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Hsiu-Ming Wu,Mansour Karkoub 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this study, the hierarchical backstepping control (HBC) is used for the trajectory-tracking of autonomous underwater vehicles (AUV) subject to uncertainties (e.g., current disturbances). The proposed HBC utilizes hierarchical structures of the backstepping control based on the kinematic and dynamic models such that both the virtual velocity control and trajectory-tracking of the AUV lead to asymptotic stability. The robustness of the proposed control technique is demonstrated via injection of uncertainties into the closed-loop model. The overall closed-loop stability of the proposed control scheme is guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. Finally, the feasibility and effectiveness of the proposed scheme are evaluated through computer simulations.
Hsiu-Chen Chang,Chin-Song Lu,Wei-Da Chiou,Chiung-Chu Chen,Yi-Hsin Weng,Ya-Ju Chang 대한신경과학회 2018 Journal of Clinical Neurology Vol.14 No.2
Background and Purpose The effects of high-intensity cycling as an adjuvant therapy forearly-stage Parkinson’s disease (PD) were highlighted recently. However, patients experience difficultiesin maintaining these cycling training programs. The present study investigated the efficacyof cycling at a mild-to-moderate intensity in early-stage PD. Methods Thirteen PD patients were enrolled for 16 serial cycling sessions over a 2-month period. Motor function was assessed using the Unified Parkinson’s Disease Rating Scale part III(UPDRS III) and Timed Up and Go (TUG) test as primary outcomes. The Montreal CognitiveAssessment (MoCA), modified Hoehn and Yahr Stage (mHYS), total UPDRS, Falls EfficacyScale, New Freezing of Gait Questionnaire, Schwab and England Activities of Daily Living, 39-item Parkinson’s Disease Questionnaire, Patient Global Impression of Change, and gait performancewere assessed as secondary outcomes. Results The age and the age at onset were 59.67±7.24 and 53.23±10.26 years (mean±SD), respectively. The cycling cadence was 53.27±8.92 revolutions per minute. The UPDRS III scoreimproved significantly after 8 training sessions (p=0.011) and 16 training sessions (T2) (p=0.001) in the off-state, and at T2 (p=0.004) in the on-state compared to pretraining (T0). TheTUG duration was significantly shorter at T2 than at T0 (p<0.05). The findings of MoCA, totalUPDRS, double limb support time, and mHYS (in both the off- and on-states) also improvedsignificantly at T2. Conclusions Our pioneer study has demonstrated that a low-intensity progressive cycling exercisecan improve motor function in PD, especially akinesia. The beneficial effects were similarto those of high-intensity rehabilitation programs.