http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
On a Proxy-Based Control as Multiple Controllers with Feedback Interconnections
Auralius Manurung,Sigit Santoso,Nur Uddin,Lisa Kristiana 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
A proxy-based control, in its core, is two controllers combined in series. This paper presents the fundamental aspects of such a unique control technique. We first establish the main features of a proxy-based control. These features are mainly related to the stability of a controlled system. Additionally, we propose a simple form of a proxy-based control and implement it into a test device for proof of concept. The simple proxy-based control that we propose in this paper is composed of two constant gains (proportional terms) and one integral term to remove the steady-state error. This integral term must be attached to the controller with the lower impedance. We also explore another feature of a proxy-based control during this hardware implementation: how we use one control gain to perform fine-tuning while using the other control gain to maintain system stability. We demonstrate this by adding an adaptation law also to the controller with the lower impedance. All obtained results align with the presented theory.
( Harisyah MANURUNG ),( Rita Kartika SARI ),( Wasrin SYAFII ),( Umi CAHYANINGSIH ),( Wiwied EKASARI ) 한국목재공학회 2019 목재공학 Vol.47 No.5
This study aimed to determine the antimalarial effect of the Strychnos ligustrina (SLW) wood extracts and to analyze its phytochemicals. The SLW powder samples were macerated with 100% ethanol (E100), 75% ethanol (E75), 50% ethanol (E50), 25% ethanol (E25), and aqueous (A100). The extracts were analyzed by LCMS/MS, and its in-vitro antimalarial activity was tested with Plasmodium falciparum. The results showed that the extract yields of E100, E75, E50, E25, and A100 were 4.3, 5.2, 5.3, 4.7, and 3.6%, respectively. The antimalarial activities of the A100, E25, E50, and E75 extracts were classified as active with IC<sub>50</sub> values of 38.6, 42.6, 42.9, and 43.7 μg/mL, respectively. But, the antimalarial activity of the E100 extract was classified as slightly active with IC<sub>50</sub> values of 87.4 μg/mL. The dominant compounds contained in the extracts of A100, E25, E50, E75, and E100 was the alkaloid compound, namely brucine with relative concentrations of 24.96, 24.55, 21.33, 11.79, and 11.62%, respectively.
Fuzzy Clustering of Temporal Parameters of Gait during Stance Phase for Walking Speed Estimation
Auralius Manurung,Jungwon Yoon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this study we describe walking speed estimation method using only temporal parameters of gait. Further, this method can be adopted for automatic speed adaptation during walking on treadmill which is useful for gait rehabilitation process and also for navigation in virtual reality environment. The proposed speed estimation method is based on two temporal parameters during stance phase: time duration from heel contact (HC) to heel off (HO) and from heel contact (HC) to toe off (TO). To estimate walking speed, first, data for previously mentioned gait parameters are taken for several walking speed. After that, fuzzy clustering approach is used to identify how those two gait parameters affect walking speed. By using result from fuzzy clustering, subject’s walking speed at any speed can be estimated by computing its membership. This method is inexpensive and easy to implement since it only uses simple foot switch.
마누룽 오라리우스(Manurung Auralius),윤정원(JungWon Yoon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject’s position is maintained within the track when the subject walks at a variable velocity. The subject’s position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.
Impedance Control of a Small Treadmill with Sonar Sensors for Automatic Speed Adaptation
윤정원,Auralius Manurung,김갑순 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.6
Automatic speed adaptation in treadmill training plays an important role in gait rehabilitation and virtual reality (VR) environments, where the user can adjust his/her speed for improved motivation and an enhanced sense of reality during walking interactions. To implement automatic speed ad-aptation of a treadmill belt, we have developed a novel impedance control scheme that accommo-dates natural movements without mechanical attachments to the user, and can estimate user-treadmill interactive forces to directly detect user intention, while simultaneously maintaining the user’s position on the treadmill platform. The proposed impedance control is realized via user interaction with a fixed virtual spring–damper component, allowing direct acceleration control of the treadmill belt in proportion to user displacement. The technique was applied to a small commercial treadmill (with a belt length of 1.2 m and a width of 0.5 m), which is easily installed and economical to operate, and is widely used in homes and health centers. Inexpensive sonar sensors with a Kalman filter algorithm were employed to measure user motions. To identify the characteristics of the proposed control scheme, a set of experiments was conducted and preliminary user studies with VR interactions were performed. The results of these experiments indicate that our impedance control scheme can provide a non-intrusive, intuitive method for implementing user-selected speed on a small treadmill. The proposed technique is cost-effective, and could potentially be applied to any type of locomotion interface or gait rehabilitation system, without the use of expensive, sophisticated sensors or special treadmills.
