• 전기학회논문지
• /
• 제67권5호
• /
• pp.635-643
• /
• 2018

This paper propose a method to identify the motor parameters and improve input voltage error which affect the low speed position error of the back-emf(back electromotive force) based sensorless algorithm and to secure the operation reliability and stability even in the case where the load fluctuation is severe and the start and low speed operation frequently occurs. In the model-based observer used in this paper, stator resistance, inductance, and input voltage are particularly influential factors on low speed performance. Stator resistance can cause resistance value fluctuation which may occur in mass production process, and fluctuation of resistance value due to heat generated during operation. The inductance is influenced by the fluctuation due to the manufacturing dispersion and at a low speed where the change of the current is severe. In order to find stator resistance and inductance which have different initial values and fluctuate during operation and have a large influence on sensorless performance at low speed, they are commonly measured through 2-point calculation method by 2-step align current injection. The effect of voltage error is minimized by offsetting the voltage error. In addition, when the command voltage is used, it is difficult to estimate the back-emf due to the relatively large distortion voltage due to the dead time and the voltage drop of the power device. In this paper, we propose a simple circuit and method to detect the voltage by measuring the PWM(Pulse Width Modulation) pulse width and compensate the voltage drop of the power device with the table, thereby minimizing the position error due to the exact estimation of the back-emf at low speed. The suitability of the proposed algorithm is verified through experiment.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.732-737
• /
• 2005

Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

• 센서학회지
• /
• 제10권6호
• /
• pp.310-316
• /
• 2001

다양한 냄새를 인식하고 분석하기 위하여 metal oxide 형 센서어레이를 이용한 인공 냄새인식 시스템(전자 코 시스템)을 설계 제작하였다. 센서어레이로부터 측정되는 다차원 데이터를 관측자로 하여금 쉽게 구별 할 수 있도록 Euclidean distance를 기본으로 하는 unsupervised clustering 방법을 제안한다. 제안된 방법은 주성분 분석법을 Sammon의 매핑법을 시작점으로 사용한 결합방법으로 특정냄새가 속해있는 cluster들에 대한 가정이 필요하지 않으며, 주성분 분석법에서 나타나는 차원축소로 인한 오차를 최소화하고 Sammon의 매핑법 사용으로 나타나는 데이터베이스의 입력순서에 따른 cluster들의 회전현상을 제거할 수 있다. 제안된 unsupervised clustering 방법으로 구현된 인공 냄새인식 시스템은 휘발성 유기화합물과 국산양주들의 냄새 차이를 각각 평가하는데 사용되어졌고 실험을 통하여 좋은 성능을 검증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제17권4호
• /
• pp.1216-1233
• /
• 2023

Conventional occupational therapy (OT) is conducted under the observation of an occupational therapist, and there are limitations in measuring and analyzing details such as degree of hand tremor and movement tendency, so this important information may be lost. It is therefore difficult to identify quantitative performance indicators, and the presence of observers during performance sometimes makes the subjects feel that they have to achieve good results. In this study, by using the Unity3D and artificial intelligence (AI) speaker, we propose a system that allows the subjects to steadily use it by themselves and helps the occupational therapist objectively evaluate through quantitative data. This system is based on the OT of the sensory integration approach. And the purpose of this system is to improve children's activities of daily living by providing various feedback to induce sensory integration, which allows them to develop the ability to effectively use their bodies. A dynamic OT cognitive assessment tool for children used in clinical practice was implemented in Unity3D to create an OT environment of virtual space. The Leap Motion Controller allows users to track and record hand motion data in real time. Occupational therapists can control the user's performance environment remotely by connecting Unity3D and AI speaker. The experiment with the conventional OT tool and the system we proposed was conducted. As a result, it was found that when the system was performed without an observer, users can perform spontaneously and several times feeling ease and active mind.

• 대한족부족관절학회지
• /
• 제11권2호
• /
• pp.141-144
• /
• 2007

Purpose: To statistically evaluate the contributing role of the 3 radiographic factors (Obliquity, Asymmetry, Joint deviation) of the hallux valgus interphalangeus with comparison to the normal control group. Materials and Methods: The study is based on the standing foot AP radiographs of the 77 feet (56 patients) of the hallux valgus interphalangeus out of 119 feet of randomly sampled patients of the age range 20 to 60. Fractures or other foot disorders have been excluded. Obliquity, asymmetry and joint deviation factors formed by proximal and distal phalanges of hallux are measured by one observer and evaluated the statistical significance of the contribution of the 3 factors to the hallux interphalangeal angle (HIA). Results: The average age of the patients were 36.0 years old and average HIA was $14.5^{\circ}{\pm}2.8^{\circ}$. Obliquity was measured $4.8^{\circ}{\pm}2.90^{\circ}$, asymmetry $8.2^{\circ}{\pm}3.28^{\circ}$ and joint deviation $2.0^{\circ}{\pm}1.85^{\circ}$. All 3 factors showed the statistical significance as the contributing factors to the HIA and among them, the asymmetry played the biggest role (p<0.05). Conclusion: Hallux interphalangeal angle is formed by 3 radiographic factors (Obliquity, Asymmetry, Joint deviation), and among them the asymmetry factor plays the biggest role.

