Neural Network Based Trajectory Tracking Control for Intelligent Pneumatic Servo Systems

Cho, Seung Ho Research Institute of Science and Technology HONGI 2005 Hongik Journal of Science and Technology Vol.9 No.-

This paper proposes a neural network based trajectory tracking control scheme for intelligent pneumatic servo systems. The PID controllers are currently widely used in industrial applications because they are simple, cheap and show good performance. However, it is limited in some applications where the nonlinear effect is dominant. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinders. A neural network is combined with PID control to compensate for these nonlinearities. A trajectory tracking control experiment using the proposed control scheme has been performed and a significant reduction in tracking error is achieved.

Simplified Effective Compressive Strengths of Columns with Intervening Floor Slabs

Seung?Ho Choi,Jin?Ha Hwang,Sun?Jin Han,Hae?Chang Cho,Jae Hyun Kim,Kang Su Kim 한국콘크리트학회 2020 International Journal of Concrete Structures and M Vol.14 No.5

The current design codes discuss the effective compressive strengths of columns, which reflect a decrease in load transfer performance that can occur when columns and slabs have different concrete compressive strengths. The effective compressive strength of a column increases as it is confined by the slab, and the design codes mandate three different effective compressive strengths for interior columns (confinement on four sides), exterior columns (confinement on three sides), and corner columns (confinement on two sides). For both corner and exterior columns, the confinement effect of the slab is significantly smaller than that for the interior column, and there is a more marked decrease in load transfer performance. However, there is still a lack of theoretical studies investigating the effective compressive strengths of the corner and exterior columns. Therefore, based on the analysis model established in previous research, this study has proposed an equation for calculating the effective compressive strengths of the corner, exterior and isolated columns without any confinement effects of the slab. In addition, axial loading tests of isolated columns were conducted and the proposed equation was verified.

40세 이하 관상동맥 질환자에서 장기적 임상 관찰

이승욱,정명호,박종철,박형욱,조상희,김원,김계훈,이상현,강경태,조장현,김남호,김건형,안영근,조정관,박종춘,강정채 全南大醫大 2001 전남의대학술지 Vol.37 No.2

서울의 Penicillinase Producing Neisseria gonorrhoeae 발생빈도(1998)

김재홍,김준호,반재용,이정우,황성주,정준규,정성태,강진문,조흔정,홍창의,정혜신,이한승,김이선,이봉길,이종호,선영우,한기덕,윤성필,이성훈,안종성,박석범,문승현,조항래,김형섭,류지호,황재영,박준홍,손상욱 한양대학교 의과대학 2001 한양의대 학술지 Vol.21 No.1

In recent years, gonorrhea has been pandemic and remains one of the most common STDs in the world, especially in developing countries. For the detection of a more effective therapeutic regimen and assessing the prevalence of Penicillinase Producing Neisseria gonorrhoeae(PPNG), we have been trying to study the patients who have visited the Venereal Disease Clinic of Choong-Ku Public Health Center in Seoul since 1980 by menas of the chromogenic cephalosporin method. In 1998, 93 strians of N. genorrhoeae were isolated, among which 60(64.5%) were PPNG. The prevalence of PPNG in Seoul, which had been decreased to 39% in 1996 after a peak of 74.3% in 1993, is increased to 64.5% in 1998.

정신분열병에 대한 리스페리돈의 효과 및 안정성

이민수,김용구,김영훈,연병길,오병훈,윤도준,윤진상,이철,정희연,강병조,김광수,김동언,김명정,김상훈,김희철,나철,노승호,민경준,박기창,박두병,백기청,백인호,손봉기,손진욱,양병환,양창국,우행원,이정호,이종범,이홍식,임기영,전태연,정영조,정영철,정인과,정인원,지익성,채정호,한상익,한선호,한진희,서광윤 大韓神經精神醫學會 1998 신경정신의학 Vol.37 No.1

