• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.8
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• pp.367-375
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• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, it needs robust performance which can get over modeling error, parameter variation and disturbance. Second, it needs accurate performance which have small overshoot phenomenon and steady state error to avoid colliding with ground surface or obstacles. Third, it needs continuous control input to reduce the acoustic noise and propulsion energy consumption. Finally, it needs interpolation method which can sole the speed dependency problem of controller parameters. To solve these problems, we propose a depth control method using Fuzzy Sliding Mode Controller with feedforward control-plane bias term and Neural Network Interpolator. Simulation results show the proposed method has robust and accurate control performance by the continuous control input and has no speed dependency problem.

• International Journal of Ocean System Engineering
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• v.1 no.1
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• The Korean Journal of Emergency Medical Services
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• v.15 no.1
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• pp.37-46
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• 2011

Purpose : This study is equivalence experiment performed to test practice effects between experimental group from both left and right direction of mannequin and control group having practice from only right direction in cardiopulmonary resuscitation education. Methods : Subject of the research were total 71 elementary and middle school teachers in J province who had not experience to have cardiopulmonary resuscitation. They were divided into experimental group of 35 participants who practiced cardiopulmonary resuscitation from both right and left direction of mannequin on Dec. 27, 2009 and control group of 36 participants who performed cardiopulmonary resuscitation from only right direction of mannequin on Dec. 28, 2009. Collected data were analyzed by SPSS/PC+(version 14.0). Results : 1. There was no statistically significant difference by sex among general characteristics of the subjects. 2. According to the quality of chest compression performed from the right direction of mannequin, experimental group showed better results in proper depth (time), insufficient depth (time), too lowered compression position (time) and inexact position (time) than control group(p<.05). In the quality of chest compression from the left side of mannequin, experimental group performed better results in proper depth (time), insufficient depth (time), inexact compression position (time) and mean chest compression depth(mm) than control group(p<.05) and also in more left-centered compression position (time) than control group(p<.001). 3. The quality of chest compression by experimental group, the right side of mannequin was superior in proper depth (time) to the left side of mannequin (p<.001) and showed better results in insufficient depth (time) and chest compression/recoil rate (p<.05). According to the quality of chest compression by control group, the right side of mannequin showed superior results in proper depth (time), insufficient depth (time), too left-centered compression position (time) and mean chest compression depth (mm) (p<.05) to the left side of mannequin. Conclusion : The group having practice from both right and left sides of mannequin was superior in the quality of chest compression to the group having practice from only right side of mannequin. How to practice cardiopulmonary resuscitation from both right and left sides of mannequin can be recommended and practice from left side of mannequin is also useful.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.1
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• pp.54-59
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• 2000

This paper presents a control system that uses a fuzzy algorithm in controlling the depth of a model midwater trawl net, and experimental results carried out in the circulating water channel by using a model trawl winch system.The fuzzy controller calculates the length of the warp to be changed, based on the depth error between the desired depth and actual depth of the model trawl net and the ratio of change in the depth error. The error and the error change are calculated every sampling time. Then the control input, i.e. desirable length of the warp, is determined by inference from the linguistic control rules which an experienced captain or navigator uses in controlling the depth of the trawl winch controller and the length of the warp is changed. Two kinds of fuzzy control rules were tested, one was obtained from the actual operations used by a skilled skipper or navigator, and the other was a modified from the former by considering the hydrodynamic characteristics of the model trawl system.Two kinds of fuzzy control were tested, one was obtained fro the actual operations used by a skilled skipper or navigator, and the other was a modified from the former by considering the hydrodynamic characteristics of the model trawl system.The results of these model experiments indicate that the proposed fuzzy controllers rapidly follow the desired depth without steady-state error although the desired depth was given in one step, and show robustness properties against changes in the parameters such as the change of the towing sped. Especially, a modified rule shows smaller depth fluctuations and faster setting times than those obtained by a field oriented rule.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.4
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• pp.409-417
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• 2005

