http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
정과철(Gwa-Cheol Jeong),박준태(Jun-Tae Park),이수영(Soo-Yeong Yi) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.4
A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.
( Min Suk Kim ),( Myung Ho Jeong ),( Sung Soo Kim ),( Min Goo Lee ),( Keun Ho Park ),( Doo Sun Sim ),( Nam Sik Yoon ),( Hyun Ju Yoon ),( Young Joon Hong ),( Ju Han Kim ),( Young Keun Ahn ),( Jeong Gwa 대한내과학회 2011 대한내과학회 추계학술대회 Vol.2011 No.1
Background: The purpose of this study is to define the differences of predictors of ischemic heart failure (IHF) in Korean patients with acute myocardial infarction (MI). Methods: Clinical characteristics analysis was performed in total 11,581 patients from the Korea Acute Myocardial Infarction Registry, who were divided into two groups according to the initial left ventricular ejection fraction (LVEF): goup 1 (LVEF<40%, N=2271) and group 2 (LVEF≥40%, N=9310). Differences in clinical characteristics were compared between the groups and 1-year major adverse cardiac events (MACE) were analyzed in group 1. Results: Average LVEF were 33.0±6.4% in group 1 and 55.9±14.1% in group 2. Group 1 showed higher prevalence of male (p=0.02), Killip class>III (p=0.034), previous history of angina pectoris (p=0.001), hypertension (p=0.034), diabetes mellitus (p=0.027), smoking (p=0.045), age>65 years (p=0.015), systolic blood pressure<80 mmHg (p=0.033), heart rate>100 beats/min (p=0.027), elevated creatine, elevated cardiac markers (creatine kinase, CK-MB, troponin-I) (p=0.001), elevated total cholesterol (p=0.031), elevated triglyceride (p=0.022), and cardiac arrest on arrival (p=0.001). The predictors of 1-year MACE in group 1 were high N-terminal pro-B-type natriuretic peptide (NT pro-BNP) (p=0.001), multivessel disease(p=0.001), cardiogenic shock (p=0.02), and elevated creatine (p=0.024). Conclusion: Korean patients with acute MI and initial IHF were older; more likely to have multiple risk factors and comorbidities including cardiogenic shock and cardiac arrest on arrival. The predictors of 1-year MACE in patients with IHF were high NT pro-BNP, multivessel disease, cardiogenic shock, and acute kidney injury. Acute Myocardial Infarction Registry Investigators.