Implementation of frequency-shaped tip reference in conjunction with learning controller for improved tip-tracking control

박주한,이순걸,임성수 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4

In the flexible manipulator control, tip-tracking control of flexible manipulator results in non-colocated control problem, which has a non-minimum phase dynamic characteristic. The level of tip-tracking performance in the noncolocated control system depends on the characteristics of the tip reference trajectory to be followed, as well as on the characteristics of the flexible manipulator system itself. In a previous research the use of a tip reference trajectory, filtered by a properly designed time-delay command shaping filter, has been proposed and a multirate repetitive learning control (MRLC) has been used as the tip-tracking controller. The practical implementation of this approach, however, requires estimation of the tip position, which is not easy to obtain. In this paper, a practical implementation of the approach is considered and the tip position is estimated with a fourth-order Kalman filter. The experimental results show that, with the use of Kalman filter, the proposed scheme results in a drastic reduction in residual tip vibrations and the required actuation effort.

자동 분주기 Fixed Tip의 Carryover 방지를 위한 개선 방안

황보라,어두희,배진수,박종오,김지영,석재동,Hwang, Bo-Ra,Au, Doo-Hee,Bae, Jin-Su,Park, Jong-O,Kim, Ji-Young,Seok, Jae-Dong 대한핵의학기술학회 2009 핵의학 기술 Vol.13 No.3

목적 : 자동 분주기 (TECAN)의 fixed tip 사용 시 충분한 세척에도 불구하고 고농도 검체 뒤에 연이은 검체가 영향을 받는 carryover 현상이 발생되는 경우가 있다. 이는 검사결과가 위 양성으로 나타날 수 있는 위험성이 있으므로 이상유무 판단을 위해 잦은 재검을 실시해야 하는 번거로움이 있다. 따라서 본 연구는 경제성이 높은 fixed tip을 사용하면서 carryover를 방지할 수 있는 방법을 개선하고자 한다. 실험재료 및 방법 : 자동분주기(Tecan)를 이용하여 HBs Ag, HBs Ab, HBc Ab(IgG) 검사를 대상으로 실행하였으며, fixed tip 방식의 분주시스템으로 일반 환자의 검체 분주 후에 생리식염수를 분주 할 수 있도록 배치하였다. 세척 단계는 0.25mol/L NaOH용액을 이용하였으며, 생리식염수의 검사결과 cpm을 측정하여 carryover의 발생 유무를 확인하였다. 또한 3가지 검사를 0.25 mol/L NaOH 용액이 검사에 미치는 영향을 분석하였다. 결과 : 생리식염수 결과는 100% 음성결과를 보였으며, 0.25 mol/L NaOH를 세척액으로 사용한 fixed tip에서 검체분주 시 환자 혈청은 HBc Ab (IgG)검사에서 cut-off zone (cut-off${\pm}$10%)을 제외한 모든 결과에서 기존 외래보고 결과와 동일한 값을 얻었다. 결론 : 생리식염수 검사결과 100% 음성을 보인 것은 실험에서 사용한 세척액으로 fixed tip을 세척하는 방법이 carryover를 방지할 수 있고, 이로 인해 발생하는 위양성을 방지할 수 있었다. 또한, 환자 검체의 결과 값이 기존 보고 결과와 일치함으로 0.25 mol/L NaOH 용액이 간염 검사결과에 영향을 끼치지 않음을 확인하였다. 따라서 본 실험에서 실시한 방법이 disposable tip보다 상대적으로 경제적인 fixed tip을 사용하면서도 carryover가 없는 정확한 결과를 얻을 수 있는 효과적인 방안임을 알 수 있다. Purpose: Automated system that immunoassay examination are used widely. However, sample to sample carryover can cause that the next patient sample is false positive. Materials and Methods: We test HBs Ag, HBs Ab, HBc Ab(IgG) with Automated pipetting system (Tecan). It was placed with very high concentrations followed by saline solution. During this experiment, The fixed tip of Automated system wash With 0.25 moL/L NaOH. The Measurement results of saline solution confirm the occurrence of carryover. Results: Results of saline solution with 0.25 moL/L NaOH cleaning process was measured 100% negative, And results of patient serum with 0.25 moL/L NaOH cleaning process is similar reported results. Conclusion: As Results, 0.25 moL/L NaOH cleaning process was avoid carryover in experiment, And we know results of the hepatitis test did not affected by this solution we recommend 0.25 moL/L NaOH cleaning process as the Prevention of carryover in the automated system with fixed Tips.