• 대한기계학회논문집A
• /
• 제35권7호
• /
• pp.709-715
• /
• 2011

로봇 머니퓰레이터의 정밀한 제어를 위하여 하모닉 드라이브와 조인트 토크센서가 널리 사용되고 있다. 하모닉 드라이브는 구조적 특징으로 인하여 토크리플을 발생시키는데, 토크센서와 하모닉 드라이브가 직결된 경우에 토크리플은 토크센서에 전달되어 토크센서를 사용하는 제어기나 관측기의 성능을 저해한다. 본 논문에서는 토크리플과 하모닉 드라이브 속도의 관계를 도출하고, 이를 토대로 토크리플을 효과적으로 감쇄시키는 스위칭 노치필터를 제안한다. 제안된 스위칭 노치필터는 기존에 제시되었던 이론에 비하여 직관적이고, 추가적인 회로부나 기구부 구성이 필요 없으며, 연산량이 적은 장점이 있다. 또한 다양한 실험을 통하여 스위칭 노치필터의 필터링 성능, 빠른 응답속도와 스위칭 안정성을 검증하였다.

• 가정∙방문간호학회지
• /
• 제8권1호
• /
• pp.5-24
• /
• 2001

The purpose of this study was to develop a parenting intervention program and determine the efficacy of the program with low-birth weight infants and their mothers. Nine dyads for the experimental group and twelve dyads for the control group discharged from the Neonatal Intensive Care Unit of a University Hospital in Seoul were recruited for the study. For the intervention group, programmed education and support which focused on the maternal sensitivity of the infant's behavior. rearing environment. motherinfant interaction and infant care were given to each subject. Individual counseling and home visits were provided at discharge, one week after discharge. and one and three months of corrected age in every infant. Structured questionaires were administered and feeding interactions were videotaped and coded by a blinded certified observer. A Quasi-experimental design was conducted for this study. Postpartum depression, maternal self esteem. infant care burden, HOME. mother-infant interaction, and infant development were measured. Results were in favor of the intervention versus the control group. On the Beck depression inventory, intervention mothers showed decreasing trends in depressive symptom vs control mothers although, there were statistically no significant differences between the two groups at each time. The mean score of experimental group was 11.55(mild depression state) at discharge and became 8,6(normal state) at 1 month of corrected age. On the other hand, the mean score of the control group was 13.92(mild depression state) at discharge and became 14.0. Maternal self esteem in both groups improved over time. Infant care burden in both groups was also shown to increase over time. There was a significant difference between the two groups in HOME(p=.0340) at 3 months of corrected age. HOME scores of the experimental group and the control's were 31.10 and 25.58, respectively. Mothers' emotional and language responses were significantly high in the intervention group compared with the control group(p=.0155). Intervention group (53.33) showed a significantly high quality of motherinfant interaction compared with the in control group (42.80)(p =.0340). Intervention group mothers appeared have a better quality of mother-infant interaction behaviors. On the other hand, there was no statistical difference in the infant part between groups. Intervention group infants had higher trends in a general developmental quotient: although, there was no statistical difference between groups. The general developmental quotient of intervention infants was 102.56 and control's was 91.28. However, the developmental quotient of the domain of 'individuality-sociality' was higher in the intervention group infants compared with the control's(p=.0155). The concerns identified by parents revealed two domains of an infants' health management -knowledge and skills in caregiving of lowbirthweight-infants, characteristics of lowbirthweight infants, identifying a developmental milestone, coping with emergency situations and relaxation strategies of mothers from the infant care burden. Interview data with the mothers of low-birth weight infants can be used to develop intervention program contents. Limited intervention time and frequency due to time and cost limitations of this study should be modified. The intervention should be continuously implemented when low-birth weight infants become three years old. An NNNS demonstration appeared to be a very effective intervention for the mothers to improve the quality of mother-infant interactions. Therefore intervening in the mothers of low-birth weight infants as early after delivery as possible is desirable. This study has shown that home visit interventions are worthwhile for mothers only beyond the approach as an essential factor in ability of facilitating a growth fostering environment. In conclusion. the intervention program of this study was very effective in enhancing the parenting for the mothers of low-birth weight infants, resulting in health promotion of low-birth weight infants. The home-visit outreach intervention program of this study will contribute to the health delivery system in this country where there is a lack of continuous follow-up programs for low-birth weight infants after discharge from NICU, if it is activated as part of the home visit programs in community health systems.