PANGARIBUAN, Christian Haposan,MANURUNG, Adler Haymans,SAROSO, Hardijanto,RUSMANTO, Toto Korea Distribution Science Association 2021 The Journal of Asian Finance, Economics and Busine Vol.8 No.3
Alternative forms of travel have recently been delivering rewarding experiences and promising sustainable development for the tourism sector. However, it also depends on the uncertainties, consequences, and emotional connection with the destination. So far, the scholars have done limited empirical studies on volunteer tourism in Bali. Thus, this study tries to measure volunteer tourists' behavior by understanding the relationship between destination attachment, risk perception, and voluntourism behavior. Therefore, a study on the inclusivity of tourists' attachment to a particular place and perceived risks in volunteer tourism is an essential need to sustain the tourism industry. Data was analyzed using Partial Least Squares with smartPLS software. This study is based on a sample of ninety-three tourists of generation Z in Bali, Indonesia. Both outer model and inner model evaluation were conducted to ensure the robustness of the proposed model. The findings showed that destination attachment does have a direct and significant effect on voluntourism behavior. As expected, we also find that perceived risk has a significant moderating role on the relationship. Hence, greater efforts are needed to improve the image of the place by highlighting the characteristics of the locations. At the same time, it is necessary to put considerable effort to alleviate unfavorable conditions by creating safe environment surrounding the destination.
Mohamed Ackiel Mohamed,Yupiter HP Manurung,Mohamed Nor Berhan 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.6
This study presents the effect of the governing parameters in friction stir welding (FSW) on the mechanical properties and weld qualityof a 6mm thick 6061 T651 Aluminum alloy butt joint. The main FSW parameters, the rotational and traverse speed were optimized basedon multiple mechanical properties and quality features, which focus on the tensile strength, hardness and the weld quality class using themulti-objective Taguchi method (MTM). Multi signal to noise ratio (MSNR) was employed to determine the optimum welding parametersfor MTM while further analysis concerning the significant level determination was accomplished via the well-established analysis ofvariance (ANOVA). Furthermore, the first order model for predicting the mechanical properties and weld quality class is derived byapplying response surface methodology (RSM). Based on the experimental confirmation test, the proposed method can effectively estimatethe mechanical properties and weld quality class which can be used to enhance the welding performance in FSW or other applications.
SETIADI, Hendri,ACHSANI, Noer Azam,MANURUNG, Adler Haymans,IRAWAN, Tony Korea Distribution Science Association 2022 The Journal of Asian Finance, Economics and Busine Vol.9 No.9
This study aims to determine the factors that can influence investors in selecting stocks in the Indonesian capital market to establish an optimal portfolio, and find phenomena that occurred during the COVID-19 pandemic so that buying interest / the number of investors increased in the Indonesian capital market. This study collection technique uses primary data obtained from the survey questionnaire and secondary data which is market data, stock price movement data sourced from the Indonesia Stock Exchange, Indonesian Central Securities Depository, and Bank Indonesia, as well as empirical literature on behavior finance, investment decision, and interest in buying stock. The method used in this research is the survey questionnaire analysis with the SEM (statistical approach). The results of the analysis using SEM show that investor behavior influences the stock-buying interest, investor behavior, and the stock-buying interest influences investor decision-making. However, risk management does not influence investor-decision making. This occurs when the investigator's psychological capacity produces more decision information by decreasing all potential biases, allowing the best stock selection model to be selected. When the investigator's psychological capacity creates more decision information by reducing biases, the optimum stock selection model can be chosen.