• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.3
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• pp.200-208
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• 2014

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed to regulate the energy associated with the angular velocity required for the pendulum to be in an upright position. When the inverted pendulum arrived within a range of angles found experimentally, the control was switched from fuzzy to proportional-integral-derivative control to balance the inverted pendulum. When the pendulum was balancing, a joystick was used to command the desired position for the pendulum to follow. Experimental results demonstrated the performance of the two intelligent control methods.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.684-686
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• 1998

This paper consider fuzzy control of a single-inverted pendulum attached to the tip end of a rotating arm driven by a direct driven motor. Control objectives stabilization of the pendulum at the upright position and regulation of the arm at an arbitrary specified position. Fuzzy control is an effective method to achieve multiple control objectives in control of nonlinear systems. In this paper, fuzzy logic control is proposed to obtain increased control performance and stability.

• Women's Health Nursing
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• v.18 no.3
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• pp.209-222
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• 2012

Purpose: The purpose of this study was to determine whether upright position is effective in labor through systematic review in randomized controlled trials. Methods: We established the PICO (Patient-Intervention-Comparator-Outcome) strategy, and reviewed 282 literatures from national and international electronic databases, and finally selected 9 references based on inclusion and exclusion criteria. We evaluated the quality of references and carried out a meta-analysis. Results: The maternal outcomes showed that the duration of their second-stage labor was 2.29 minutes shorter than that of the women in the recumbent position, and were less likely to have episiotomy. The other outcomes, including the mode of delivery, blood loss, hemoglobin level, use of oxytocin, use of analgesics, and perineal laceration, did not differ between the groups. The fetal heart rate abnormality occurred less than in the control group. The Apgar scores of the groups did not differ. Conclusion: There is evidence that an upright position in the second stage of labor reduces the duration of the second stage of labor, the incidence of episiotomy, and an abnormal fetal heart rate.

• Journal of Korean Academy of Nursing
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• v.8 no.1
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• pp.139-151
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• 1978

This study is to observe the effects of nursing care according to change of position for comfort during labor and safe delivery of newborn infants and perturbment women. Fifty antepartal primipara with labor pain who were admitted to the delivery room of H University Medical Center from September 1, 1976 to November 15, 1976 (Estimate Delivery Confinement) were selected for this investigation. Among the 50 parturiencys, the experimental group (28 primipara) were placed in 30 degree upright sitting position and the control group (22 primipara) were placed in the supine position. following placement, both groups were observed. The summarized findings of the study were as follows; 1. There was a noticeably significant difference in the duration of the first stage of labor (defined as 4 cm. dilatation of the cervical os with the fetal presenting part engaged to full or 10 cm. dilatation) , between the two groups. For women in the 30 degree upright sitting position, the first stage of labor was close to 33.66 minutes shorter. than for the women in the supine position. (t : 32.79, D.F : 48, p<0.0,i) 2. Although slight differences were observed between the Apgar Scores of the newborn infants of primipara in the two groups, these were not significant. The mean Apgar Score among the newborn infants of primipara in the 30 degree upright sitting position was 9.64 compared with 9.04 for the newborn infants of primipara in the supine position, a difference of 0.6. (x$^2$= 2.44, D.F : 2, p〉0.05) 3. There was a significant difference in the conformability of the perturbment women between the two groups because the shortened duration of the first stage and the high level of comfort score calculated for six factors (body activity, serving bed pan, serving kidney basin, pushing, deep breathing and perturbment women's feelings), that affect nursing care.

• Journal of Information Processing Systems
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• v.18 no.4
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• 한국정보디스플레이학회:학술대회논문집
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• 2006.08a
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• pp.1166-1169
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• 2006

In this study, the effects of SAMs on the performance of OTFTs have been investigated. ALD technique was applied for the deposition of SAMs, which is an ultra-thin film deposition technique based on sequences of self-limiting surface reactions enabling thickness control on atomic scale. According to our investigation results, it is observed that the surface properties of the gate insulator was changed by SAMs, which allow pentacene molecules to be deposited in the upright direction on the gate insulator and hence the performance of OTFTs could be improved. These results will be discussed

• Journal of Sasang Constitutional Medicine
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• v.14 no.3
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• pp.7-16
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• 2002

Purpose The goal of this study tried to provide aging and life span in Sasang Constitutional Medicine. Methods It was researched Master Dong-Mu's documentary records about aging and the life span represented by ${\ulcorner}$Dongyi Soose Bowon Sasang Chobongyun${\lrcorner}$ and ${\ulcorner}$Dongyi Soose Bowon${\lrcorner}$ published in 1901. Results & conclusion 1. A principal of regimen according to Sasang Constitutional Medicine isn't medicational method but non-medicational method. There are control mind and upright oneself. 2. Dong-Mu's the views of the span of life represented by 'Inherent vitality' that a term means health promoting and forecasting length of the life. He also emphasizied a natural power of recovery from damaged vitality. 3. Greed is reduced one's lifetime. It is originated by bias for 'joy-anger -sorrow-pleasure'. The other example is 'Liquor-Sex-Property- Authority'. 4. The way of prolonging lifetime what managed small visceral intestines through constitutional upright oneself. This is found on pathology, care of health and constitutional 'Knowledge and Deed'.

• Journal of Biomedical Engineering Research
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• v.39 no.1
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• pp.48-54
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• 2018

In this study, We developed a Ancillary device for child radiography for X-ray of children under 5 years old and verified its effectiveness. Chest X-rays of children younger than 5 years of age were performed by Supine method at the position of Table detector, Short - Source to Image Receptor Distance(SID). Existing Supine and Short -SID imaging methods cause many problems, such as errors in image reading and excessive radiation exposure dose to patients, but the use of an Ancillary device for child radiography(ADCR) solves these problems. A total of 160 children were divided into the Upright group using ADCR and Supine group without ADCR. The chest X-ray image was visually evaluated by two radiologists with reference to the European Commission's List of Quality Criteria for Diagnostic Radiographic Images in Pediatrics. The total score of the qualitative evaluation was 5.15% higher in the chest upright method using ADCR than in the chest supine method without ADCR, and the chest upright method score was higher than that of the chest supine method in items 1 to 7. whether infants have deep inspiration or not, 4.87% higher for item 1, whether infants rotate or not and the degree of tilting, 0% higher for the item 2, the reproduction of image from just above apices of lungs to T12/L1, 0% for the item 3, reproduction of the vascular pattern in central 2/3 of the lungs, 6.92% higher for the item 4, reproduction of the trachea and the proximal bronchi, 12.9% higher for the item 5, visually sharp reproduction of the diaphragm and costo-phrenic angles, 10% higher for the item 6, reproduction of the spine and paraspinal structures and visualisation of the retrocardiac lung and the mediastinum, and 3.65% higher for the item 7. Items 2 and 3 showed no statistically significant differences(P > 0.05), and items 1, 4, 5, 6, and 7 showed statistically significant differences(P < 0.05). In conclusion, Upright method using ADCR in pediatric chest X-ray is considered as a good alternative to existing Supine method.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1733_1734
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• 2009

직립식 전동 스쿠터는 전동기를 이용한 근거리 이동 수단으로 일종의 1인용 스쿠터이다. 현재 여러가지 마이크로프로세서를 이용하여 주행을제어하는 직립식 전동 스쿠터가 개발되고 있다. 본 연구에서는 PIC16F877A와 자이로 및 가속도 센서를 이용하여 스쿠터의 운행 시 안정성을 개선할 수 있는 방법을 제시 하였다.