Detection for Position of Electrode Tip of Submerged Arc Furnaces with the Differential Magnetic Field Radiation

WeiLing Liu,LingZhen Yang,XiaoMing Chang 한국자기학회 2020 Journal of Magnetics Vol.25 No.1

The differential magnetic field sensing is proposed to detect the position of the electrode tip for the smelting of the submerged arc furnace (SAF). The magnetic radiation model is established by the magnetic differences between the electrode zone and electric arc zone in the industrial field of SAF and the differential magnetic field sensing system is developed. The experiments are carried out under the environment of industrial field. When the relative distance between the two probes is appropriately set, the field test curve can accurately reflect the position of the electrode tip. Theoretical analysis and experimental results show that the difference of the front end of the system can detect the position of the electrode tip and effectively avoid saturating the system. Compared with the detection of magnetic field array sensing, the differential magnetic field detection scheme is more effective for the position information of the electrode tip and has better practical value for industrial measurement.

Tip-position/velocity Tracking Control of Manipulator for Hull Derusting and Spray Painting based on Active Disturbance Rejection Control

Zhong Wang,Xiao-Hong Jiao,Meiyu Feng 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

During sandblasting and spray painting for hull, the tracking performance of the end-effector of manipulator to the outer surface of the hull in uniform velocity is seriously affected by uncertainty of the electrohydraulic actuator and deflection of the manipulator. To effectively improve the tracking performance of the tipposition/ velocity, a novel tracking control strategy is proposed, which is based on active disturbance rejection control (ADRC) with extended state observer (ESO) and setting position feedforward control with deflection compensation. First, to reduce tracking error caused by the deflection, the reference positions of two cylinders driving telescopic and luffing motion are calculated with consideration of the deflection influence according to manipulator geometry. And then, ADRC technique is adopted to design the position servo controller of the luffing/telescopic cylinder with the help of the estimate for the uncertainty of the electro-hydraulic system by the ESO. The stability of the whole closed-loop system and the convergence of tracking error are guaranteed theoretically, simultaneously, simulation carried out in Matlab/Simulink environment with physical parameters of a real system demonstrates the effectiveness and superiority of the proposed control strategy compared with existing control schemes. Furthermore, the experimental result is given to show the feasibility and availability of the control method.

정압기의 유체력 손실 저감에 대한 수치해석적 연구

서동균(Dong Kyun Seo),이정훈(Jung Hoon Lee),황정호(Jungho Hwang),김광수(Kwang Soo Kim),김강대(Kang Dae Kim),김동수(Dong Soo Kim) 한국가스학회 2010 한국가스학회지 Vol.14 No.2

최근에 공압 제어 시스템에서 정압기를 장착하여 에너지를 절감하는 연구가 진행되고 있다. 정압기는 내부적으로 매우 복잡하기 때문에 유체력 손실에 영향을 끼친다. 따라서 정압기 설계 시, 유체역학적 접근을 통한 설계 변수의 도출은 매우 중요하다. 본 연구에서는 상용 CFD 패키지인 FLUENT를 사용하여 정압기 내에서 팁의 크기, 팁의 위치, 그리고 유량이 유체력 손실에 끼치는 영향을 살펴보았다. t/T 비가 0.8이상일 때, 유체력 손실을 증가시키지 않으면서 목표 감압을 이룰 수 있었고, 위치의 영향은 크지 않음을 알 수 있었다. The development of energy saving system with pressure regulator has recently been received interests. Since the internal geometry in the pressure regulator is small and complex, the frictional loss in it is critical. In this study, the pressure loss with tip size, tip position, and mass flow was investigated using numerical approaches(CFD). The aimed reduction in pressure were achieved as the ratio of t/T was more than 0.8. In addition, there was no effect of the tip position.

Outcomes of Internal Fixation with Compression Hip Screws in Lateral Decubitus Position for Treatment of Femoral Intertrochanteric Fractures

박천곤,윤택림,박경순 대한고관절학회 2018 Hip and Pelvis Vol.30 No.4

Purpose: Internal fixation using compression hip screws (CHS) and traction tables placing patients in the supine position is a gold standard option for treating intertrochanteric fractures; however, at our institution, we approach this treatment with patients in a lateral decubitus position. Here, the results of 100 consecutive elderly (i.e., ≥45years of age) patients who underwent internal fixation with CHS in lateral decubitus position are analyzed. Materials and Methods: Between March 2009 and May 2011, 100 consecutive elderly patients who underwent internal fixation with CHS for femoral intertrochanteric fracture were retrospectively reviewed. Clinical outcomes (i.e., Koval score, Harris hip score [HHS]) and radiographic outcomes (i.e., bone union time, amount of sliding of lag screw, tip-apex distance [TAD]) were evaluated. Results: Clinical assessments revealed that the average postoperative Koval score decreased from 1.4 to 2.6 (range, 0-5; P<0.05); HHS was 85 (range, 72-90); and mean bone union time was 5.0 (range, 2.0-8.2) months. Radiographic assessments revealed that anteroposterior average TAD was 6.95 (range, 1.27-14.63) mm; lateral average TAD was 7.26 (range, 1.20-18.43) mm; total average TAD was 14.21 (range, 2.47-28.66) mm; average lag screw sliding was 4.63 (range, 0-44.81) mm; and average angulation was varus 0.72。(range, –7.6。-12.7。). There were no cases of screw tip migration or nonunion, however, there were four cases of excessive screw sliding and six cases of varus angulation at more than 5。. Conclusion: CHS fixation in lateral decubitus position provides favorable clinical and radiological outcomes. This technique is advisable for regular CHS fixation of intertrochanteric fractures.

