• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.134-139
• /
• 1994

In this paper the comparison between the neural networks and traditional approaches as system identification method are considered. Two model structures of neural networks are the state space model and the input output model neural networks. The traditional methods are the AutoRegressive eXogeneous Input model and the Nonlinear AutoRegressive eXogeneous Input model. The examples considered do not represent any physical system, no a priori knowledge concerning their structure has been used in the identification process. Testing inputs for comparison are the sinusoidal, ramp and the noise ramp.

• The Journal of Korean Physical Therapy
• /
• v.17 no.4
• /
• pp.633-650
• /
• 2005

The aim of this study was to investigate the kinematics of young adults during ascent ramp climbing at different inclinations. Twenty-three subjects ascended a four step at four different inclinations(level, $8^{\circ},\;16^{\circ},\;24^{\circ}$). The 3-D kinematics was analysed by a camera-based falcon system. Groups difference was tested with one -way ANOVA and SNK test. The different kinematic patterns of ramp ascent were analysed and compared to level walking patterns. The kinematics of ramp walking could be clearly distinguished from the kinematics of level walking. In sagittal plane, Ankle joint was more dorsiflexed at initial contact and Max. dorsiflex. during stance phase with $16^{\circ},\;24^{\circ}$ inclination and more plantarflexed at toe off and Max. plantarflex. during swing phase with $24^{\circ}$(p<.001). Knee joint was more flexed at initial contact with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was more flexed at initial contact and Max. flex. during swing phase with $16^{\circ},\;24^{\circ}$ inclination and at toe off with $24^{\circ}$(p<.001) and was more extended at Max. ext. during stance phase with $24^{\circ}$(p<.05). In frontal plane, ankle joint was more everted at Max. eversion. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Knee joint was more increased at Max. varus. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was not differentiated with different inclinations. In horizontal plane, all joints were not differentiated with different inclinations. Conclusionally, In ascent ramp walking, the different gait pattern generally occurred at over $16^{\circ}$ on the ascending ramp in sagittal and frontal plane. These results suggest that there is a certain inclination angle or angular range where subjects do switch between a level walking and a ascent ramp walking gait pattern. This shows their motor control strategy between level and ascent ramp walking. Further studies are necessary to confirm and detect the ascent ramp gait patterns.

• Journal of Drive and Control
• /
• v.13 no.3
• /
• pp.24-31
• /
• 2016

The performance characteristics of a dynamic control system are evaluated according to the transient and steady-state responses. The transient performance is the controllability of the output for the tracking of the reference or the ability to reduce or reject the effects of unwanted disturbances; alternatively, the steady-state performance is represented by the magnitude of the control error at the steady state. As the effects of the two performances on each other are reciprocal, a controller design that shows a zero steady-state error for the ramp input is uncommon because of the challenge regarding the achievement of an acceptable transient response. This paper proposes a PI+double-integral controller for the elimination of the steady-state error for the ramp input while a sound transient performance is maintained. The control-gain design procedure is described by the second-order response for the step input and the response of the error dynamics for the ramp input. The PI+double-integral controller is designed for the first-order transfer function that is derived from a system identification with the open-loop experiment data of the dc-motor. The simple structure of the proposed controller enables the adoption of a low-end microcontroller for the implementation of a real-time control. The experiment results show that the control performance is as effective as that of the simulation analysis for the operating point of linear system; furthermore, the PI+double-integral controller can be conveniently applied to the control system, which is desirable for the improvement of the steady-state error.

• Tribology and Lubricants
• /
• v.20 no.6
• /
• pp.322-329
• /
• 2004

Recently, a load/unload(L/UL) system is adopted to the hard disk drive(HDD) due to its advantages such as lower power consumption, larger data zone, simpler fabrication of disk due to no bumped parking zone, and rarer contact between slider and media. An analysis of the transient motion for the slider is very important to design an air bearing surface(ABS) of the slider to secure the stable performance of the system. During the L/UL process, however, there are several issues occurred such as contact or collision between slider and media. Sometimes this will cause the system failure. In this study, the dynamics of a pico slider during the loading process are investigated through numerical simulation using FEM analysis and experiment. Ramp profile and angular velocity of the swing arm actuator are very important parameters for the design of L/UL system to avoid collision between slider and disk.

• Journal of Electrical Engineering and Technology
• /
• v.12 no.5
• /
• pp.2031-2042
• /
• 2017

In this paper, a novel traffic flow control method based-on ramp metering and speed regulation using an adaptive sliding mode control (ASMC) method along with a deadzoned parameter adaptation law is proposed at a stochastic macroscopic level traffic environment, where the influence of the density and speed disturbances is accounted for in the traffic dynamic equations. The goal of this paper is to design a local traffic flow controller using both ramp metering and speed regulation based on ASMC, in order to achieve the desired density and speed for the maintenance of the maximum mainline throughput against disturbances in practice. The proposed method is advantageous in that it can improve the traffic flow performance compared to the traditional methods using only ramp metering, even in the presence of ramp storage limitation and disturbances. Moreover, a prior knowledge of disturbance magnitude is not required in the process of designing the controller unlike the conventional sliding mode controller. A stability analysis is presented to show that the traffic system under the proposed traffic flow control method is guaranteed to be uniformly bounded and its ultimate bound can be adjusted to be sufficiently small in terms of deadzone. The validity of the proposed method is demonstrated under different traffic situations (i.e., different initial traffic status), in the sense that the proposed control method is capable of stabilizing traffic flow better than the previously well-known Asservissement Lineaire d'Entree Autoroutiere (ALINEA) strategy and also feedback linearization control (FLC) method.

