• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.345-355
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• 2000

In this paper, the depth controller of an underwater vehicle based on an $H_\infty$ servo control is designed for the depth keeping of the underwater vehicle under wave disturbances. The depth controller is designed in the form of the $H_\infty$ servo controller, which has robust tracking property, and an $H_\infty$ servo problem is considered for the $H_\infty$ servo controller design. In order to solve the $H_\infty$ servo problem for the underwater vehicle, this problem is modified as an $H_\infty$ control problem for the generalized plant that includes a reference input mode, and a suboptimal solution that satisfies a given performance criteria is calculated with the LMI (Linear Matrix Inequality) approach. The $H_\infty$ servo controller is designed to have robust stability about the perturbation of the parameters of the underwater vehicle and the robust tracking property of the underwater vehicle depth under wave force and moment disturbances. The performance, robustness about the uncertainties, and depth tracking property, of the designed depth controller is evaluated by computer simulation, and finally these simulation results show the usefulness and applicability of the proposed $H_\infty$ depth control system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.215-215
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• 2000

In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

• Smart Structures and Systems
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• v.29 no.4
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• pp.617-624
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• 2022

A new intelligent adaptive control scheme was proposed that combines the control based on interference observer and fuzzy adaptive s-curve for flight path tracking control of unmanned aerial vehicle (UAV). The most important contribution is that the control configurations don't need to know the uncertainty limit of the vehicle and the influence of interference is removed. The proposed control law is an integration of fuzzy control estimator and adaptive proportional integral (PI) compensator with input. The rated feedback drive specifies the desired dynamic properties of the closed control loop based on the known properties of the preferred acceleration vector. At the same time, the adaptive PI control compensate for the unknown of perturbation. Additional terms such as s-surface control can ensure rapid convergence due to the non-linear representation on the surface and also improve the stability. In addition, the observer improves the robustness of the adaptive fuzzy system. It has been proven that the stability of the regulatory system can be ensured according to linear matrix equality based Lyapunov's theory. In summary, the numerical simulation results show the efficiency and the feasibility by the use of the robust control methodology.

• Genomics & Informatics
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• v.6 no.4
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• pp.210-222
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• 2008

Due to the polygenic nature of cancer, it is believed that breast cancer is caused by the perturbation of multiple genes and their complex interactions, which contribute to the wide aspects of disease phenotypes. A systems biology approach for the identification of subnetworks of interconnected genes as functional modules is required to understand the complex nature of diseases such as breast cancer. In this study, we apply a 3-step strategy for the interpretation of microarray data, focusing on identifying significantly perturbed metabolic pathways rather than analyzing a large amount of overexpressed and underexpressed individual genes. The selected pathways are considered to be dysregulated functional modules that putatively contribute to the progression of disease. The subnetwork of protein-protein interactions for these dysregulated pathways are constructed for further detailed analysis. We evaluated the method by analyzing microarray datasets of breast cancer tissues; i.e., normal and invasive breast cancer tissues. Using the strategy of microarray analysis, we selected several significantly perturbed pathways that are implicated in the regulation of progression of breast cancers, including the extracellular matrix-receptor interaction pathway and the focal adhesion pathway. Moreover, these selected pathways include several known breast cancer-related genes. It is concluded from this study that the present strategy is capable of selecting interesting perturbed pathways that putatively play a role in the progression of breast cancer and provides an improved interpretability of networks of protein-protein interactions.

• Biomedical Science Letters
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• v.7 no.4
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• pp.167-172
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• 2001

Nebulin is an approximately 700 kDa filamentous protein in vertebrate skeletal muscle. It binds to the Z line and also binds side-by-side to the entire thin actin filament in a sarcomere. The correlation of nebulin size with thin filament length have led to the suggestion that nebulin acts as a molecular ruler for the length of thin filaments. The C-terminal part of human nebulin is anchored in the sarcomeric Z-disk and contains an SH3 domain. SH3 domains have been identified in an ever-increasing number of proteins important for a wide range of cellular processes, from signal transduction to cytoskeleton assembly and membrane localization. However, the exact physiological role of SH3 domains remains, in many cases, unclear. To explore the role of nebulin SH3 in the cytoskeletal rearrangement that accompanies myoblast differentiation, we transfected sense and antisense nebulin SH3 domain fused to enhanced green fluorescent protein in myoblast. Cells expressing nebulin SH3 fragment showed decrease of cell-cell adhesion, and cells transfected with antisense nebulin SH3 gene showed a rounded cell morphology and loss of cell-matrix adhesion. No alteration in cell shape and differentiation were observed in control cells expressing enhanced green fluorescent protein. Perturbation of nebulin altered the cell shape and disrupted cell adhesion in myoblast, demonstrating that nebulin can affect cytoskeleton rearrangement.

