• 로봇학회논문지
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• 제12권2호
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• 대한의용생체공학회:의공학회지
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• 제14권1호
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• pp.41-50
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• 1993

This paper proposes an adaptive technique for the cardiac output regulation of a pendulum type electromechanical TAH. This techinque, which consists of two RLSE's and two PASTC' 5, performs Its controllability over the TAIB so that the m(RAP) and m(LAP) values re- main close to their desired values under she assumption that the variation of m(RAP) and m (LAP) are dominated by the variation of C.0. and the difference between the left and right ventricular output, respectively. To evaluate the performance of the proposed control system, a simulation is performed by using a human model which contains physiologic, drug and treatment, artificial heart and noise models. As a result, dual adaptive controller showed that abnormal m(LAP) and m(RAP) could be recovered to the normal range within 10minute and maintained desired value in steady state. The operation of this controller prored to be robust in spite of the rapid variation of human status.

• Structural Engineering and Mechanics
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• 제52권1호
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• pp.19-33
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• 2014

Structural robustness refers to the ability of a structure to avoid disproportionate consequences to the original cause. Currently attentions focus on the concepts of structural robustness, and discussions on methods of robustness based structural design are rare. Firstly, taking basis in robust $H_{\infty}$ control theory, structural robustness is assessed by $H_{\infty}$ norm of the system transfer function. Then using the SIMP material model, robustness based design of grid structures is formulated as a continuum topology optimization problem, where the relative density of each element and structural robustness are considered as the design variable and the optimization objective respectively. Generalized elitist genetic algorithm is used to solve the optimization problem. As examples, robustness configurations of plane stress model and the rectangular hyperbolic shell model were obtained by robustness based structural design. Finally, two models of single-layer grid structures were designed by conventional and robustness based method respectively. Different interference scenarios were simulated by static and impact experiments, and robustness of the models were analyzed and compared. The results show that the $H_{\infty}$ structural robustness index can indicate whether the structural response is proportional to the original cause. Robustness based structural design improves structural robustness effectively, and it can provide a conceptual design in the initial stage of structural design.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.973-978
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• 2005

In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.124-128
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• 2011

The heat transfer rate in an oven is very important for the quality of cooking food. For a robust performance design in an electric oven, forced convection has been used rather than natural convection, in bake and convection mode. Forced convection heat trans for in a vented electric oven has been numerically evaluated using the commercial software FLUENT. CFD modeling of the electric oven involves three-dimensional, steady state, MRF fan model and DO radiation model. In this study, the electric oven cavity and fan modules are not simplified. Other research shows that the boundary condition can often lead to non-physical solutions, such as reverse flaw at the top vent. To remove this non-physical solution, control volume has been expanded at the nearby vent. This numerical analysis has been performed with dedicated experimental support. The results show that there is less than a 2.2% difference between the simulation and experimental data for the temperature profile of food. From this research we can use this oven simulation technique to make a better convection system in an electric oven.

• 한국통신학회논문지
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• 제23권9A호
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• pp.2197-2210
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• 1998

In the grand alliance (GA) HDTV receiver, a coherent detection is empolyed for coherent demodulation of vestigial side-band (VSB) signal by using frequency and phaselocked loop(FPLL) operating on the pilot carrier. Additional phase tracking loop (PTL) employed to track out phase noise that has not been removed by the FPLL in theGA system. In this paper, we propose an algorithm for phase detection which utilizes a weighting function. The simplest implementation of the proposed algorithm using te sign of the Q channel component can be tractable by imposing a phase detection gain to the loop gain. It is obserbed that the propsoed algorithm has a robust characteristic against the performance of the digital filters used for Q channel estimation. A second goal of this paper is to introduce a gain control algorithm for the PTL in order to provide an effective implementation of the proposed phase detection algorithm. And we design the PTL through the realization of the simplified digital filter for H/W reduction. The proposed algorithms and the designed PTL are evaluated by computer simulation. In spite of using the simplified H/W structure, simulation results show that the proposed algorithms outperform the coventional PTL algorithms in the phase detection and tracking performance.

• Macromolecular Research
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• 제16권8호
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• pp.734-740
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• 2008

A new crosslinked, poly(acrylic acid)-based, dehydrating agent was synthesized through solution polymerization. The Taguchi method, a robust experimental design, was adopted to optimize the synthetic conditions based on the moisture and water absorbing capacities of the dehydrating agent. The method applied for the experiment was a standard L27 ($3^8$) orthogonal array with eight parameters and three levels. By analyzing the variance of the test results, the most effective parameters to control the moisture absorbing capacity (MAC) and its rate were the kind of alkaline base (LiOH, NaOH, or KOH) used as a neutralizing agent of the acrylic acid monomer and the degree of neutralization: The maximum MAC of 40% was achieved at only 2 hat $32^{\circ}C$ and 50% RH when KOH was used as a base and the degree of neutralization was 90%, respectively. However, the water absorbing capacity (WAC) of the resulting dehydrating agent was very low at 158 g/g, indicating that WAC is unaffected by MAC and its rate in this system. The surface morphologies of the agents were examined using scanning electron microscopy (SEM).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.30-34
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• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• 조명전기설비학회논문지
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• 제13권1호
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• pp.119-127
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• 1999

본 논문에서는 비모형화특성과 유계인 외란을 고려한 선형 시불변 연속시간 계통에 대해 수정된 제어칙과 시그마수정법의 단점을 보완한 적응칙을 이용하여 강인한 직접적응제어기를 제시하고자 한다. 비모형화특성이 특이섭동(singular perturbation)형태로 존재할 때 적용 가능한 알고리즘으로서 기존의 제어칙을 변형하였을 뿐만 아니라 제어기 파라미터를 추정하기 위한 기존의 적응칙인 o-수정법을 보완하여 재구성된다. 재구성된 적응제어칙을 이용하므로써 전체 적응제어 계통의 성능이 기존의 적응제어 알고리즘을 이용했을 때보다 강인하고 시스템의 성능이 향상됨을 보인다. 제시된 알고리즘의 타당성을 보이기 위하여 n차 플랜트에 대한 폐루프내의 모든 신호들이 유계가 됨을 입증하고, 컴퓨터 모의실험 결과는 1차 플랜트에 한해 그 효용성을 보인다.

• 한국응용약물학회:학술대회논문집
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• 한국응용약물학회 2007년도 Proceedings of The Convention
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• pp.19-27
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• 2007

An important potential of metabolomics-based approach is the possibility to develop fingerprints of diseases or cellular responses to classes of compounds with known common biological effect. Such fingerprints have the potential to allow classification of disease states or compounds, to provide mechanistic information on cellular perturbations and pathways and to identify biomarkers specific for disease severity and drug efficacy. Metabolic profiles of biological fluids contain a vast array of endogenous metabolites. Changes in those profiles resulting from perturbations of the system can be observed using analytical techniques, such as NMR and MS. $^1H$ NMR was used to generate a molecular fingerprint of serum or urinary sample, and then pattern recognition technique was applied to identity molecular signatures associated with the specific diseases or drug efficiency. Several metabolites that differentiate disease samples from the control were thoroughly characterized by NMR spectroscopy. We investigated the metabolic changes in human normal and clinical samples using $^1H$ NMR. Spectral data were applied to targeted profiling and spectral binning method, and then multivariate statistical data analysis (MVDA) was used to examine in detail the modulation of small molecule candidate biomarkers. We show that targeted profiling produces robust models, generates accurate metabolite concentration data, and provides data that can be used to help understand metabolic differences between healthy and disease population. Such metabolic signatures could provide diagnostic markers for a disease state or biomarkers for drug response phenotypes.