연구목적 : 본 시험의 목적은 임상시험 시작전에 연구자들을 대상으로 PANSS Workshop을 통하여 PANSS, ESRS에 대한 국내에서의 표준화 작업을 구축하고 새로운 정신병 치료제인 리스페리돈의 효과와 안정성을 재확인하여 리스페리돈 사용에 대한 적정화를 이루는데 있다. 연구방법 : 1996년 4월부터 1996년 9월까지 국내 39개 대학병원 정신과에 입원중인 혹은 증상이 악화되어 입원하는 정신분열병 환자 377명을 대상으로 다시설 개방 연구를 시행하였다. 1주일간의 약물 배설기간을 가진후, 리스페리돈을 8주간 투여하였고, 기준점, 1주, 2주, 4주, 그리고 8주후에 평가되었다. 용량은 제1일에는 리스페리돈 1mg씩 1일 2회, 제2일에는 2mg씩 1일 2회, 제3∼7일에는 3mg씩 1일 2회 투여하였다. 이후 환자의 임상상태에 따라 임의로 증량할 수 있으며, 최대 일일 16mg을 초과하지 않도록 하였다. 추체외로 증상을 조절하기 위한 투약을 허용하였다. 임상증상 및 부작용의 평가는 PANSS(Positive and Negative Syndrome Scale), CGI(Clinical Global Impression) 그리고 ESRS(Extrapyramidal Symptom Rating Scale)을 사용하였다. 연구결과 : 377명중 343명(91%)이 8주간의 연구를 완결하였다. 치료 종결시점인 8주후 PANSS 총점수가 20% 이상 호전된 경우를 약물 반응군으로 정의할때, 약물반응군은 81.3%였다. 리스페리돈에 반응하는 예측인자로는 발병연령, 이전의 입원 횟수, 유병기간이 관련 있었다. 리스페리돈은 1주후부터 PANSS양성, 음성, 및 일반정신병리 점수상에 유의한 호전을 보여 효과가 빨랐다. CGI의 경우도 기준점에 비해 1주후부터 유의한 감소를 나타내었다. ESRS의 경우, 파킨슨 평가점수는 기준점과 비교해 투여 1주, 2주, 4주후 유의하게 증가되었다가 8주후 기준점과 차이가 없었다. Dystonia 평가점수는 1주후만 유의한 증가를 보였으며, dyskinesia 평가점수는 유의한 차이가 없었다. 혈압, 맥박수의 생명징후 및 일반 혈액학 검사, 생화학적 검사, 심전도 검사에서 유의한 변화는 없었다. 결 론 : 이상의 다시설 개방 임상 연구를 통해 리스페리돈은 정신분열병 환자에서 양성증상뿐만 아니라 음성증상 및 전반적인 증상에도 효과적인 것으로 사료된다. 보다 명확한 평가를 위해서는 다른 항정신병약물과의 이중맹검 연구가 필요할 것으로 생각되며, 또한 장기적 치료에 대한 평가도 함께 이루어져야 하겠다. Objective : The purpose of this study was to investigate the efficacy and safety of risperidone in the treatment of Korean schizophrenic patients. Method : This multicenter open study included 377 schizophrenic patients drawn from 39 university hospitals. After a wash-out period of 1 week, the schizophrenic patients were treated with risperidone for 8 weeks and evaluated at 5 points ; at baseline, and 1, 2, 4 and 8 weeks of treatment. The dose was increased from 2mg/day(1mg twice daily) to 6mg/day(3mg twice daily) during the first week and adjusted to a maximum of 16mg/day over the next 7 weeks according to the patient's clinical response. Medication to control extrapyramidal symptoms was permitted. The psychiatric and neurological status of the patients was assessed by PANSS, CGI, and ESRS scales. Results : 343(91%) of 377 patients completed the 8-week trial period. Clinical improvement, as defined by a 20% or more reduction in total PANSS score at end point, was shown by 81.3% of patients. The predictors of response to risperidone were associated older age, shorter duration of illness, fewer previous hospitalization. Risperidone had rapid onset of action ; a significant decrease of the total PANSS and three PANSS factor(positive, negative, general), and CGI was already noticed at the end of first week. For the ESRS, parkinsonism rating scores were significantly increased until week 4 comparing with baseline. Dystonia rating scores were significantly increased until week 1, and dyskinesia rating scores were not significantly changed during the study. Laboratory parameters including vital sign, EKG, hematological, and biochemical values showed no significant changes during the trial. Conclusions : This study suggests that risperidone is generally safe and effective against both the positive and negative symptoms in our group of patients.