전자상거래시장에서의 시장지배적 지위의 남용규제

손영화 ( Young-hoa Son ) 한국경제법학회 2007 경제법연구 Vol.6 No.2

전자상거래시장에서는 네트워크효과, 티핑효과 및 고착효과가 존재하고 있어 경쟁촉진적인 역할을 하면서도 반경쟁적인 원인을 제공하기도 하므로 전자상거래시장에서는 어느 면에서는 오프라인상의 실제시장에서보다 더욱 시장지배적 지위의 남용이 쉽게 이루어질 가능성이 있다. 그러므로 전자상거래시장에서의 시장지배적 지위의 남용에 대하여도 경쟁법인 공정거래법이 엄정히 적용되지 않으면 안 된다. 그러나 공정거래법의 엄정한 적용은 전자상거래시장의 경쟁제고를 위하여 필요한 범위 내에서 유연하게 이루어져야 한다. 전자상거래시장에 있어서 시장지배적 지위의 남용에 대한 규제에 있어서는 특히 몇 가지 점에 주이하지 않으면 안 된다. 우선, 전자상거래시장에 있어서 시장지배적 지위의 남용에 대한 규제는 시장의 경쟁제고에 그 주안점을 두고 하여야 한다는 것이다. 또한 시장의 획정에 있어서도 전자상거래시장의 특질을 반영하여 하여야 한다. 전자상거래시장에서 시장지배적 사업자의 남용행위로서 대표적인 것으로는 이른바 결합상품의 끼워팔기를 들 수 있다. 또한 시장지배적 사업자가 단독의 거래거절을 하는 경우에도 그러한 거래가 시장의 경쟁에 악영향을 끼치는 경우에는 경쟁법의 적용대상이 된다. 예컨대, 거래거절에 있어서 거래거절 되는 시설 등이 이른바 필수설비(essential facility)에 해당하는 경우에는 법적용의 대상이 될 것이다. 마지막으로 시장지배적 지위자가 라이센스를 하는 경우 가하는 판매지역의 제한이 실질적으로 시장분할을 목적으로 이루어지는 경우에는 경쟁법의 위반이 된다. 또한 특허권을 상호실시하거나 공동실시하는 경우, 경쟁적 관계에 있는 시장지배적 지위자들 간의 담합으로 시장에서의 수평적 가격고정, 수량제한, 시장분할 등의 수단으로 이용되는 경우에는 경쟁법위반이 된다. Network effect, tipping effect and lock in effect exist in e-marketplace. These are not only pro-competitive effect but also anti-competitive effect, so abusing of a dominant position in e-commerce market is possibly easy than in real market. Korean Antitrust Law is sufficiently flexible and rigid application about abusing of dominent position that it can play a useful role in e-commerce market. I'll want some suggestions for regulate abusing of a dominant position in e-marketplace. First, regulation about abusing of a dominant position in e-marketplace is focused to promote competition. Second, demarcate the relevant market, we have to consider the characteristics of e-marketplace. Especially, we need to review standard of illegality on market share. Third, it is often difficult to determine if a bundle of goods is one product or more in e-marketplace. The best-known example of such a bundle is Microsoft's Windows-Internet Explorer package. We needed the test for deciding a bundle product is whether one integrated product or two tied products. A test for deciding bundle is whether one or two is depend on consumer interest. Forth, The essential facilities doctrine provides that it is an antitrust violation for the owner of an essential facility (i.e., a "facility" essential for firms to compete) to deny access to that facility at nondiscriminatory terms. I suggest that apply Korean Antitrust Law § 3-2 "abuse of a dominant position" to order compulsory licensing as a remedy when the owner of essential facility refused to license its competitors. Fifth, the competitive issue raised whether the licensing arrangement harms competition among entities that would have been actual or likely potential competitors in the absence of the arrangement. Generally, an exclusive license may raise antitrust concerns only if the licensees themselves, or the licensor and its licensees, are in a horizontal relationship. Examples of arrangements involving exclusive licensing that may give rise to antitrust concerns include cross-licensing by parties collectively possessing market power, grantbacks, and acquisitions of intellectual property rights. The antitrust laws promote innovation and consumer welfare by prohibiting certain actions that may harm competition with respect to either existing or new ways of serving consumers.

