fatigue, in addition Yangkyuk was given to patients who were nervous, sensitive, or impatient when compared to Other prescriptions. Dogji was applied to frequent voiding, insomnia, tingling of extremities, backache or leg pain, or in case of tendency of catching a common cold.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.207-208
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• 2008

This paper presents a robust state observer design for a class of Lipschitz nonlinear systems with time delay and external disturbance. A sufficient conditions on the existence of the proposed observer are characterized by linear matrix inequalities. It is also shown that the proposed observer design can reduce the effect on the estimation error of external disturbance up to the prescribed level in spite of the existence of time delay. Finally, a numerical example is provided to verify the proposed design method.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.519-523
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• 1993

In this paper, the variable structure model following control scheme is proposed for the nonlinear robot manipulator system. The proposed control system guarantees that the system state is in the sliding mode for all time. Therefore, error transient can be prescribed in advance for all time. Furthermore, overall system is globally exponentially stable. Chattering problem is reduced by the introduction of a boundary layer. Simulation results are given to show the usefulness of the proposed control scheme.

• Journal of KIEE
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• v.11 no.1
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• pp.21-26
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• 2001

This paper considers the problem of robust H$\infty$ filter is derived by using the equivalence relationship between the FIR filter and the recursive filter, that would be guarantee a prescribed H$\infty$ performance in the continuous-time context, irrespective of the parameter uncertainty and unknown initial states.