• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.326-329
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• 2004

In this paper, we show a new form of blood pressure controller combined PI control with $H_{\infty}$ loop-shaping. Hypertensive patients or post-operative patients need to maintain normally blood pressure. Exact regulation of blood pressure is needed for maintaining variable blood pressure of preventing complications. The regulation of blood pressure is achieved by injecting drugs, and usually sodium nitroprusside is used as those kinds of drugs. It is necessary to control the infusion rate sodium-nitroprusside carefully to achieve the desired blood pressure. It has been known that regulation of blood pressure by automatic controller is more effective than regulation of blood pressure by human operators. The control of blood pressure has many constraints and uncertainties. Most of biological system has the time-varying variables and the side effects such as increased risk of sepsis and organ failure. To solve such a problem, we design a new robust PI controller using $H_{\infty}$ loop-shaping to decrease noise effects that come out from human body and errors for time delay. The system with designed controller shows more stable control of mean blood pressure and more robust performance for uncertainties. Validation methods for the control performance are confirmed to computer simulations.

• Restorative Dentistry and Endodontics
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• 제37권4호
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• pp.220-227
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• 2012

Objectives: The study was to compare the shaping ability of Reciproc (VDW) and WaveOne (Dentsply Maillefer) instruments compared with ProTaper, Profile and hand instrument during the preparation of simulated root canals. Materials and Methods: Five groups (n = 5) were established. Reciproc, WaveOne, ProTaper, Profile and K file (K-flexo file) were used to prepare the resin simulated canals. A series of preoperative and postoperative images were taken by a microscope and superimposed in 2 different layers. The amount of resin removed from both the inner and the outer sides of the canal was measured to the level of 10 mm from the apical tip, with a 1 mm increment. Results: The mean of resin removal from the inner canal wall was not different from the outer canal wall for Reciproc and WaveOne groups at apical third (1 - 3 mm level). There was no difference in the change of working length and maintenance of canal curvature. NiTi instruments are superior to stainless-steel K file in their shaping ability. Conclusions: Within the limitation of this present study, Reciproc and WaveOne instruments maintained the original canal curvature in curved canals better than ProTaper and Profile, which tend to transport towards the outer canal wall of the curve in the apical part of the canal.

• Journal of Power Electronics
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• 제16권1호
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• pp.1-8
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• 2016

Dead time is typically incorporated in voltage source inverter systems to prevent short circuit cases. However, dead time causes an error between the output voltage and reference voltage. Hence, voltage equation-based algorithms, such as motor parameter estimation and back electromotive force (EMF)-based sensorless algorithms, are prone to estimation errors. Several dead-time compensation methods have been developed to reduce output voltage errors. However, voltage errors are still common in zero current crossing areas, and an effect of the error is much worse in a low speed region. Therefore, employing voltage equation-based algorithms in low speed regions is difficult. This study analyzes the conventional dead-time compensation method and output voltage errors in low speed operation areas. A current shaping method that can reduce output voltage errors is also proposed. Experimental results prove that the proposed method reduces voltage errors and improves the accuracy of the parameter estimation method and the performance of the back EMF-based sensorless algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.54.2-54
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• 2001

In this paper two control strategies, command shaping control and optimal control, which aim to the reduction of the residual vibrations of the payload in a container crane system are investigated. Both control methods are open loop control. Due to unmodeled dynamics of the plant and disturbances like initial sway and wind, some residual sway always exists at the end of trolley movement. Command inputs are designed to achieve the control objectives including minimal residual vibration and robustness in the presence of unmodeled dynamics. Simulation results of various command inputs are compared in terms of arrival time, residual sway angle, robustness, and maximum sway distance during the traveling. Command shaping method provides a more competent tool than optimal control.

• Radiation Oncology Journal
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• 제10권1호
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• pp.95-100
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• 1992

LINAC 뇌정위적 방사선 수술은 multiple noncoplanar arc, 3 차원 선량 계산 및 많은 조사 변수들이 사용되기 때문에 간단한 경우에도 최적 선량분포를 얻기 위해서는 많은 시간이 요구된다. 본 논문에서는 실험적 방법과 분석적 방법을 통한 유용한 방법을 제시하기 위한 것으로서, 보다 자세한 방법 및 내용은 앞으로의 발표 논문에서 다루게 된다. 실험적 방법으로 2가지 방법에의하면, 첫번째 방법은 multiple isocenter를 이용하는 것이고, 두번째 방법은 beam's eye view와 field shaping을 이용한 conformal therapy이다. 분석적 방법은 최적 조사조건을 찾기 위하여 computer-aided design optimization 방법을 이용하는 것이다.