화상처리를 이용한 도형인식에 대한 기초연구

趙勝鎬,安鍾國 弘益大學校 科學技術硏究所 1991 科學技術硏究論文集 Vol.1 No.-

The image processing technique has been utilized to extract the information of diagram pictured by CCD camera. In image processing we used the LUT method, filtering technique, connecting cord and signature technique. In order to acquire the information of diagram we have derived an equation for computing the center point, equation for computing the circumference length, equation for computing the area. Especially we have developed a signature differention method to get the summit of diagram. After having applied the image processing technique developed in this paper, we obtained a satisfactory result. We have driven the Rhino XR-Ⅲ robot and XY-plotter using the coordinate of summit of diagram, which respectively have shown the seventy and ninety nine percent accuracy approximately.

油壓 서어보 시스템의 線型 모델과 非線型 모델의 動特性에 關한 硏究

趙勝鎬 弘益大學校 1985 弘大論叢 Vol.17 No.2

When the dynamic characteristics of the liner fourth order hydraulic servo system are compared with that of the nonlinear hydraulic servosystem under the same condition of displacement feedback of the hydraulic cylinder, there are differences in frequency and amplitude between responses of them. When the optimal state feedback gains obtained for the fourth order linear model applies to the nonlinear model, there are differences in settling time between displacements of the hydraulic cylinder.

서울시 대기오염과 일별 사망의 상관성에 관한 시계열적 연구 (1998~2001년)

조용성,이종태,김윤신,홍승철,김호,하은희,박혜숙,이보은 한국대기환경학회 2003 한국대기환경학회지 Vol.19 No.6

This study was performed to examine the relationship between air pollution exposure and mortality in Seoul for the years of 1998~2001I. Daily counts of death were analyzed by general additive Poisson model, with adjustment for effects of seasonal trend, air temperature, humidity, and day of the week as confounders in a nonparametric approach. Daily death counts were associated with CO (current day), 0₃(current day), PM_(10) (current day), NO₂, (1 day before), SO₂, (1 day before). Increase of 41.711㎍/㎥ (interquartile range) in PM_(10) was associated with 1.3% (95% CI = 0.7~1.9%) increase in the daily number of death. 0₃concentrations resulted in an increased risk of 1.3% for 23.86 ppb in all-aged mortality [RR = 1.013 (1.004-1.023)]. This effect was greater in children (less than 15 aged) and elderly (more than 65 aged). After ozone level exceeds 25 ppb, the dose-response relationship between mortality and ozone was almost linear. We concluded that Seoul had 1~5% increase in mortality in association with IQR (interquartile range) in air pollutants. Daily variations in air pollution within the range currently occurring in Seoul might have an adverse effect on daily mortality. These findings also support the hypothesis that air pollution, at levels below the current ambient air quality standards of Korea, is harmful to sensitive subjects, such as children or elderly.

Rhino XR-Ⅲ 로보트의 경로계획에 대한 연구

趙勝鎬,李周憲 弘益大學校 科學技術硏究所 1993 科學技術硏究論文集 Vol.3 No.-

To investigate how the robot traces the predetermined path, Cartesian trajectory, 4-3-4 trajectory, 3-5-3 trajectory, cycloid trajectory planning were applied to the Rhino XR-Ⅲ robot system. The trajectories drawn directly by robot, travelling times and jointangle variations were examined for those trajectory plannings. In the case of single path, all trajectories reached about 97% to destination position along the predetermined path. The travelling time of 4-3-4 trajectory was shorter than any other trajectories. On account of round-off error, structual allowances, influence of dynamics and friction force, differences between real trajectories and theoretical trajectories occurred.

유압굴삭기의 부하감지회로에 대한 연구

趙勝鎬,安世雄,朴鐘沅 弘益大學校 科學技術硏究所 1996 科學技術硏究論文集 Vol.7 No.1

In this paper theoretical analyses are performed on the load sensing system of excavator and databases are constructed for the valve opening areas, pump horce power control and for load sensing regulator. For hydraulic components modularized modelings are carried out, which is expected to be utilized for software development of fluid power system. Through simulation an information of any point in fluid power circuit can be obtained.