Outcomes of Internal Fixation with Compression Hip Screws in Lateral Decubitus Position for Treatment of Femoral Intertrochanteric Fractures

( Cheon-gon Park ),( Taek-rim Yoon ),( Kyung-soon Park ) 대한고관절학회 2018 Hip and Pelvis Vol.30 No.4

Purpose: Internal fixation using compression hip screws (CHS) and traction tables placing patients in the supine position is a gold standard option for treating intertrochanteric fractures; however, at our institution, we approach this treatment with patients in a lateral decubitus position. Here, the results of 100 consecutive elderly (i.e., ≥45 years of age) patients who underwent internal fixation with CHS in lateral decubitus position are analyzed. Materials and Methods: Between March 2009 and May 2011, 100 consecutive elderly patients who underwent internal fixation with CHS for femoral intertrochanteric fracture were retrospectively reviewed. Clinical outcomes (i.e., Koval score, Harris hip score [HHS]) and radiographic outcomes (i.e., bone union time, amount of sliding of lag screw, tip-apex distance [TAD]) were evaluated. Results: Clinical assessments revealed that the average postoperative Koval score decreased from 1.4 to 2.6 (range, 0-5; P<0.05); HHS was 85 (range, 72-90); and mean bone union time was 5.0 (range, 2.0-8.2) months. Radiographic assessments revealed that anteroposterior average TAD was 6.95 (range, 1.27-14.63) mm; lateral average TAD was 7.26 (range, 1.20-18.43) mm; total average TAD was 14.21 (range, 2.47-28.66) mm; average lag screw sliding was 4.63 (range, 0-44.81) mm; and average angulation was varus 0.72°(range, -7.6°-12.7°). There were no cases of screw tip migration or nonunion, however, there were four cases of excessive screw sliding and six cases of varus angulation at more than 5°. Conclusion: CHS fixation in lateral decubitus position provides favorable clinical and radiological outcomes. This technique is advisable for regular CHS fixation of intertrochanteric fractures.

Facilitation of the thermochemical mechanism in NiO-based resistive switching memories via tip-enhanced electric fields

최한형,Sung Hoon Paik,김영진,김민성,강용수,이상수,조재영,박종혁 한국공업화학회 2021 Journal of Industrial and Engineering Chemistry Vol.94 No.-

Transition metal oxides have attracted considerable attention as a switching material for resistiverandom access memory (RRAM) based on the thermochemical mechanism (TCM). However, the heatenergy required for resistance switching is applied to the entire area of the RRAM without positionselectivity, causing random growth of conductivefilaments (CFs) and degrading device performance. Thisstudy showed that structured electrodes can promote the TCM in nickel oxide (NiO)-based RRAM byenhancing the electricfield within the switching material and controlling Joule heat generation locally. Pyramid-structured electrodes with an extremely sharp tip prepared by the template-stripping methodachieve an electricfield in the tip region that is5 times larger than that of conventional planarelectrodes. The tip-enhanced electricfield can induce a local temperature rise, which facilitates the TCMfor nucleation and CF growth. The resulting RRAMs exhibit low and reliable forming, SET and RESETvoltages (1.96 0.14 V, 1.44 0.12 V, and 0.64 0.05 V, respectively). Moreover, their retention time andresistance ratio (RHRS/RLRS) are greatly improved, by 10 and 102 times, respectively, compared to planardevices. This approach can achieve position selectivity in TCM-based resistance switching, and could leadto the development of high-performance RRAM.

범죄 억제력의 효과적 발현 모델 연구

서준배(Suh Joon Bae) 경찰대학 경찰학연구편집위원회 2013 경찰학연구 Vol.13 No.2

Deterrence theory is a theory based on the concepts of men’s pursuit of pleasure, free will, and rational decision-making. According to deterrence theory, there are three deterrent values of punishment such as swiftness, certainty, and severity of punishment. However, the theory has been criticized for it has overlooked differentiated deterrence, imperfect rationality, and risk-seeking tendency within the loss area from perspective theory. 29) This study applied deterrence theory into the case of Yuchendong red-light district eradication that occurred in Deajeon, 2008. In order for the deterrent values of punishment to be effective, it turned out to be very important that the police should increase the certainty of punishment by concentrating limited capacity and resources dynamically and by communicating credible threats to criminals. Furthermore, this study reveals that the charisma of police leader affects the credibility of the threats, that the more organized the crime is, the faster the diffusion of threats, and that informal social control also has an impact on crime deterrence. Through the mechanisms of positive feedback and tipping-point, the police can deter crime simply by communicating credible threats without really punishing criminals or falling into the police swamping situation.