• Bulletin of the Society of Naval Architects of Korea
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• v.22 no.1
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• pp.21-30
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• 1985

This paper deals whth the buckling as well as postbuckling analysis of axisymmertric shells taking the initial deflection effects into account. Incremental equilibrium equations, based on the principle of virtual work, were derived by the finite element method, the successive step-by-step Newton-Raphson iterative technique was adopted. To define the transition pattern of postbuckling behavior from the prebuckling state more accurately, a simple solution method was developed, i.e. the critical load was calculated by the load extrapolation method with the determinant of tangent stiffness matrix and the equilibrium configuration in the immediate postbuckling stage was obtained by perturbation scheme and eigenvalue analysis. Degenerated isoparametric shell elements were used to analyse the axisymmetric shell of revolution. And by the method developed in this paper, the computer program applicable to the nonlinear analysis of both thin and moderately thick shells was constructed. To verify the capabilities and accuracies of the present solution method, the computed results were compared with the results of analytical solutions. These results coincided fairly well in both the small deflection and large deflection ranges. Various numerical analyses were done to show the effect of initial deflection and shape of shells on buckling load and postbuckling behavior. Futhermore, corrected directions of applied loads at every increment steps were used to determine the actual effects of large deflection in non-conservative load systems such as hydrostatic pressure load. The following conclusions can be obtained. (1) The method described in this paper was found to be both economic and effective in calculating buckling load and postbuckling behavior of shell structure. (2) Buckling and postbuckling behavior of spherical caps is critically dependent upon their geometric configuration, i.e. the shape of spherical cap and quantities of the initial deflection. (3) In the analysis of large deflection problems of shells by the incremental method, corrections of the applied load directions are needed at every incremental step to compensate the follower force effects.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Development and Reproduction
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• v.8 no.1
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• pp.1-9
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• 2004

The potential importance of proteomic approaches has been clearly demonstrated in other fields of human medical research, including liver and heart disease and certain forms of cancer. However, reproductive researches have been applied to proteomics poorly. Proteomics can be defined as the systematic analysis of proteins for their identity, quantity, and function. It could increase the predictability of early drug development and identify non-invasive biomarkers of toxicity or efficacy. Proteome analysis is most commonly accomplished by the combination of two-dimensional gel electrophoresis(2DE) and MALDI-TOF(matrix-assisted laser desorption ionization-time of flight) MS(mass spectrometry) or protein chip array and SELDI-TOF(surface-enhanced laser desorption ionization-time of flight) MS. In addition understanding the possessing knowledge of the developing biomarkers used to assess reproductive biology will also be essential components relevant to the topic of reproduction. The continued integration of proteomic and genomic data will have a fundamental impact on our understanding of the normal functioning of cells and organisms and will give insights into complex cellular processes and disease and provides new opportunities for the development of diagnostics and therapeutics. The challenge to researchers in the field of reproduction is to harness this new technology as well as others that are available to a greater extent than at present as they have considerable potential to greatly improve our understanding of the molecular aspects of reproduction both in health and disease.

• Korean Journal of Optics and Photonics
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• v.16 no.3
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• pp.182-190
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• 2005

The fiber Raman amplifier(FRA) is a distinctly advantageous technology. Due to its wider, flexible gain bandwidth, and intrinsically lower noise characteristics, FRA has become an indispensable technology of today. Various FRA modeling methods, with different levels of convergence speed and accuracy, have been proposed in order to gain valuable insights for the FRA dynamics and optimum design before real implementation. Still, all these approaches share the common platform of coupled ordinary differential equations(ODE) for the Raman equation set that must be solved along the long length of fiber propagation axis. The ODE platform has classically set the bar for achievable convergence speed, resulting exhaustive calculation efforts. In this work, we propose an alternative, highly efficient framework for FRA analysis. In treating the Raman gain as the perturbation factor in an adiabatic process, we achieved implementation of the algorithm by deriving a recursive relation for the integrals of power inside fiber with the effective length and by constructing a matrix formalism for the solution of the given FRA problem. Finally, by adiabatically turning on the Raman process in the fiber as increasing the order of iterations, the FRA solution can be obtained along the iteration axis for the whole length of fiber rather than along the fiber propagation axis, enabling faster convergence speed, at the equivalent accuracy achievable with the methods based on coupled ODEs. Performance comparison in all co-, counter-, bi-directionally pumped multi-channel FRA shows more than 102 times faster with the convergence speed of the Average power method at the same level of accuracy(relative deviation < 0.03dB).