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SIIM 퍼지 PID 제어기를 이용한 3축 푸마 로봇의 경로 제어에 관한 연구
석홍성,채창현,고택범,김희년 금오공과대학교 산업기술개발연구원 2000 産業技術開發硏究 Vol.16 No.-
This paper describes the design of the Fuzzy PID controller using simplified indirect inference method. First, the fuzzy digital PID controller are derived from the conventional continuous time linear ones. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy digital controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional digital PID controller, which has the same linear structure, but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability, particularly when the process to be controlled is nonlinear. When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the conventional digital PID controller. Lastly, it is applied to the trajectory control of the PUMA robot with three-axis.
조백기,박종갑,김형옥,김성욱,백승철,김진우,김시용,안규중,전재복,오지원,김낙인,이규석,오칠환,김수남,김상태,손숙자,신용우,김동석,이원우,권경술,서대헌,황규왕,이종석,고재경,강원형,정기양,최응호,김기홍,박석돈,강승주,함정희,명기범,김방순,구상완,김병수,원영호,김한욱,송은섭,정병수,노병인,홍창권,박장규,한지윤,김광중,구대원,김종민,김재홍,유희준,양경미 대한의진균학회 1998 대한의진균학회지 Vol.3 No.2
Background: Onychomycosis, especially toenail onychomycosis has become one of the common fungal infection and has historically been regarded as a cosmetic rather than medical problem by many patients, even by physicians. Recently, however, there are several reports that is a refractory disease which may cause a deleterious effect on patiets quality of life (QOL). Objective: The purpose of this study was to investigate the impact of toenail onychomycosis on QOL in Korea and to assess the chandes of QOL after treatment. Methods: Total 1004 patients with toenail onychomycosis which was confirmed by clinical findings and KOH preparation were were enrolled at 47 dermatologic centers in Korea, and interviewed with standardized QOL questionnaire before and after sytemic antifungal treatment. Responses to the questionnaire were scored by 5-point scale (1∼4) and averaged, and were analyzed for 5 dimensions of emotional impact, social impact, symptorn and functional impact, patients views concerning treatment, and relationship with doctor. Results: 1. Before and after treatment, the most serious impact was emotional dimension showing 1.90 and 1.30 in average score (AS), and social (AS: 1.14 and 0.83) and symptom and functional impact (AS: 1.05 and 0.92) was also affected. 2. In female rather than male, statistically more significant impact on patients QOL was observed in all dimensions. 3. After treatment, 3 of 5 dimensions were improved significantly - emotional dimension (AS : from 1.90 to 1.30), social dimension (AS: from 1.14 to 0.83), patients view concerning treatment (AS: from 1.34 to 1.02). 4. The drgree of patients satisfaction at the therapeutic effect was very high- 62.4% (immediately after treatment) and 65.8% (9 months affer initiation of treatment) of patients answered excellent or good. Conclusion: This study confirms that toenail onychomycosis has significant impact on the overall QOL of patients. Also the effect of antifungal therapy on patients QOL were watisfactory. Therefore, both doctor and patient should pay more attention to the treatment of onychomycosis. [Kor J Med Mycol 3(1): 115∼124]
고동희,정재면,홍택원,김동욱,전재범,김태환 한양대학교 의과대학 2002 한양의대 학술지 Vol.22 No.2
Myositis ossificans progressiva is rare heritable disorder of connective tissue characterized by congenital malformation of the great toes and by progressive ossification of striated muscle and connective tissue associated with pain and disability. Myositis ossificans progressiva occurs sporadically and is transmitted as a dominant trait with variable expression and complete penetrance. The disease progress from axial to appendicular, cranial to caudal, and proximal to distal sites. We present an 21-year-old man with typical muscle ossification, skeletal malformation and spondylopathy and a review of the pathogenesis, clinical manifestations and treatment options of the rare disease.
가토피판에서 지연조작의 시간적 길이와 혈류량에관한 연구
고용범,윤병일,한상준,김승홍,민대홍 大韓成形外科學會 1990 Archives of Plastic Surgery Vol.17 No.1
If a skin flap is raised in two or more stages, its blood supply is better than that of the flap raised in one stage. This surgical delay procedure is one of the proven method for augumentation of the skin flap survival. Clinical use of delayed skin flap has been decreased in the past few years. However, the delay phenomenon still remains as an important subject in flap research. In order to study the relationship between the length of delay and the amount of blood flow, authors made delayed flaps on the rabbit dorsal skin, and measured flap blood flow with non-invasive Laser Doppler flowmetry. The sixty white New Zealand rabbits were divided into 6 groups. Delay procedure was done in 2, 3, 4, 6 , 8 and 14 days respectively according to each group, and acute flaps(control) were made on the same rabbit at the day of the end of delay. Skin blood flow was increased 6 hours after flap raising. The results obtained were as follow: 1. The rapid increase of the blood flow (over200%) in the random skin flap occurs within the first 3 to 4 days of delay(p<0.05) 2. The effective length of delay is between 6 to 8 days of delay. 3. This study seems that the delay phenomenon does not depend on neovascularization, angiogenesis, A-V shunt closure. 4. We suggest that the locally released neurohumoral substance may play a role in skin flap viability and manifestation of the delay phenomenon.