• 전자공학회논문지CI
• /
• 제40권4호
• /
• pp.193-205
• /
• 2003

지능 제어, 통신, 컴퓨터 및 센서 기술, 영상 처리, 메카트로닉스 등과 같은 다양한 분야에서 로봇 축구 시스템에 대한 연구가 진행되고 있다. 그중 전략 연구는 대부분 공격 전략 연구에 치중하고 있으며, 점차 지능적인 공격 전략을 구현하는 방향으로 흘러가고 있다. 이에 따라 과거의 단순한 수비 전략으로는 완전한 수비가 불가능하게 되었다. 따라서, 지능적인 공격을 효율적으로 수비할 수 있는 수비 전략이 필요하며, 효율적인 수비를 위하여 공격자 로봇의 의도 추출이 필요하다. 본 논문에서는, 퍼지 최대 최소 신경망을 이용한 축구 로봇의 공격 의도 추출기를 설계하였다. 첫째로 축구 로봇 시스템에서의 의도를 정의하고 의도 추출에 대하여 설명한다. 다음으로 설계한 퍼지 최대 최소 신경망을 이용하여 설계한 축구 로봇의 의도 추출기에 대하여 설명한다. 퍼지 최대 최소 신경망은 패턴분류 방법 중의 하나로 온라인 적용, 짧은 학습 시간, 소프트 결정(soft decision) 등의 많은 장점을 갖고 있다. 따라서, 다이나믹한 환경을 가진 축구 로봇 시스템의 의도 추출에 적합하다. 이 의도 추출기는 상대 팀 로봇이 공격시 어떠한 상황에서 어떠한 행동을 할 것인가를 미리 알아내어 수비 시 이용할 수 있도록 하며, 학습을 통하여 의도 추출을 함으로써 상대 팀 경기를 보고 팀의 전략을 파악하는 전략 분석기로도 사용이 가능하다. 자체 제작한 3대3 로봇 축구 시뮬레이터를 이용하여 시뮬레이션을 하였으며, 학습을 함에 따라서 의도 추출률이 증가함을 확인할 수 있었다.

• 임상간호연구
• /
• 제18권2호
• /
• pp.284-295
• /
• 2012

Purpose: This study was done to clarify effects of bispectral index monitoring sedative administration, compared to MOAA/S (Modified Observer's Assessment of Alertness and Sedation), on conscious sedation, physiological stability and recovery time for patients undergoing endoscopic submucosal dissection. Methods: Participants In this study were patients who underwent endoscopic submucosal dissection because of early gastric cancer. Participants were assigned randomly to an experimental group receiving sedatives based on bispectral index monitoring or to a control group with the MOAA/S instrument. Movements, belching, memory, pain, discomfort, physiological stability (MBP, PR, $SpO_2$), and recovery time were measured during the treatment and recovery. Data were analyzed using Spearman partial correlation coefficient analysis, Mixed model and Wilcoxon rank sum test to determine differences in the parameters. Results: There were no statistically significant differences between the two groups for conscious sedation(movement, belching, memory, pain, or discomfort), physiological stability and recovery time. Conclusion: The results of this study indicate that no differences were found between the two types of monitoring. Thus, use of a bispectral index monitor in clinical practice enabling medical staff to readily assess the conscious sedation of for these patients is expected to be increasingly used as an objective assessment tool for conscious sedation for patient safety.

• 한국측량학회지
• /
• 제33권5호
• /
• pp.443-451
• /
• 2015

사진측량기법으로 외부표정요소 결정과 지형의 DEM 제작을 위해선 전통적으로 지상기준점을 이용하였다. 그러나 접근이 곤란한 지역은 측량이 어렵기 때문에 기 확보된 DEM을 기준점 대용으로 활용할 수 있다. 이를 위해선 DEM 매칭을 수행해야만 한다. 본 연구에서는 DEM 매칭의 정확도 향상을 위해 ICP와 RT 매칭을 혼용하는 방법을 제안하였다. 그리고 제안방법의 성능평가를 위해 ICP 방법과 비교하였다. 실험을 위해 기준 DEM과 기준 DEM을 변형시킨 DEM(높이 값에 난수 0부터 2까지, 축척은 0.9, 이동은 3축 모두 100m, 회전은 3축 모두 10°부터 50° 까지 변형)을 이용하였다. 그 결과, 제안방법의 매칭과 절대표정 정확도가 가장 우수하였다. ICP의 경우, 변형 DEM의 회전각이 증가함에 따라 절대표정 오차가 증가한 반면 제안방법은 대체적으로 그 오차가 증가하지 않고 일정한 결과를 보였다. 실험결과를 토대로 변형 DEM이 기준 DEM에 비해 30° 까지 회전되었을 때는 제안방법이 적용 가능할 것으로 판단한다. 또한 이 방법은 무인항공기로부터 접근 불가능 지역의 기 확보 DEM에 의한 외부표정요소 결정 또는 3차원 표면변화를 파악할 때 활용 가능할 것이다.