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성윤경,이규태 朝鮮大學校 機械技術硏究所 2003 機械技術硏究 Vol.6 No.1
In this paper, a robot manipulator and position control are presented t o regulalte the unloading force with respect t o externally uncertain force variation. As an application area, it is one of rehabilitation machines of walking disable patients. First of all, the existing walking training robots were surveyed with aspect of types and specifications for the design of intelligent training robot. Several mechanisms were considered t o satisfy the strict requirements for a human friendly robot concept. An eletromechanical linear mechanism and a position control with force feedback are employed for efficient training method. The proposed control method has been applied t o the rehabilitation robot manipulator and is shown the control efficiency to retain a presetting reduced weight for two legs.
로봇의 3D 물체인식을 위한 Vision Algorithm
성윤경,이규태 朝鮮大學校 機械技術硏究所 2006 機械技術硏究 Vol.9 No.1
The robot and machine vision technology has been developed for automatic fruit harvest. The most important subject in developing fruit harvesting robots is accurately to locate fruits on the given coordinate system. In this paper, we employ average color values (Red. Green, Blue), area, center position, compactness, perimeter and chain-coding information of specific regions, to detect and locate fruits in space. Especially, a new approach is presented to judge whether an extracted region is, overlapped or partially occluded by deleting or separating the region of an image.
An Adaptive Tracking Controller for Vibration Reduction of Flexible Manipulator
Sung Yoon-Gyeoung,Lee Kyu-Tae Korean Society for Precision Engineering 2006 International Journal of Precision Engineering and Vol.7 No.3
An adaptive tracking controller is presented for the vibration reduction of flexible manipulator employed in hazardous area by combining input shaping technique with sliding-mode control. The combined approach appears to be robust in the presence of severe disturbance and unknown parameter which will be estimated by least-square method in real time. In a maneuver strategy, it is found that a hybrid trajectory with a combination of low frequency mode and rigid-body mode results in better performance and is more efficient than the traditional rigid body trajectory alone which many researchers have employed. The feasibility of the adaptive tracking control approach is demonstrated by applying it to the simplified model of robot system. For the applications of the proposed technique to realistic systems, several requirements are discussed such as control stability and large system order resulted from finite element modeling.
An Adaptive Tracking Controller for Vibration Reduction of Flexible Manipulator
Yoon-Gyeoung Sung,Kyu-Tae Lee 한국정밀공학회 2006 International Journal of Precision Engineering and Vol.7 No.3
An adaptive tracking controller is presented for the vibration reduction of flexible manipulator employed in hazardous area by combining input shaping technique with sliding-mode control. The combined approach appears to be robust in the presence of severe disturbance and unknown parameter which will be estimated by least-square method in real time. In a maneuver strategy, it is found that a hybrid trajectory with a combination of low-frequency mode and rigid-body mode results in better performance and is more efficient than the traditional rigid-body trajectory alone which many researchers have employed. The feasibility of the adaptive tracking control approach is demonstrated by applying it to the simplified model of robot system. For the applications of the proposed technique to realistic systems, several requirements are discussed such as control stability and large system order resulted from finite element modeling.
Output Feedback Control and Its Application to a Flexible Spacecraft
Sung, Yoon-Gyeoung,Joo, Hae-Ho Korean Society for Precision Engineering 2000 International Journal of Precision Engineering and Vol.1 No.2
An output feedback control (OFC) is presented for a linear stochastic system with known disturbance and applied to a flexible spacecraft for the reduction of residual vibration while allowing the natural deflection during operation. By converting the tracking problem into regulator problem, the OFC minimizes the expected value of a guadratic objective function composing of error stats which always remain on the intersection of sliding hypersurfaces. For the numerical evaluation with a flexible spacecraft, a large slewing maneuver strategy is devised with a tracking model for nominal trajectory and start-cost-stop strategy for economical maneuver in conjunction with the input shaping technique. The performance and efficacy of the proposed control scheme are illustrated with the comparison of different maneuver strategies.
A Robust Control Approach for Maneuvering a Flexible Spacecraft
Sung, Yoon-Gyeoung,Lee, Jea-Won,Kim, Hunmo The Korean Society of Mechanical Engineers 2001 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.15 No.2
In the paper, a robust control mechanism is presented to maneuver a flexible spacecraft with the deflection reduction during large slewing operation at the same time. For deflection reduction and maneuvering of the flexible spacecraft, a control mechanism is developed with the application of stochastic optimal sliding-mode control, a linear tracking model and input shaping technique. A start-coast-stop maneuver is employed as a slewing strategy. It is shown that the control mechanism with he strategic maneuver results in better performance and is more efficient than rigid-body-like maneuver, by applying to the Spacecraft Control Laboratory Experiment (SCOLE) system in a space environment.
Han, Sang-Chul,Koo, Dong-Hwan,Kang, Na-Jin,Yoon, Weon-Jong,Kang, Gyeoung-Jin,Kang, Hee-Kyoung,Yoo, Eun-Sook The Society for Investigative Dermatology, Inc 2015 The Journal of investigative dermatology Vol.135 No.6
<P>Regulatory T cells (Tregs) have key roles in the immune response by suppressing the differentiation and proliferation of various immune cells. The beneficial effects of docosahexaenoic acid (DHA) have been described for many diseases; however, the mechanism by which it modulates the immune system is poorly understood. Therefore, the aim of this study was to examine whether DHA suppresses allergic reactions and upregulates the generation of CD4(+)Foxp3(+) T cells. We also examined the effects of transfusing interleukin-10/transforming growth factor-beta (TGF-beta)-modified macrophages (M2 macrophages) treated with DHA into a mouse model of atopic dermatitis. Here, we show that administration of DHA upregulates the generation of TGF-beta-dependent CD4(+) forkhead box protein 3 (Foxp3(+)) Tregs. DHA induced T-cell hypo-responsiveness and downregulated cytokines associated with T helper (Th)-1, Th2, and Th17 cells. The differentiation of Foxp3(+) Tregs into CD4(+) T cells was directly mediated by DHA-M2 macrophages, which deactivated effector macrophages and inhibited CD4(+) T-cell proliferation. DHA showed therapeutic effects in mice with experimental atopic dermatitis. These results show that DHA enhances the function of M2 macrophages and that the generation of Tregs effectively protects mice against an inflammatory immune disorder. Thus, DHA may be a useful therapeutic strategy for treating chronic inflammatory diseases.</P>