• International Journal of Precision Engineering and Manufacturing
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• 제1권2호
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• pp.76-83
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• 2000

A study on the robust control of a composite beam with a distributed PVDF sensor and piezo-ceramic actuator is presented in this paper. $1^{st}$ and $2^{nd}$ natural frequencies are considered in the modeling, because robust control theory which has robustness to structured uncertainty is adopted to suppress the vibration. If the controllers designed by $H_{\infty}$ theory do not satisfy control performance, it is improved by $\mu$-synthesis method with D-K iteration so that the $\mu$-controller based on the structured singular value satisfies the nominal performance and robust performance. Simulation and experiment were carried out with the designed controller and the verification of the robust control properties was presented by results.

• 임상간호연구
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• 제17권3호
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• pp.455-466
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• 2011

Purpose: The purpose of this study was to investigate the effects of a structured preoperative PCA education on the knowledge and attitude regarding PCA usage, level of pain, and the consumption of analgesics after operation for colorectal surgery patients. Methods: This study was conducted from 18 Feb to 2 May, 2008. Participants were 80 colorectal cancer patients who would use the IV-PCA after colorectal surgery in a cancer hospital in Gyeonggi-do, Korea. Two groups, experimental and control were consisted of 40 patients each. The 20-minute structured education regarding PCA usage was applied to each patient individually in the experimental group but only the routine anesthetic consultation was given to each patient in the control group the day before the surgery. The SPSS/PC 10.0 program was introduced to analyze the collected data on frequency, percentage, mean, standard deviation, $x^2$-test, t-test and paired t-test. Results: The experimental group with the structured preoperative PCA education showed higher knowledge and more positive attitudes regarding the PCA usage than the control group. Also the experimental group showed better pain control and lower consumption of analgesics at 4, 8 and 24 hours after than the control group. Conclusion: The structured preoperative PCA education is an effective nursing intervention for improving the knowledge and attitude of the colorectal surgery patients on the PCA usage, and enabling the patient to take the analgesic more effectively with lower consumption, while reducing the patients' pain after operation.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.479-486
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• 2012

In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.751-755
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• 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.233-236
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• 2015

In this paper, a nonlinear optimization problem is proposed to obtain a structured static output feedback controller for discrete time linear systems. The proposed optimization problem has LMI (Linear Matrix Inequality) constraints and a non-convex objective function. Using the conditional gradient method, we can obtain suboptimal solutions of the proposed optimization problem. Numerical examples show the effectives of the proposed approach.

• Journal of Korean Biological Nursing Science
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• 제14권4호
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• pp.300-307
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• 2012

Purpose: The purpose of this research was to develop and prove the effectiveness of structured arm exercise, which was used to reduce Arteriovenous Fistula (AVF) and Arteriovenous graft (AVG) stricture of hemodialysis patients. Methods: Quasi-experimental research design with non-equivalent control group was applied. 26 Subjects were participated in this study. 12 of hemodialysis patients who do not have a normal range of Static Intra Access Pressure Vein (SIAPV) score in the last three months were assigned to the experimental group and 14 patients who have a normal range of SIAPV score in the last three months to the control group. To analyze the collecting data after structured arm exercise, non parametric method with the repeated measures ANOVA by the Friedman test and Wilcoxon Signed Ranks Test for post-hoc test was performed. Results: Unlike the experimental group after three months, the control group's SIAPV data went over the normal range. The experimental AVF group showed a difference in data after month 2 and month 3. - In AVG group, there were clear differences in each month of the test. Conclusion: This study proved that structured arm exercise therapy could be a simple and effective intervention. It is suggested to be actively utilized for hemodialysis patients.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.83.6-83
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• 2002

$\textbullet$ Disturbance observer $\textbullet$ Performance enhancement $\textbullet$ LFT formulation $\textbullet$ Structured singular value $\textbullet$ Maximum bandwidth of DOB $\textbullet$ DVD experiments $\textbullet$ Robust stable disturbance observer

• 대한전기학회논문지
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• 제41권3호
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• pp.300-310
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• 1992

This paper deals with the problem of robust pole-assignment control for linear systems with structured uncertainty. It considers two cases whose colsed-loop characteristic equations are presented as a family of interval polynomial and polytopic polynomial family respectively. We propose a method of finding the pole-placement region in which the fixed gain controller guarantees the required damping ratio and stability margin despite parameter perturbation. Some results of Kharitonov like stability and two kinds of transformations are included. As an illustrative example, we show that the proposed method can apply effectivly to the single magnet levitation system including some uncertainties (mass, inductance etc.).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.46.4-46
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• 2002

This study was motivated how it might be possible to validate structured sampling with orthogonal array for optimal design of a pin. The Taguchi method by orthogonal array, one of the structured sampling methods, has much advantage that is row cost and time saving for experiments. But this method has been applied in limited areas especially for mechanical problems. In this study, we experimented whether the structured sampling is useful for applying optimal design of mechanical elements. For the experiment, we first set up a mechanical problem which was related to determining optimal parameters associated a pin's crack occurred inside a hole. We, then, calculated combination of...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.523-526
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• 1996

In this paper, robot endeffector tracking using sensory information from structured laser pattern diode, is described. In order to track robot endeffector robustly irrespective of translation, scaling and rotation of robot working tool, structured laser pattern is used as track feature. Structured laser patterns of crosshair, concentric circles, dot matrix, and parallel lines are illuminated to robot endeffector. Illuminated laser patterns are held invariently and coherently irrespective of various motions of robot endeffector. Extracting and tracking these invariant structured laser patterns as track feature, the whole system keeps tracking of the robot endeffector robustly and effectively provided that structured laser pattern is always assumed to aim at robot endeffector.