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이수한,장지웅 대한안과학회 2014 Korean Journal of Ophthalmology Vol.28 No.1
Purpose: To investigate the relationship between higher-order aberrations (HOAs) and amblyopia treatment inchildren with hyperopic anisometropic amblyopia. Methods: The medical records of hyperopic amblyopia patients with both spherical anisometropia of 1.00 diopter(D) or more and astigmatic anisometropia of less than 1.00 D were reviewed retrospectively. Based on theresults of the amblyopia treatment, patients were divided into two groups: treatment successes and failures. Using the degree of spherical anisometropia, subjects were categorized into mild, moderate, or severe groups. Ocular, corneal, and internal HOAs were measured using a KR-1W aberrometer at the initial visit, and at3-month, 6-month, and 12-month follow-ups. Results: The results of the 45 (21 males and 24 females) hyperopic anisometropic amblyopia patients whocompleted the 12-month follow-up examinations were analyzed. The mean patient age at the initial visit was70.3 months. In total, 28 patients (62.2%) had successful amblyopia treatments and 17 patients (37.8%) failedtreatment after 12 months. Among the patient population, 24 (53.3%) had mild hyperopic anisometropia and 21(46.7%) had moderate hyperopic anisometropia. When comparing the two groups (i.e., the success and failuregroups), ocular spherical aberrations and internal spherical aberrations in the amblyopic eyes were significantlyhigher in the failure group at every follow-up point. There were no significant differences in any of the HOAsbetween mild and moderate cases of hyperopic anisometropia at any follow-up. When the amblyopic and felloweyes were compared between the groups there were no significant differences in any of the HOAs. Conclusions: HOAs, particularly ocular spherical aberrations and internal spherical aberrations, should be consideredas reasons for failed amblyopia treatment.
이수한,장창훈,Lee, Su-Han,Jang, Chang-Hun 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.12
This study presents a direct adaptive controller which is derived by using Lyapunovs direct methods for trajectory tracking control of a pneumatic cylinder. The structure of the controller is very simple and computationally efficient because it does not use either the dynamic model or the parameter values of the pneumatic system. The bounded stability of the system is shown in the presence of the bounded unmodeled dynamics. The bounded size of tracking errors can be made arbitrarily small without giving andy influences on either input or output variables. The trajectory tracking performance and the stability of the control system is verified experimentally. The results of the experiments show that the proposed controller tracks the given trajectories, sine function and cycloidal function trajectories, more accurately than PD controller does, and it stabilizes the system and adaptive variables.
이수한,김태균,신규현 울산대학교 2002 공학연구논문집 Vol.33 No.2
본 연구에서는 매우 복잡한 비선형 운동을 하는 로봇을 정밀하게 제어하기 위하여 강인 제어기를 제안한다. 설계된 강인제어기는 로봇의 복잡한 동적 모델이나 변수 등을 사용하지 않기 때문에 계산량이 작다. 동적 모델이나 변수 대신에 직렬 로봇의 특성을 이용하여 구한 운동의 한계를 이용한다. 제안된 제어기의 안정성은 리아푸노프(Lyapunov) 이론을 이용하여 증명하고, 전산모의 실험으로 제어계의 안정함과 제어기의 제적 추적 성능이 우수함을 보인다. In this paper, a robust controller is porposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.