• 부모자녀건강학회지
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• 제14권1호
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• pp.18-27
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• 2011

Purpose: The purpose of this study was to compare health locus of control with health-promoting behaviors according to elementary school children's degree of obesity, and to analyze correlations between two variables. Methods: Three hundreds and sixty three elementary school children were participated from three elementary schools in Seoul. Multidimensional Health Locus of Control (HLOC) scale and Health Promoting Lifestyle Profile (HPLP) were used. Results: Obese children was 16.8% of all research subjects. Internal HLOC in over weight group was higher than normal weight group (F=3.611, p=.014). Chance HLOC in under weight group was higher than other groups (F=3.553, p=.015). External HLOC in over weight and obesity group was higher than normal weight group (F=3.553, p=.015). Correlations between HLOC in internal and external and health-promoting behaviors were significant (r=.347, p<001; r=.207, p<001). Also, children who did not have siblings and have obese parents showed higher rate of obesity, and lack of sleeping time tend to be related to obesity. Conclusion: External HLOC of obesity children is higher than that of normal weight children. Meanwhile, obese children with higher internal HLOC were good at doing health-promoting behaviors. Therefore, if obese children are trained for internal health control, it can lead to their health-promoting behaviors.

• 대한한방내과학회지
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• 제22권4호
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• pp.659-667
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• 2001

Objectives: The purpose of this study was to explore some new therapies to control clinical symptoms of patients with terminal cancer by using external applications. Methods: We investigated some literatures on the external applications for cancer patients and made diagrams. Results: The results are summarized as follows. External applications are one of the traditional oriental medical methods and these are effective for pain control, ascites & pleural effusion and palpitable mass. It has some characteristics which are simple, safe and popular, but we must pay attention carefully to allergic reaction and toxicity in using external applications. The therapeutic portion of external applications are decided by discipline of syndrome and disease differentiation, and the prescriptions are composed of antitumor herb medicines. Conclusions: From the above results, it is expected that external applications are useful to improve clinical symptoms and quality of life(QOL) for patients with terminal cancer who cannot intake foods or medicines.

• 로봇학회논문지
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• 제13권1호
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• 한국간호교육학회지
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• 제8권1호
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• pp.38-50
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• 2002

The purpose of this study is to identify the relationship among injury prevention practices, health locus of control, and response patterns to HLOC of the elderly. Subjects were 121 healthy elderly. The data had been collected from November 5 to 18 in 2001 and analyzed with descriptive statistics, t-test, ANOVA, Pearson's correlation and stepwise multiple regression. Health locus of control and injury prevention practices were measured by using MHLC scale and an instrument created by the researcher on the basis of the results of literature review respectively. The results of this study were as follows: The mean score of injury prevention practices was 2.80 and the mean scores for the health locus of control were internal health locus of control : 17.25, external health locus of control : 16.09, and chance health locus of control : 14.26. The response patterns of the HLOC identified were six types; pure internal, pure powerful others, pure chance, double external, believers in control, and complex control. The 'pure internal' was the largest group(35.5%), and the 'believers in control' was the next(31.4%). The relationship between internal health locus of control and the injury prevention practices of the elderly revealed a significant correlation(r=.215, p=.018). The relationship between external health locus of control and the injury prevention practices of the elderly revealed a significant correlation (r= .208, p=.022). There was significant difference between response patterns of the health locus of control and injury prevention practices(F=2.393, p=.042). There were significant differences between injury prevention practices and general characteristic factors, which were education, family type, administration of medication, injury experience, ADL, and self-directed search for health information. Self-directed search for health information, injury experience, and education explained 16.7% of the variance for injury prevention practices. The above results may be used as the basic data for seeking more efficient way of improving safety of the elderly.

• International Journal of Contents
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• 제3권4호
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• pp.15-21
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• 2007

Image morphing deals with the metamorphosis of one image into another. The field morphing depends on the manual work for most of the process, where a user has to designate the control lines. It takes time and requires skills to have fine quality results. It is an object of this paper to propose a method capable of realizing the semi-automation of field morphing using adaptive vertex correspondence based on image segmentation. The adaptive vertex correspondence process efficiently generates a pair of control lines by adaptively selecting reference partial contours based on the number of vertices that are included in the partial contour of the source morphing object and in the partial contour of the destination morphing object, in the pair of the partial contour designated by external control points through user input. The proposed method generates visually fluid morphs and warps with an easy-to-use interface. According to the proposed method, a user can shorten the time to set control lines and even an unskilled user can obtain natural morphing results as he or she designates a small number of external control points.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.553-556
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• 2005

A novel sufficient condition of discretized equivalent control based sliding mode controller (SMC) for a second-order system with external disturbance to be globally uniformly ultimately bounded (GUUB) is proposed. The proposed stability condition guarantees that the system state is always GUUB in the presence of disturbance. The ultimate bounds of the system state variables are also derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.65.2-65
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• 2002

This paper is concerned with the accurate position control of a rodless pneumatic cylinder using On/Off solenoid valve. A novel Intelligent Modified Pulse Width Modulation(MPWM) is newly proposed. The control performance of this pneumatic cylinder depends on the external loads. To overcome this problem , switching of control parameter using artificial neural network is newly proposed, which estimates external loads on rodless pneumatic cylinder using this training neural network. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied in the switching control the system. The effectiveness of the proposed control algorithms are demonstrated...on/off solenoid valve, load estimation, MPWM, Artificial neural network.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.254-262
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• 2008

In this paper, we propose an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for full dynamics of nonlinear flight systems. It is assumed that the model uncertainties such as structured and unstrutured uncertainties, and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate the model uncertainties of nonlinear flight systems, and an adaptive DSC technique is extended for the disturbance attenuation of nonlinear flight systems. All weights of SRWNNs are trained on-line by the smooth projection algorithm. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance nom external disturbances can be obtained. Finally, we present the simulation results for a nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.269-282
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• 2007

This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network(SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The adaptation laws for all weights of the SRWNN are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Also, we prove that all signals in the closed-loop adaptive system are uniformly ultimately bounded. Through computer simulations of a nine-link biped robot with model uncertainties and external disturbances, we illustrate the effectiveness of the proposed control system.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.