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무색 인공수정체렌즈안과 광변색 인공수정체안에서의 수술 전후 스트레이라이트의 비교
김인혁,황형빈,신승주,정성근,In Hyuk Kim,MD,Hyung Bin Hwang,MD,Seung Joo Shin,MD,Sung Kun Chung,MD,PhD 대한안과학회 2014 대한안과학회지 Vol.55 No.2
Purpose: To compare visual acuity and intraocular straylight after implantation of clear and photochromic intraocular lenses (IOLs) in a mesopic lighting condition. Methods: Clear IOLs were implanted in 95 eyes of 72 patients (clear IOL group), and photochromic IOLs were implanted in 22 eyes of 16 patients (photochromic IOL group). Best-corrected visual acuity (BCVA) was measured indoors before surgery and 1 month after surgery. Straylight values were measured indoors before surgery and 1 and 2 months after surgery using the C-quant straylight meter (Oculus GmbH, Wetzlar, Germany). Results: There were no significant differences between the 2 groups in BCVA at 1 month postoperatively (p = 0.587). Mean straylight values of clear and photochromic IOL groups were 2.76 ± 1.89 log (s) and 2.88 ± 2.04 log (s) preoperatively, 1.39 ± 0.84 log (s) and 1.32 ± 0.26 log (s) at 1 month postoperatively, and 1.43 ± 0.92 log (s) and 1.45 ± 0.50 log (s) at 2 months postoperatively. There were no significant differences between the 2 groups in indoor straylight values (p = 0.778, 0.709, 0.929, before surgery, 1 and 2 months after surgery respectively). Repeated-measure analysis of straylight values also showed no significant difference between the 2 groups (p > 0.05). Conclusions: There were no significant differences in BCVA and straylight values between clear and photochromic IOL groups under a mesopic light condition. Therefore, photochromic IOL could be suitable choice for cataract patients who spend significant time under mesopic conditions. J Korean Ophthalmol Soc 2014;55(2):190-195
MDPS 시스템 제어를 위한 모터 위치 제어 기반의 Cascade 제어기 설계
김인혁(In Hyuk Kim),김동희(Dong Hee Kim),제성규(Sung Kyu Je) 한국자동차공학회 2019 한국자동차공학회 학술대회 및 전시회 Vol.2019 No.11
This paper proposes a cascade controller based on a motor position control for MDPS systems. The proposed controller consists of a steering performance control and a motor position control. A system response from the driver’s torque to the column rotational position is a design reference of steering performance controller and the controller generates a motor position reference to achieve the pre-designed steering performance. The motor position controller adjusts the motor torque for tracking the motor position reference signal. This paper demonstrates simulations to reveal the performance of the proposed cascade controller.
벤치마크 로봇의 동적 마찰 보상을 위한 적응 제어기 설계
김인혁(In-Hyuk Kim),조경훈(Kyoung-Hoon Cho),손영익(Young Ik Son),김필준(Pil-Jun Kim) 대한전자공학회 2014 전자공학회논문지 Vol.51 No.1
로봇 시스템에 작용하는 마찰력은 비선형 형태이며 특히 저속에서의 정밀 제어를 어렵게 만든다. 본 논문에서는 로봇 연구에서 자주 활용되고 있는 벤치마크 로봇 시스템의 단축 모델에 대한 동적 마찰 보상 문제를 다룬다. 마찰 모델은 동적 특성 및 다양한 효과를 나타낼 수 있도록 비선형 동적 모델인 LuGre 모델을 고려한다. 본 논문에서 제안하는 제어기는 두 부분으로 구성된다. 동적 마찰의 추정 및 보상을 위해 Dual 관측기 기반의 적응 제어기를 사용한다. 마찰 추정 오차 및 나머지 외란을 보상하기 위해 PI 관측기를 추가로 설계한다. 모의실험을 통해 비선형 동적 마찰이 벤치마크 로봇 시스템의 제어 성능에 미치는 영향을 확인하고 제안된 제어기를 사용함으로써 동적 마찰에 대한 제어 성능이 향상됨을 보인다. Friction force on robot systems is highly nonlinear and especially disturbs precise control of the robots at low speed. This paper deals with the dynamic friction compensation problem of a well-known one-link benchmark robot system. We consider the LuGre model because the model can successfully represent dynamic characteristics and various effects of friction phenomenon. The proposed controller is constructed as two parts. An adaptive controller based on dual observers is used to estimate and compensate the dynamic friction. In order to attenuate the friction estimation error and other disturbances, PI observer is additionally designed. Through the computer simulations with the benchmark system, this paper first examines the effects of nonlinear dynamic friction on the control performance of the benchmark robot system. Next, it is shown that the control performance against the dynamic friction is improved by using the proposed controller.