• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.39.2-39
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• 2001

This paper describes the design of an output-feedback controller based on an adaptive fuzzy observer for uncertain single-input single-output nonlinear dynamical systems. Especially, we have focused on the realization of minimal dynamic order of the adaptive fuzzy observer. For the purpose, we propose a new method in which no strictly positive real(SPR) condition is needed and combine dynamic rule activation scheme with on-line estimation of fuzzy parameters. By using proposed scheme, we can reduce computation time, storage space, and dynamic order of the adaptive fuzzy observer ...

• 대한방사선치료학회지
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• 제25권1호
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• pp.33-40
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• 2013

목 적: 호흡동조방사선치료 시 호흡에 따른 종양의 위치를 정확하게 파악하여 치료하기 위해서는 안정되고 일정한 호흡유지가 중요하다. 이에 본 연구에서 Real time monitor와 Ventilator를 이용하여 측정한 호흡유지방법을 소개하고 그 유용성을 평가하고자 한다. 대상 및 방법: 7명의 실험자를 대상으로 하여 Gate on time (Beam on time) 600초를 기준으로 실험자를 총 5개의 그룹 -자연 호흡, Monitor를 이용하여 유도한 호흡, Ventilator를 이용하여 유도한 호흡, Monitor와 Ventilator를 동시에 이용하여 유도한 호흡, 실험자 스스로 Real time monitor를 이용하여 주기적 Breath-hold 상태를 유지하는 호흡- 으로 분류 하였다. 분류 후 ANZAI 4D system을 이용하여 각각의 호흡신호를 획득 하였다. 호흡신호별 총 소요 시간을 비교하고 호흡주기 상의 Gate on/off time 평균값, 표준편차, 분산, 평균 호흡 주기의 횟수와 변화 등을 각각 분석하여 호흡의 안정성을 평가 하였다. 동시에 실험자들을 대상으로 설문조사를 실시하여 각 장치들의 의존성을 정성적으로 조사하였다. 결 과: 5개 그룹의 호흡신호 편차변화를 비교하여 실험자의 각 호흡신호 안정성을 평가하였다. 그 결과 모든 실험자는 Gate on time 600초 동안 소요되는 시간이 Monitor와 Ventilator를 동시에 사용 했을 경우에 실험시간이 가장 짧게 걸렸고, 가장 안정된 호흡을 유지한 것으로 나타났다. 결 론: 본 연구에서 Real time monitor와 Ventilator를 사용하여 호흡유도를 진행해본 결과 실험대상자들의 안정적인 호흡유지에 유용성이 있는 것으로 나타났다. 2개의 장비를 독립적으로 사용하였을 경우 보다 동시에 사용할 경우 호흡유지 안정도가 더 우수한 것으로 나타났다. Real time monitor와 Ventilator를 이용하여 환자의 호흡조건을 설정하여 환자에게 적용시킨다면 호흡조절방사선치료 시 치료의 정확도를 높일 수 있으리라 예상되며 동시에 치료시간도 단축될 것으로 사료된다. 특히 규칙적인 호흡조절이 가능한 환자의 경우 Real time monitor를 활용한 Breath-hold 방법의 활용은 치료시간 단축의 효과를 현저히 높일 수 있을 것이라 사료된다.

• 한국산업융합학회 논문집
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• 제17권1호
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 가을 학술발표회 논문집
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• pp.103-108
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• 1999

This paper describes development of a new automated real-time system which preforms measurement data reduction and management, geotechnical backanalysis, and feedback design for embankment construction on soft ground. Such a system can be an effective, useful and economical tool for managing a large site development on soft ground. The system consists of data base system to characterize soil properties and identify instrumentation, analysis system for ground behavior and stability coupled with automatic monitoring system, and feedback design system which is a new technique to reflect the analysis of measured ground behavior against original design.

• 한국멀티미디어학회논문지
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• 제7권12호
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• pp.1650-1656
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• 2004

In this paper, a multi-adaptive filter is proposed for removing EOG and the 60 Hz power supply noise from EEG measured in the frontal lobe and the feedback output control method is implemented for biofeedback. The multi-adaptive filter has been implemented on the TMS320C6711 DSP system and the feedback output control algorithm has been realized by calculating the ratio of alpha wave on the TMS320C31 DSP system with real time performance. Through the experiment using the implemented multi-adaptive filter and feedback output controller, we demonstrate that the proposed adaptive filter effectively removes EOG and the 60 Hz power supply noise from the measured EEG in the frontal lobe and the feedback algorithm controls the level of stimulation by the ratio of the alpha wave.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권3호
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• pp.112-121
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• 2002

This paper describes a new bike system for the postural balance rehabilitation training. Virtual environment and three dimensional graphic model is designed with CAD tools such as 3D Studio Max and World Up. For the real time bike simulation, the optimized WorldToolKit graphic library is embedded with the dynamic geometry generation method, multi-thread method, and portal generation method. In this experiment, 20 normal adults were tested to investigate the influencing factors of balancing posture. We evaluated the system by measuring the parameters such as path deviation, driving velocity, COP(center for pressure), and average weight shift. Also, we investigated the usefulness of visual feedback information by weight shift. The results showed that continuous visual feedback by weight shift was more effective than no visual feedback in the postural balance control It is concluded this system might be applied to clinical use as a new postural balance training system.

• The Journal of Korean Physical Therapy
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• 제34권4호
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• pp.155-160
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• 2022

Purpose: This study was to identify the effect of cervical stabilization exercise with visual feedback on the craniovertebral angle and foot pressure in subjects with forward head posture. Methods: Thirty healthy adults were recruited in the study. Participants were randomly assigned to the stabilization exercise with visual feedback (SE-VF) group (n=15) or stabilization exercise (SE) group (n=15). The SE-VF group performed cervical stabilization exercise while sitting on a chair without a backrest and checking their side profile in real time a monitor 3m away. The SE group performed the same cervical stabilization exercise as the SE-VF group accompanied by without visual feedback. Craniovertebral angle (CVA) was measured to quantify forward head posture, and the foot pressure of the subjects were evaluated. Results: The foot pressure showed statistically significant differences pre and post in both midfoot and left metatarsal only in SE-VF group (p<0.05). Conclusion: These findings of this study showed that the cervical stabilization exercise with visual feedback was effective for the foot pressure of subjects. In addition, based on the results of this study, it is suggested that visual feedback will be effective in cervical stabilization exercise.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국생산제조학회지
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• 제5권4호
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.