• 한국정밀공학회지
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• 제28권8호
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• pp.959-965
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• 2011

This paper presents the dynamic modeling and vibration suppression methods for axially deploying beams subjected to gravity. A modal modeling method is employed to develop the lateral vibration model for axially deploying beams. Simulation is made to validate the proposed model as well as to investigate the dynamics of axially deploying beams. This paper rigorously investigates the gravity effect as a source of vibration for axially deploying beams. In order to suppress lateral vibration for deploying beams, the moving speed command is modified by using the input shaping method, Experiments are also performed to prove the proposed vibration suppression method. The simulations and experiments show that the proposed modeling and input shaping methods are effective for the dynamic analysis and vibration suppression of axially deploying beams subjected to gravity.

• Restorative Dentistry and Endodontics
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• 제20권2호
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• pp.768-779
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• 1995

This study was performed to investigate the effect of root canal shaping techniques on the change of the shape of prepared root canal. 40 mesiobuccal canals of recently extracted mandibular 1st and 2nd molars were divided into 4 groups and shaped by step-down/balanced force technique, step-down/step-back technique, step-back technique and conventional technique respectively. The change of the shape of root canal was traced by superimposing the radiographs obtained before and after shaping of each root canal. The results were as follows. 1. By the experimented techniques except conventional technique, the root canals were more shaped in convex side of apical area and in concave side of most curved and coronal area than in the other sides(P<0.05). By conventional technique, the root canals were more shaped in convex side than in convave side from apex to orifice(P<0.05). 2. By step-down/balanced force technique, the cancave sides at C and D points of proximal view and C point of clinical view were more shaped than the convex side(P<0.05). Through the entire canal, the concave side was more shaped than the convex side in proximal view(P<0.01). But there was no statistical difference between both sides in clinical view. 3. By step-down/step-back technique, the change of root canal shape was not statistically different in concave and convex sides at each point of both views(P>0.05). And through the entire canal in proximal view, there was no statistical difference in shaping percentage between both sides. But through the entire canal in clinical view, the concave side was more shaped than the convex side(P<0.1). 4. By step-back technique, the convex side at B point of clinical more shaped than the other sides(P<0.05). Through the entire canal in proximal and clinical views, there was no statistical difference in shaping percentage between both sides. 5. Comparing the total shaping percentage among techniques, that in conventional technique was the greatest numerically, and followed by the percentages in step-down/step-back, step-down/balanced force and step-back technique. But, in proximal view, shaping percentages were not statistically different among techniques(P>0.05, ANOVA test). In clinical view, shaping percentages in step-back and conventional techniques were statistically different(P<0.01, ANOVA test). * Proximal view: radiograph taken in mesiodistal direction. * Clincal view: radiograph taken in faciolingual direction. A point : 1mm point from radiographic apex B point : center point between A and C points C point : most curved point of root canal D point : center point between C point and canal oriffice.

• Nuclear Engineering and Technology
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• 제45권2호
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• pp.151-164
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• 2013

A key input for the assessment of Human Error Probabilities (HEPs) with Human Reliability Analysis (HRA) methods is the evaluation of the factors influencing the human performance (often referred to as Performance Shaping Factors, PSFs). In general, the definition of these factors and the supporting guidance are such that their evaluation involves significant subjectivity. This affects the repeatability of HRA results as well as the collection of HRA data for model construction and verification. In this context, the present paper considers the TAsk COMplexity (TACOM) measure, developed by one of the authors to quantify the complexity of procedure-guided tasks (by the operating crew of nuclear power plants in emergency situations), and evaluates its use to represent (objectively and quantitatively) task complexity issues relevant to HRA methods. In particular, TACOM scores are calculated for five Human Failure Events (HFEs) for which empirical evidence on the HEPs (albeit with large uncertainty) and influencing factors are available - from the International HRA Empirical Study. The empirical evaluation has shown promising results. The TACOM score increases as the empirical HEP of the selected HFEs increases. Except for one case, TACOM scores are well distinguished if related to different difficulty categories (e.g., "easy" vs. "somewhat difficult"), while values corresponding to tasks within the same category are very close. Despite some important limitations related to the small number of HFEs investigated and the large uncertainty in their HEPs, this paper presents one of few attempts to empirically study the effect of a performance shaping factor on the human error probability. This type of study is important to enhance the empirical basis of HRA methods, to make sure that 1) the definitions of the PSFs cover the influences important for HRA (i.e., influencing the error probability), and 2) the quantitative relationships among PSFs and error probability are adequately represented.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.589-594
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• 2007

In this paper, the optimal command input is considered in order to minimize the residual vibrations of a flexible cantilever beam when the beam simply changes its position by translation or rotation. Although a cantilever beam has many modes of vibration, it is shown that the consideration of the first mode is sufficient in this case. Thus, the problem becomes a singledegree-of-freedom system subjected to a ground excitation. Two simple methods are proposed to find the optimal command input based on the Shock Response Spectrum (SRS). The first method is the simplest and can be applied to lightly damped cases, and the second method is applicable to more general problems. The second method gives almost the same results as the input shaping method. However the proposed method gives a easier and clearer control strategy.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.402-407
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• 2014

In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.