• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.47-51
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• 1987

This paper presents a decentralized adaptive control scheme based on Lyapunov design for robotic manipulators, which make possible the joint independent control without neglecting the coupling between the joint motions. The performance of the presented scheme is compared via computer simulations with the conventional joint independent control scheme.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1103-1109
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• 2008

Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

• 한국정밀공학회지
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• 제25권6호
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• pp.62-70
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• 2008

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

• 지역사회간호학회지
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• 제28권1호
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• pp.55-68
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• 2017

Purpose: The purpose of this study is to develop and evaluate a joint health self-management program for knee osteoarthritis elders in communities. Methods: This program was developed based on the IMB (information-motivationbehavioral skills) model. The program methods include education, setting and achieving goals, sharing experiences, telephone counseling, and self-monitoring. The topics of the program include joint assessment, exercise, massage, joint protection, medication, depression management, diet, and healthcare approach. The research was conducted following the principles of the nonequivalent control group pretest-posttest design. Participants were 26 subjects in the experimental group, and 27 subjects in the control group. The experimental group participated in the self-management program, and the control group received general education. Results: Both post-test scores of personal motivation, social motivation, behavior skill, self-management behavior, joint pain, joint stiffness, physical function disability, right knee extension, left knee extension, and depression were significantly different between the experimental group and the control group. Conclusion: The results of the study can be used to develop and standardize a systematic joint health self-management program. Further research is highly recommended to develop a strategy to continuously facilitate self-management of osteoarthritis patients' procedures.

• 대한물리의학회지
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• 제6권2호
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• pp.207-213
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• 2011

Purpose: The purpose of this study was to determine the preventive effect of joint mobilization on biphasic pain response induced formalin test. Methods: Sprague-dawley rats(n=30) were ramdomly divided into the control group without intervention, sham control group with application of hand contact without mobilization, joint mobilization group with application of hand contact with mobilization. Joint mobilization of knee procedure involved an grade III extension mobilization basically with anterior-posterior gliding of the tibia on the femur. Formalin injection caused biphasic pain response which is lated for 60 minute. The first phase result from primary afferent sensory fiber, wheareas the second phase has been proposed to central sensitization in the central nervous system. Behavioral analysis was performed by digital camera after 5% formalin subcutaneous injection into the dorsal foot. Results: Pain response of joint mobilization group show significant lower than control gorup and sham control group. Conclusion: This result suggest that pre-application of joint mobilization may be effective intervention to prevent the formalin induced pain.

• 한국수학교육학회지시리즈E:수학교육논문집
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• 제27권4호
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• pp.381-389
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• 2013

이공계열의 전공기초 대학수학 교과목 미분적분학은 공통교과목으로서 학과 대부분이 필수로 지정하여 운영하고 있으며, 이로 인하여 매학기 다수의 강좌가 진행되고 있다. 교수자 개개인별 자율적인 강좌운영에서 발생하는 문제점들을 파악하고, 대체 방안인 공동관리의 필요성과 절차 및 방법에 대한 논의를 통하여 공동관리의 효과 및 효율성에 대하여 살펴보고자 한다.

• 재활간호학회지
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• 제7권2호
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• pp.159-168
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• 2004

Purpose: The purpose of this study was to examine effect of Tai-Chi exercise program on joint flexibility for osteoarthritis patients. To evaluate the effects, quasi-experimental study was used for pre and post test with a nonequivalent control group. Method: Fifty-tow subjects participated in the experiment(twenty-seven for experimental group and twenty-five for control group) and they were from two different senior citizen centers in J city. The experiment period was from April 2002 through August 2002. The experiment group took part in Tai-Chi exercise program for eighteen weeks(three times a week for four weeks and five times a week for fourteen week). The exercise was performed for 50 minutes at every time (15 minutes for warm-up, 30 minutes for Tai-Chi exercise, and 5 minutes for ending). In order to pursue study purpose, the SPSS/WIN 8.0 program was chosen for the statistical analysis; ANCOVA was employed in examining test hypothesis; t-test and $x^2$-test were used to examine homogeneity between experimental and control group. Result: The study results were as follows :Score of vertebral joint flexibility increased significantly after of Tai-Chi exercise program. Score of wrist joint extension increased significantly after of Tai-Chi exercise program. Score of wrist joint flexion increased significantly after of Tai-Chi exercise program. Score of elbow joint extension increased significantly after of Tai-Chi exercise program. Score of elbow joint flexion increased significantly after of Tai-Chi exercise program. There was a slight increase of knee joint extension in the Tai-Chi exercise group compared to control group, but without statistical significance. Score of knee joint flexion increased significantly after of Tai-Chi exercise program. Score of ankle plantar flexion increased significantly after of Tai-Chi exercise program. Score of ankle dorsiflexion increased significantly after of Tai-Chi exercise program. Conclusion: As shown in the results, Tai-Chi exercise program can be effective nursing intervention for osteoarthritis patient to improve joint flexibility.

• 한국가구학회지
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• 제11권2호
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• pp.7-12
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• 2000

This paper describes the bending strength properties of laminated woods which had three kinds of specimens according to finger length-12, 4.5 mm and butt joint and the acoustic emissions (AEs) generated during the test. 3-ply laminated wood beams were tension side layers (lower layers) composed of one middle lamina and two side-jointed laminae, with one butt joint ($_1BJ$), one finger joint (12mm, $_1FJ_{12}$) or one finger joint (4.5mm, $_1FJ_{4.5}$) in the middle lamina of tension side layer. And 3-ply laminated wood beams were tension side layers (lower layers) also composed of one lamina, with one butt joint (BJ), one finger joint (12mm, $FJ_{12}$) or one finger joint (4.5mm, $FJ_{4.5}$/) in tension side layer. Cryptomelia pieces were cut for butt and two finger types and glued with resorcinol-phenol resin adhesive. The results were as follows It was not effective in the bending modulus of elasicity (MOE) with IFJL type and had no difference from finger length. The bending modulus of rupture (MOR) of laminated wood beams including finger joint was the same values as that including butt feint and had no difference from finger length. It was effective in MOE with FJL type and had no difference from finger length. The effect of finger joint on MOR was much higher than that of butt joint but had no difference from finger length. The AE generation time of IFJL type was earlier than that of the control wood and the number of AE count was much more than that of the control wood. However, the AE generation time of FJL type was earlier than that of the control wood and the number of U count was much fewer than that of the control wood.