• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.24-27
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• 1994

This paper develops a representation theory of linear systems by means of doubly coprime factorizations, and applies the theory to the simultaneous stabilization problem for a given set of linear systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.482-487
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• 1988

A sequential-clustered integrator based on GEAR method is developed for the purpose of dynamic simulation of chemical processes. And a single simulator structure capable of employing various integration approaches is designed and its efficiency and flexiblity is evaluated. Sequential integration method is superior to simultaneous method for the process without recycle, but simultaneous method is very powerful for the coupled process with recycle.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권9호
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• pp.552-561
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• 2004

This paper is concerned with a new speed sensorless induction motor scheme which can be successfully applied to at any speed including even zero speed. The proposed method is robust against rotor resistance variations. In addition, simultaneous on-line estimations of speed and rotor resistance are realized based on a feedforward type torque control approach. The rotor flux with a low frequency sinusoidal waveform has been utilized to help the simultaneous estimation for both speed and rotor resistance. The control scheme has no current minor loop to determine voltage references. Since the proposed estimation does not depend on any derivative terms of currents and stator voltages, it offers a good performance at extremely low speed region for sensorless induction motor. Furthermore, the proposed control is simply using motor parameters and stator currents without determining any PI gains for current feedback and any signal injection for the rotor resistance estimation. Finally, both simulation and experimental results are given to show the effectiveness of this method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.882-887
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• 2005

The paper describes Quasi-simultaneous recognition of plural targets and motion control of robot based on the recognition. The method searches for targets by model-based matching method using the hybrid GA, and the motion of the robot is generated based on the targets' positions on the image. The method is applied to a soccer robot, and targets are a ball, a goal, and an enemy in the experiment. The Experimental results show robustness and reliability of the proposed method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.121-126
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• 2000

This research proposes a new advanced control method and demonstrates its realization in part. By incorporating shape machining and cutting force control at a time, this integrated scheme makes it possible to machine a desired shape and avoid the trouble of programming feedrate and spindle speed before machining and also reduce the shape error. The main idea proposed to achieve those goals consists in giving commanded path and desired cutting force at the same time. which makes it possible for position and force controller to distribute the corresponding velocity of individual axes and main spindle by an appropriate interpolation. That indicates we can replace the built-in interpolator of commercial machine tools by the developed algorithm.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1614-1619
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• 2003

In this study, position and force simultaneous trajectory tracking control system with pneumatic cylinder driving apparatus is proposed. The pneumatic cylinder driving apparatus that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic cylinders. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control system show that the interacting effects of two cylinders are eliminated remarkably and the proposed control system tracks the given position and force trajectories accurately.

• 제어로봇시스템학회논문지
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• 제7권10호
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• pp.812-818
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• 2001

This paper proposes an optimum design method of structural and control systems, taking a 2-D truss structure as an example. The structure is supposed to be subjected to initial static loads and disturbances. For the structure, a FEM model is formed, and using modal transformation, the equation of motion is transformed into that of modal coordinates in order to reduce the D.O.F. of the FEM model. The structure is controlled by an output feedback $H^$\infty$$ controller to suppress the effect of the disturbances. The design variables of the simultaneous optimal design of control-structure systems are the cross sectional areas of truss members. The structural objective function is the structural weight. The control objective function is the $H^$\infty$$ norm, that is, the performance index of control. The second structural objective function is the energy of the response related to the initial state, which is derived from the time integration of the quadratic form of the state in the closed-loop system. In a numerical example, simulations have been carried out. Through the consideration of structural weight and $H^$\infty$$ norm, an advantage of the simultaneous optimum design of structural and control systems is shown. Moreover, while the optimized performance index of control is almost kept, we can acquire better design of structural strength.

• 대한두경부종양학회지
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• 제25권1호
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• pp.18-23
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• 2009

Objectives : In $CO_2$ laser surgery for supraglottic cancer, neck dissection is generally done in second stage. We investigated simultaneous neck dissection with primary resection could be available in laser supraglottic surgery. Material and Methods : We analyzed 13 patients with supraglottic cancer who were treated with transoral supraglottic laryngectomy and simultaneous neck dissection from 2001 to 2007. Tumor stage, extent of laser surgery, histological results, survival rate, local control rate, complications, and functional results were reviewed. Results : 5-year local control rate, survival rate and disease specific survival rate from the neck was 100%, 69.9%, 100% respectively. Tracheotomy was done in all 13 cases. One patient had a long tracheotomy indwelling (191 days). In the rest of 12 patients average decanulation time was 7.4 days(1-22 days). Nasogastric tube was inserted in 5 cases, and average oral intake was possible in 3.5 days(1-16 days). Average hospital days was 29.7 days. There was no serious complication associated with neck dissection. Conclusion : Simultaneous neck dissection with primary laser resection for supraglottic cancer is oncologic sound and can be performed without significant surgical morbidity.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제32권2호
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• pp.126-131
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• 2010

Objectives: This study is aimed to determine any differences in the postoperative stability between absorbable and titanium plate systems for fixation in orthognathic surgery with simultaneous maxillomandibular procedures especially including maxillary posterior impaction and advancement. Study Design: Forty patients with dentofacial deformities were randomly assigned into titanium (4 males and 6 females) and absorbable (17 males and 13 females) fixation group. All patients had undergone surgical alterations of maxilla with posterior impaction and advancement. A comparison study of the change in the maxillary position after the simultaneous surgery was performed with 1-day, 6-months postoperative lateral cephalograms compared to preoperative lateral cephalogram by tracing. Wilcoxon rank sum test was used for statistical analysis. Result: The position of the maxilla was stable after surgery and was not changed significantly from 1 day to 6 month after the simultaneous maxillomandibular surgery both in the experimental (absorbable plates) and control (titanium plates). Conclusion: This study suggests that application of absorable plating system in the fixation of maxillary segment in the simultaneous maxillomandibular procedures, leads to a predictable short-term postoperative skeletal stability comparable to the titanium plating system. Long term follow-up and further studies will be needed.

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.590-596
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• 2004

A passivity-based dynamic output feedback controller design is considered for a finite collection of non-square linear systems. Design of a single controller for a set of plants i.e. simultaneous stabilization is an important issue in the area of robust control design. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation. In contrast to the previous result [1], a technical condition for constructing the parallel feedforward compensator is removed by proposing a new type of the parallel compensator.