• KIISE Transactions on Computing Practices
• /
• v.21 no.3
• /
• pp.223-238
• /
• 2015

Ramp metering is the most effective and direct method to control a vehicle entering the freeway. This paper proposed the new density-based ramp metering method. Existing methods that use the flow data had low reliability data and can have various problems. Also, when the ramp metering was operated by freeway congestion, the additional congestion and over-capacity can occur in the ramp. To solve this problem with the existing method, the proposed method used the density and acceleration data of the freeway and considered the ramp status. The developed strategy was tested on Trunk Highway 62 west bound (TH-62 WB) in Minnesota Twin-City and compared with Stratified Zone Metering(SZM), which had been operating in the Twin-City freeway. To constitute the experiment environment, the VISSIM simulator was used. The Traffic Information and Condition Analysis System (TICAS) was developed to control the PTV VISSIM simulator. The experiment condition was set between 2:00 PM and 7:00 PM, Oct 5th, 2014 during severe traffic congestion. The simulation results showed that total travel time was reduced by 20% for SZM. Thus, we solved the problem of ramp congestion and over-capacity.

• Korean Journal of Applied Biomechanics
• /
• v.19 no.3
• /
• pp.435-448
• /
• 2009

The purpose of this study was to investigate the kinemaitc gait parameter of lower extremities with different gait conditions(level walking, stairs, ramp) in old adults. Fourteen healthy older adults participated in this study and kinematic data were measured using 3D motion analysis system(Vicon, Oxford Metrics, England). Statistical analysis was used one-way ANOVA to know the difference of lower extremities angle at each gait phase with a different gait conditions. In sagittal plane, pelvic anterior tilt increased in stairs and ramp climbing and hip and knee flexion increased in stairs climbing but ankle dorsiflexion increased in ramp climbing. In frontal plane, pelvic was up in stairs and hip abduction and adduction more changed in stairs climbing than level walking. Knee varus and ankle inversion increased in stair climbing. In horizontal plane, pelvic internal rotation increased in stairs and ramp climbing and knee internal rotation increased in stairs climbing but ankle external rotation increased in stairs climbing. This results was shown that the stairs and ramp climbing changed the kinematic gait parameters of lower extremities in healthy old adults.

• Nuclear Engineering and Technology
• /
• v.49 no.4
• /
• pp.700-709
• /
• 2017

This work looks at the effect of changes in kinetic parameters on simultaneous reactivity insertions and beam tube flooding in a typical material testing reactor-type research reactor with low enriched high density ($U_3Si_2-Al$) fuel. Using a modified PARET code, various ramp reactivity insertions (from $0.1/0.5 s to $1.3/0.5 s) plus beam tube flooding ($0.5/0.25 s) accidents under uncontrolled conditions were analyzed to find their effects on peak power, net reactivity, and temperature. Then, the effects of changes in kinetic parameters including the Doppler coefficient, prompt neutron lifetime, and delayed neutron fractions on simultaneous reactivity insertion and beam tube flooding accidents were analyzed. Results show that the power peak values are significantly sensitive to the Doppler coefficient of the system in coupled accidents. The material testing reactor-type system under such a coupled accident is not very sensitive to changes in the prompt neutron life time; the core under such a coupled transient is not very sensitive to changes in the effective delayed neutron fraction.

• International Journal of Oral Biology
• /
• v.46 no.1
• /
• pp.39-44
• /
• 2021

This study aimed to investigate whether neurotransmitter receptors in the nervous system were also expressed in oral keratinocytes. Expressions of various neurotransmitter receptor genes in immortalized mouse oral keratinocyte (IMOK) cells were examined by reverse transcriptase polymerase chain reaction. IMOK cells expressed calcitonin gene-related peptide (CGRP) receptor subunit genes Ramp1 and Ramp3 and glutamate receptor subunit genes Grina, Gria3, Grin1, Grin2a, and Grin2d. Moreover, IMOK cells expressed Adrb2 and Chrna5 that encode beta 2 adrenergic receptor and cholinergic receptor nicotinic alpha 5 for sympathetic and parasympathetic neurotransmitters, respectively. The expression of Bdkrb1 and Ptger4, which encode receptors for bradykinin and prostaglandin E2 involved in inflammatory responses, was also observed at low levels. Expressions of Ramp1 and Grina in the mouse gingival epithelium were also confirmed by immunohistochemistry. When the function of neurotransmitter receptors expressed on IMOK cells was tested by intracellular calcium response, CGRP, glutamate, and cholinergic receptors did not respond to their agonists, but the bradykinin receptor responded to bradykinin. Collectively, oral keratinocytes express several neurotransmitter receptors, suggesting the potential regulation of oral epithelial homeostasis by the nervous system.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.43 no.7
• /
• pp.1186-1192
• /
• 1994

This paper presents an algorithm to design a robust digital model following servo control system in which optimal linear quadratic regulator problem is used to design the control system that make the step/ramp response of the plant kept close to a specified ideal step/ramp response of the model. The quadratic criterion function for a continuous system is used to design the robust digital servo control system. The feasibility of the design technique is shown by the simulation and the proposed method is applied to the speed control of DC servo motor.