• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.697-702
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• 1994

This paper illustrates a new learning control for robot manipulators using Lyapunov direct method. It has been shown that under the proposed learning control robot manipulators are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.478-485
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• 2000

A discrete event systems (DES) is a physical system that is discrete in time and state space, asynchronous (event rather than clock-driven), and in some sense generative(or nondeterministic). This paper presents the design of fifteen modular supervisors to control an experimental CIM testbed. These supervisors are nonblocking, controllable and nonconflicting. After verification of the supervisors by simulation, the supervisors for AGV system have been implemented to demonstrate their efficacy.

• Proceedings of the Korean Statistical Society Conference
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• 2003.10a
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• pp.97-103
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• 2003

Shewhart-type control charts have historically been used for attribute data, though they have ARL biased property and even are unable to detect the improvement of a process with some process parameters. So far most efforts have been made to improve the performance of attribute control charts in terms of faster detection of special causes without increasing the rates of false alarm. In this paper, control limits are proposed that yield an ARL (nearly) unbiased chart for attributes. Optimal design is also proposed for attribute control charts under a natural sense of criterion.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.384-384
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• 2000

In adaptive neuro-control, neural networks are used to approximate the unknown plant nonlinearities. Until now, most of the papers in the field of controller design fur nonlinear system using neural networks considers the affine system with fixed number of neurons. This paper considers nonaffne nonlinear systems and dynamic variation of the number of neurons. Control laws and adaptive laws for weights are established so that the whole system is stable in the sense of Lyapunov.

• Journal of Korea Society of Industrial Information Systems
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• v.4 no.4
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• pp.94-99
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• 1999

In order for us human to possess realistic spatial sense in the world of virtual reality, it is imperative that a research as our sensory organs should be through dine. Up until now, visual, tactile sense and a put of olfactory are getting by. We develope a rest of sense for improving visual reality with dynamic resolution control and increasing interactivity with introducing curator.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2464-2467
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• 2005

The purpose of this study was to explore the effectives of a virtual bicycle system in improving the ability of equilibrium sense of normal healthy adults. Experiments were performed to find the factors related to the training of equilibrium sense. The subjects consisted of young and elderly people and the group of young people was compared against the group of elderly people. We investigated three different running modes of virtual bicycle system with two successive sets in total. W measured the parameters related to the running time, the velocity, the weight movement, the degree of the deviation from the road, and the location of the center of pressure (COP). The results showed that the running capability of the elderly became much better after repeated training. In addition, it was found out that the ability to control postural balance and the capability of equilibrium sensory were improved with the presentation of the visual feedback information of the distribution of weight. We also found that the running time and the running velocity reduced when there was no visual feedback information. From the results, our newly developed bicycle system seems to be effective in the diagnosis of equilibrium sense as well as in the improvement of the sense of sight, and vestibular function of the elderly in the field of rehabilitation training.

• The Journal of Korean Physical Therapy
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• v.26 no.6
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• pp.425-429
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• 2014

Purpose: The first purpose of this study was to evaluate whether hand muscle fatigue alters sensorimotor control of the hand in healthy subjects, using hand position sense. The second objective was to assess the repositioning variables during a 7.5-min period after the fatigue protocol. Methods: Participants performed a repeated handgrip movement to induce the fatigue condition as fast as possible, until they could no longer continue. Recordings were performed before (pre-fatigue) and after the completion of the fatigue exercises (immediately: post-fatigue, after a 2.5 min recovery, after a 5 min recovery and after a 7.5 min recovery). Results: The joint reposition test of the MP joint in the post-fatigue condition showed higher reposition errors than the prefatigue condition (p<0.05). Additionally, there was a significant difference in recovery of joint reposition errors after fatiguing exercises of the hand muscle, among groups (p<0.05). Conclusion: The fatigue of the hand muscles affected joint position sense by an alteration of somatosensory and proprioceptive information. Nonetheless, the effect of hand muscle fatigue was short-lived, since joint reposition errors decreased to post-fatigue values after 7.5 min of recovery.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.2
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• pp.737-743
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• 2013

This study was to investigate the effects of balance and trunk repositioning sense through multisensorial training using visual cue deprivation in subacute stroke patients. Multisensorial training group practiced after visual deprivation, control group practiced in the same training except visual deprivation with thirty subjects. Both groups were conducted training programs on sixty minutes a day, five days a week during four weeks. The subjects were evaluated by static balance, dynamic balance and trunk repositioning sense in the pre-posttest. There was significant improvement by multisensorial training that static balance, dynamic balance and the trunk repositioning sense between pretest and post test (p<.05). There were significantly differences in the amount of change of dynamic balance, trunk repositioning sense between the two groups(p<.05). Through this study, multisensorial training suggest that is effective in the improvement of dynamic balance and trunk repositioning sense.

• Journal of Korean Critical Care Nursing
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• v.1 no.1
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• pp.33-45
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• 2008

Purpose: Patients who underwent a coronary artery bypass graft surgery(CABG) experienced the unpleasant emotions and discomfort when their chest tube was removed. The purpose of this study was to evaluate the effects of cold therapy on pain related to chest tube removal(CTR) in CABG patients. Methods: Fifty adult patients undergoing CABG were recruited in a prospective, double blinded study. Subjects were divided into the experimental group and the control group considering their sex and age. The pretest data were obtained 20 minutes before CTR. Patients in the experimental group, received cold therapy for 10 minutes before CTR. Pain sense and intensity were determined immediately after CTR and at 10 minutes after CTR. Results: The total score of pain sense immediately after CTR of the experimental group was significantly lower than that of the control group(t=-3.703, p=.003). And scores of pain intensity immediately after CTR in the experimental group were significantly lower than that of the control group(t=-3.073, p=.001). But, there was no significant difference in the score of pain intensity 10 minutes after CTR between the experimental and the control group(t=1.759, p=.085). Conclusion: The cold therapy would be recommended as an effective and nonpharmacologic nursing intervention for relieving pain in patients undergoing CTR.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.230-235
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• 1996

Eigenstructure (eigenvalues/eigenvectors) assignment has been shown to be a useful tool for flight control system design. In the sense of the eigenstructure assignment, the effectiveness and disturbance suppressibility of a controller depend mainly on the left eigenstructure (eigenvalues/left eigenvectors) of a system. On the other hand, the disturbance decouplability is governed by the right eigenstructure (eigenvalues/right eigenvectors) of the system. In this paper, in order to obtain a disturbance decouplable as well as effective and disturbance suppressible controller, a concurrent assignment methodology of the left and right eigenstructures is proposed. The biorthogonality condition between the left and right modal matrices of a system as well as the relations between the achievable right modal matrix and state selection matrices are used to develop the methodology. The proposed concurrent eigenstructure assignment methodology guarantees that the desired eigenvalues are achieved exactly and the desired left and right eigenvectors are assigned to the best possible(achievable) sets of eigenvectors in the least square sense, respectively. The proposed design methodology is applied to designing a lateral flight control system for an L-1011 aircraft with disturbances.