• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.167-173
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• 2002

The look up table method conventionally applied to control the inner temperature and humidity of a laver drying machine has repeatedly occurred not only laver's damage but also inferior goods since the reaching time at the optimum state takes a long time. In this paper, a fuzzy control theory instead of the look up table was proposed to reduce the reaching time at the optimum state. The proposed method used six input variables and four output variables for the fuzzy control, and a triangle rule for a fuzzifier, The Mandani's min-max method was applied to a fuzzy inference. Also, the mean method of maximum was applied to a defuzzifier. The method applied to the fuzzy controller contributed to reduce the reaching time at the optimum state, and to minimize not only laver's damage but also inferior goods.

• Journal of Electrical Engineering and Technology
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• v.13 no.3
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• pp.1304-1316
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• 2018

An adaptive sliding-mode observer for speed estimation in sensorless vector controlled induction machine drives is proposed in this paper to balance the dilemma between the requirement of fast reaching transient and the chattering phenomenon reduction on the sliding-mode surface. It is well known that the sliding-mode observer (SMO) suffers from the chattering phenomenon. However, the reduction of the chattering phenomenon will lead to a slow transient process. In order to balance this dilemma, an adaptive exponential reaching law is introduced into SMO by optimizing the reaching way to the sliding-mode surface. The adaptive exponential reaching law is based on the options of an exponential term that adapts to the variations of the sliding-mode surface and system states. Moreover, the proposed sliding-mode observer considering adaptive exponential reaching law, which is called adaptive sliding-mode observer (ASMO), is capable for reducing the chattering phenomenon and decreasing the reaching time simultaneously. The stability analysis for ASMO is achieved based on Lyapunov stability theory. Simulation and experimental results both demonstrate the correctness and the effectiveness of the proposed method.

• Physical Therapy Rehabilitation Science
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• v.11 no.2
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• pp.145-153
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• 2022

Objective: The purpose of this study was to evaluate the Electromyography (EMG) of the upper limb during reaching tasks according to two heights in the sitting position. Design: Cross sectional design Methods: Fifteen hemiplegia, fifteen elderly, and fifteen healthy subjects have participated in this study. The targets (90% length of the subject's arm) were located at the two heights (the eye and xiphoid process). We have recorded EMG signals of seven upper limb muscles (anterior deltoid (AD), posterior deltoid (PD), pectoralis major (Pec), infraspinatus (Inf), supraspinatus (Sup), biceps brachii (Bi), triceps brachii (Tri)). The dependent variables were movement time(s), modulation ratio, working ratio, and the co-contraction ratio of the hemiplegia, elderly, and healthy at the reaching task. Two-way repeated-measures ANOVA (2-heights) was analyzed with the LSD post hoc test. Results: The study results were as follows: (1) The movement time to the target during reaching movement was significantly longer for the hemiplegia and elderly groups compared to the healthy group. (2) The modulation rate was significantly higher at eye height than the xiphoid height in AD, PD, Pec, Inf, Bi muscles, and the hemiplegia group and elderly group were significantly lower than the healthy group. Additionally, the modulation ratio showed a significant interaction between heights and groups. Conclusions: It is expected that the variables using the muscle contraction characteristics, the evaluation method of this study, can be used as an electromyography-based feedback method that can be objectively evaluated and quantified in clinical practice.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.5
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• pp.21-28
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• 1998

This study develops a variable structure controller using the time-varying nonlinear sliding surface instead of the fixed sliding surface, which has been the robustness against parameter variations and extraneous disturbance during the reaching phase. By appling TS fuzzy algorithm to the regulation of the rionlinear sliding surface, the reaching time of the system trajectory is faster than the fixed method. This proposed scheme has better performance than the conventional method in reaching time, parameter variation and extraneous disturbance. To demonstrate its performance, the proposed control algorithm is applied to a rotational inverted pendulum.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.1
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• pp.52-57
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• 1987

In this paper, a methodology is developed to remove the reaching phase and the high frequency chattering phenomenon which are the common drawbacks of variable structrue control (VSC) system. A time varying switching surface is proposed to achieve sliding motion during the entire control process and a continuous control law whose terms are continuous functions inside a boundary layer neighbouring the time varying switching surface is developed to remove the high frequency chattering phenomenon of VSC. The methodology developed in this paper is applied to the 2'nd order time varying system and the simulated results are compared with those of typical VSC methodology.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.3
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• pp.835-840
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• 2010

This study develops a variable structure controller using nonlinear surface instead of the fixed, which has been the robustness against parameter variations and extraneous disturbance during the reaching phase. reaching time of the system trajectory is faster than the fixed method. This proposed scheme has better performance than the conventional method in reaching time, parameter variation and extraneous disturbance. The effectiveness of the proposed control scheme is verified by simulation results.

• Physical Therapy Korea
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• v.15 no.3
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• pp.44-52
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• 2008

The purpose of this study was to investigate the effects of different objects and target location of dominant hand on the non-dominant hand movement kinematics in a bimanual reaching task. Fifteen right-handed volunteers were asked to reach from same starting point to the different target point of right and left hand with grasping the objects of different size. Independent variables were 1) three different object types (small mug cup, name pen, and PET bottle), and 2) three different target locations (shorter distance, same distance, and longer distance than the non-dominant hand) of the dominant hand. Dependent variables were movement time (MT), movement distance (MD), movement mean velocity ($MV_{mean}$), and movement peak velocity ($MV_{peak}$) of the non-dominant hand. Repeated measures two-way analysis of variance (ANOVA) was used to test for differences in the non-dominant hand movement kinematics during bimanual reaching. The results of this study were as follows: 1) MT of the non-dominant hand was increased significantly when traveling with grasping the mug cup and reaching the far target location, and was decreased significantly when traveling with grasping the PET bottle and reaching the near target location of the dominant hand. 2) MD of the non-dominant hand was significantly increased during reaching the far target location, and significantly decreased during reaching the near target location with dominant hand. 3) $MV_{mean}$ of the non-dominant hand was increased significantly when traveling with grasping the PET bottle, and was decreased significantly when traveling with grasping the mug cup of the dominant hand. Therefore, it can be concluded that the changes of the ipsilateral hand movement have influence on coupling of the contralateral hand movement in bimanual reaching.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.4-151
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• 2001

Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.12
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• pp.3622-3625
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• 2009

This study develops a variable structure controller using the time-varying nonlinear sliding surface instead of the fixed sliding surface, which has been the robustness against parameter variations and extraneous disturbance during the reaching phase. By appling TS algorithm to the regulation of the rionlinear sliding surface, the reaching time of the system trajectory is faster than the fixed method. This proposed scheme has better performance than the conventional method in reaching time, parameter variation and extraneous disturbance. The effectiveness of the proposed control scheme is verified by simulation results.

• Journal of Korean Institute of Industrial Engineers
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• v.32 no.4
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• pp.369-372
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• 2006

Suppose that a customer arrives at the GI/M/1/K queueing system when there are customers in the system, $n,m{\geq}0,\;n+m{\leq}K$. Sooner or later, the number of customers in the system will reach . In this paper, we present the Laplace transform of the remaining interarrival time upon reaching level, for the first time, since a customer arrived when there are customers in the system.