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Gain Scheduling Control of Nonlinear Systems based on Approximate Input-Output Linearization
권해영,최호림 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.5
The gain scheduling control mostly has been developed based on Jacobian linearization around the operating points related with scheduling variables. In this paper, We introduce a gain scheduling control method based on approximate input-output linearization. First, the nonlinear system is approximately input-output linearized via a diffeomorphism. Then, a gain scheduling controller with derivative information is developed. The proposed controller consists of two parts. The outer loop controller is like a feedback linearizing controller and the internal controller is a gain scheduling controller. It is shown that the overall resulting controller has a simple structure and at the same time achieves better tracking performance over the existing Jacobian-based gain scheduling controller.
이득 조절 제어기법을 이용한 모바일 로봇의 경로 추종 제어
권해영(Hae-Yeong Kwon),최호림(Ho-Lim Choi) 대한전기학회 2013 전기학회논문지 Vol.62 No.3
The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.
Silk Protein as a Fetal Bovine Serum Substitute for Animal Cell Culture
조유영,권해영,지상덕,김종길,김기영 한국미생물·생명공학회 2019 한국미생물·생명공학회지 Vol.47 No.4
Fetal Bovine Serum (FBS) is an essential substance added to animal cell culture medium. However, its composition is unclear causing problems such as development of an immune response when cultured cells are transplanted into the human body. In this study, silk sericin, silk fibroin, and hemolymph obtained from silkworms were added to the cell culture medium in order to determine if it can replace FBS. After establishment of the cell culture, cell proliferation and expression levels of cell growth-related genes were compared with those of control cells (cells cultured in the medium with 10% FBS). Results showed that the test group treated with silk fibroin extracted from a Korean silkworm variety, Kumokjam could replace 10% FBS. In addition, expression levels of cell growth related genes such as Fibronectin and TGF-β1 increased significantly in cells cultured using silk fibroin, depending on the concentration used in cell adhesion and cell proliferation [24]. To date, no studies have been conducted to find a replacement for FBS. Thus, this study was carried out to develop a substitute for FBS by using silkworm-derived alternatives such as silkworm hemolymph, silk sericin, and silk fibroin, which are cheap and have various physiological effects, cell promoting effects, and can be mass produced.
김봉선,최라영,권해영,이준하,김인우,서민철 한국축산식품학회 2024 한국축산식품학회지 Vol.44 No.3
Oxya chinensis sinuosa (OC) is a well-known edible insect. Several researches on the health benefits of OC consumption have been performed to date; however, their effect on eye health remains largely unknown. This study aimed to assess the protective effects of OC extracts on the oxidative stress on the retinal pigment epithelium (RPE) cells. Oxidative damage has been identified as one of the key regulatory factors in agerelated macular degeneration. H2O2-induced reactive oxygen species (ROS) production, a well-known oxidative stress factor, can cause cell death in retinal pigment epithelia cells. In this study, we found that three OC extracts effectively prevented H2O2-induced ROS production and subsequent death of ARPE-19 cells in a dose-dependent manner. In addition, the OC extracts inhibited the phosphorylation of mitogen-activated protein kinases including p38, JNK, and ERK. The OC extracts restored IκBα degradation induced by H2O2, indicating that OC extracts suppressed the activation of nuclear factor- κB. Furthermore, the three OC extracts were shown to have antioxidant effects by upregulating the intracellular expression of key antioxidant proteins such as SOD, NQO, and HO-1. Here we demonstrated the antioxidant and anti-apoptotic effects of the OC extracts on ARPE-19, indicating their potential role in improving eye health. These results suggest that three OC extracts plays a critical role in oxidative stress-induced cell death protects in ARPE-19 cells.
Organic-Inorganic nani-Composite of PMMA-Forsterite Doped with $Eu^{+3}$
박동곤,강진,권해영,Park, Dong Gon,Gang, Jin,Gwon, Hae Yeong Korean Chemical Society 2000 Bulletin of the Korean Chemical Society Vol.21 No.6
Drying-step in sol-gel processing was bypassed by exchanging alcoholic solvent in forsterite alcogel directly with MMA. By in-situ polymerization of the MMA, organic-inorganic nano-composite of PMMA-forsterite was prepared. As porous nature of inorganic networks in the gel was preserved and fixated in the composite, spherical morphology of PMMA was resulted. The PMMA-forsterite composite was optically transparent, machinable,mechanically sustainable, and thermally more stable than pristine PMMA. When doped with $Eu^{+3}$, inorganic moiety in the composite provided site environment that is very different from that in pristine PMMA. Prominent $^{5}D_0$ → $^{7}F_0$ transition at 578 nm, broken degeneracy in $^{5}D_0$ → $^{7}F_1$ and $^{5}D_0$ →$^{7}F_2$ transitions suggested that $Eu^{+3}$ was exclusively doped in the inorganic moiety of the composite, which had lower symmetry than the organic counterpart.