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.

Helicobacter pylori와 대장균의 Shuttle Vector 개발

조명제,이우곤,이상룡,김경희,안영숙,김성희,김현주,류복덕,최여정,윤영혜,백승철,전영석,이광호 경상대학교 유전공학연구소 1997 遺傳工學硏究所報 Vol.16 No.-

In this study, a vehicle vector using cryptic plasmids was constructed for gene transfer in Helicobacter pylori. pHP51(3.9 kb) and pHP489(1.2 kb) were selected for constructing vectors from cryptic plasmid of H. pylori isolates in Korea. The HindⅢ-digestedDNA fragment(1.2kb) of pHP489 and 1.6kb DNA fragment of pHP51 were ligated with a kanamycin resistance gene(aph3'-Ⅲ) from C. jejuni to produce the recombinant plasmids pHP489K and pHP51K, respectively. Transformation frequency of pHP51K by electroporation was low. But pHP489K could be effectively transformed into various H. pylori strains. In order to design an intermdiate vehicle vector for gene transfer into H. pylori, pBlueHP489K was prepared by recloning pHP489K DNA into pBluescript and pTZ19R vector. This vector permitted the DNA fragment containing pHP489 sequence, aph3'-Ⅲ, and cloned DNA to be cut and self-ligated in the SacⅠ site after cloning. ureA and ureB gene were inserted into pBlueHP489K, resulting in pBlueHP489K/AB. The DNA fragment containing pHP489, kanamycin resistance gene(aph3'-Ⅲ), and urease structural gene was cut away from pBlueHP489K/AB and self-ligated to generate pBlueHP489K/AB. pBlueHP489K/AB made urease-negative H. pylori strains restore their urease activity. By this experiment, pBlueHP489K was confirmed to be the vehicle system for transferring H. pylori genes.

유압제어계의 관로 모델링 및 시뮬레이션 방법

趙勝鎬,金焄洙 弘益大學校 科學技術硏究所 1995 科學技術硏究論文集 Vol.6 No.-

In this paper the simulation methods for fluid transmission lines are studied and realized which is necessary in design and analysis of hydraulic control systems. Bond graph concept which is based on causality between components and lumped parameter models are utilized for simulation. Various types of transmission lines are suggested and used for simulation to compare with experimental results. The simulation results obtained through making partition of transmission line show a similar tendency with experimentals.

실험적인 고객 서버 시스템의 설계 및 구현에 관한 연구

趙承鎬 江南大學校産學技術硏究所 1999 산학기술연구소논문집 Vol.- No.7

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.

파이럿 작동형 감압밸브의 정적-동적 압력제어 특성

趙勝鎬,金永秀 弘益大學校 1988 弘大論叢 Vol.20 No.2

The reducing value decreases the system pressure in a hydraulic circuit below the setting pressure of relief valve and maintains it. In this paper to analyze the characteristics of it explicitly and improve its performance, fluid mechanics and dynamics were used in modelling. Computer simulation and experiment showed that as the difference between supply pressure and reducing pressure grows, the static characteristics get worse and the settling time becomes rapid. As the spring constant increases, the overshoot becomes great and the settling time becomes large.