This study is aimed to develop a remote control robot-ship system using wireless communication and DGPS, which it is an automatic system for measuring exact depth and bed topography of reservoir or dam. Robot-ship is equipped with GPS and echosounder, and it is controled remotely using wireless internet. Robot-ship is consist of frame, each module and control board. Control segment is consisted of a processing system for positioning data and remote control system. A wireless communication system is developed which can communicate interactively between robot-ship and control segment, and it is developed in two channel system of RF modem and wireless internet. The robot-ship could be used acquire economically and exactly the water depth and bed topography of reservoirs, dams, rivers and so on.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.481-484
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• 1990

Normal operation when deeply submerged is a relatively easy task, and human operator control can often provide adequate performance. Near surface depthkeeping, on the other hand, is difficult to both man and machine. Because of the inherent limitation of the human operator, manual control may prove inadequate for near surface depthkeeping in some sea state. This paper describe the control algorithm of an automatic depth control system for submerged body that can be used for both near surface and deeply submerged depthkeeping operations. The computer simulations demonstrate the excellent depthkeeping performance of the controller under seaway effects.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.2
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• pp.105-112
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• 2017

To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• Journal of Periodontal and Implant Science
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• v.30 no.4
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• pp.779-793
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• 2000

The ultimate goal of periodontal disease therapy is to promote the regeneration of lost periodontal tissue, there has been many attempts to develop a method to achieve this goal, but none of them was completely successful. This study was designed to compare the effects of treatment using resorbable barrier membrane($Biomesh^{?}$) in combination with autogenous bone graft material with control treated by only modified Widman flap. 22 infrabony defecs from 10 patients with chronic periodontitis were used for this study, 10 sites of them were treated with resorbable barrier membrane and autogenous bone graft material as experimental group and 12 site were treated by only modified Widman flap as control group. Clinical parameters including probing depth, gingival recession, bone probing depth and loss of attachment were recorded at 6-8 months later, and the significance of the changes was statistically analyzed. The results are as follows : 1. Probing depth of the two group was reduced with statistically significance(P<0.05), but this changes were not different between the two experiment, control group with statistically significance. 2. Gingival recession showed statistically significant increase in control group(P<0.05), but not in experimental group, and initial values of the two group were in statistically significant difference(P<0.05). 3. Bone probing depth showed statistically significant decrease in experimental group(P<0.05), but not in control group, and this changes were different between the two experiment, control group with statistically significance(P<0.05). 4. Loss of attachment showed statistically significant decrease in experimental group(P<0.05), but not in control group, and this changes were different between the two experiment, control group with statistically significance(P<0.05) On the basis of these results, treatment using resorbable barrier membrane in combination with autogenous bone graft material improve the probing depth, bone probing depth and loss of attachment in infrabony defects.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.8
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• pp.1080-1088
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• 2018

General methods of controlling a drone are divided into manual control and automatic control, which means a drone moves along the route. In case of manual control, a man should be able to figure out the location and status of a drone and have a controller to control it remotely. When people control a drone, they collect information about the location and position of a drone with the eyes and have its internal information such as the battery voltage and atmospheric pressure delivered through telemetry. They make a decision about the movement of a drone based on the gathered information and control it with a radio device. The automatic control method of a drone finding its route itself is not much different from manual control by man. The information about the position of a drone is collected with the gyro and accelerator sensor, and the internal information is delivered to the CPU digitally. The location information of a drone is collected with GPS, atmospheric pressure sensors, camera sensors, and ultrasound sensors. This paper presents an investigation into drone control by a remote computer. Instead of using the automatic control function of a drone, this approach involves a computer observing a drone, determining its movement based on the observation results, and controlling it with a radio device. The computer with a Depth camera collects information, makes a decision, and controls a drone in a similar way to human beings, which makes it applicable to various fields. Its usability is enhanced further since it can control common commercial drones instead of specially manufactured drones for swarm flight. It can also be used to prevent drones clashing each other, control access to a drone, and control drones with no permit.