Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

Jin, Maolin,Kang, Sang Hoon,Chang, Pyung Hun,Lee, Jinoh Institute of Electrical and Electronics Engineers 2017 IEEE/ASME Transactions on Mechatronics Vol. No.

<P>Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.</P>

혈액 및 비장조직에서 일산화탄소 헤모글로빈 농도에 관한 연구 : A Comparison of CO-Hb in Blood and Spleen Specimens

이진훈,오세진,김유나,이진숙,유재훈,장성길 內務部 國立科學搜査硏究所 2001 國立 科學 搜査 硏究所 年報 Vol.33 No.-

2003년 국내 중증급성호흡기증후군 진료 현황 및 문제점 분석

이진수,김은실,정문현,백제중,정선화,안주희,최영화,이선희,고철우,김성범,김민자,박승철,기현균,송재훈,최상호,김양수,이상오,조용균,박영훈,정숙인,김연숙,이흥범,손창희,장성희,정희진,김우주 대한감염학회 2004 감염과 화학요법 Vol.36 No.3

목적 : 2002년 말 중국에서 SARS가 발생한 이후 국내에서도 2003년 10월까지 총 3명의 추정환자, 17명의 의심환자가 보고되었다. 향후 추가적인 SARS의 유행이 우려되는 상황에서, 그간의 SARS 환자 진료에 있어서의 실질적인 준비사항, 진료 현황 등에 대한 조사를 통해 문제점을 파악하여, 향후 더 나은 대비가 될 수 있도록 개선점을 제시하고자 하였다. 재료 및 방법 : SARS로 의심되는 환자를 진료 경험이 있는 병원의료진을 대상으로 2003년 10월에 설문조사를 실시하였다. 설문에는 SARS 환자 진료 시의 실질적인 조치, 진료 현황, 병실, 응급실 및 외래에서의 격리 시설과 준비사항, 보건당국의 관리와 지원에 관한 사항을 포함하였다. 결과 : 대상이 되는 22개 병원 중 17개(17/22, 77.2%) 병원이 설문에 응하였다. SARS 환자를 위한 격리실은 응급실, 외래, 일반병실 및 중환자실에서 각각 9개(9/17, 52.9%), 5개(5/17, 29.4%), 15개(15/16, 93.7%), 4개(4/16, 25%) 병원에서 음압처리가 되어있지 않은 일인실 혹은 다인실이 사용되었고, 1개(1/16, 6.3%) 병원에서만 일반병실에서 음압격리실이 운영되었다. 입원환자의 진찰 시 개인보호구의 착용은 거의 모든 의료기관에서 이루어졌다. 보건당국에서 SARS지정병원의 시설 등을 사전에 확인한 곳은 1곳(1/12, 8.3%)이였고, 14개 병원(14/15, 93.3%)에서는 보건당국에 의뢰한 검사결과를 통하 받지 못하였다. 결론 : 의료기관에서 SARS 환자용 격리실뿐만 아니라 기존의 격리실 설비 등이 미흡하였으며, 특히 중환자실 및 외래의 준비가 더욱 부족하였다. 보건당국의 의료기관에 대한 종합적인 지원이 부족하였고, 병원과의 원활한 연계가 잘 이루어지지 않았다. SARS 만이 아닌 격리를 필요로 하는 질환의 적절한 진료를 위해 향후 병원 시설의 정비와 정부차원에서의 보다 구체적이고 실질적인 대책마련이 필요하다. Background : There was an worldwide outbreak of the Severe Acute Respiratory Syndrome (SARS) originated from China in late 2002. During that period three cases of suspected SARS and 17 cases of probable SARS were reported in Korea. With the concerns about the reemergence of SARS-coV transmission, it is important to be prepared for any possibility. So, this study is aimed to analysis the past measures in managing SARS and propose the amendatory plans to improve the preparedness. Materials & Methods : Questionnaires were collected among clinicians with any experience in managing the probable or suspected SARS cases in Oct. 2003. 17 out of 22 hospitals responded to the questionnaire. The contents in the questionnaire were practical activities, personal equipments, response plans, isolation facilities in emergency centers, outpatient clinics, general wards and intensive care units, and relationship with the public health department. Results : The dedicated isolation rooms in emergency centers, outpatient clinics, general wards, and intensive care units were prepared in 9 (9/17, 52.9%), 5 (5/17, 29.4%), 15 (15/16, 93.7%), and 4 (4/16, 25.0%) hospitals, respectively. Except for one hospital that newly made negative pressure room for SARS, single or multi-bed rooms without airborne infection control were used in all the other hospitals. The personal precaution principles were kept quite well in general wards. Before the designation of SARS hospital by the public health department prior evalution to see if the hospital was suitable for managing SARS was conducted in only 1 (1/12, 8.3%) hospital. The results of laboratory diagnosis were reported back in 1 (1/15, 6.6%) hospital. Conclusions : The isolation facilities which can control airborne infection were almost deficient not only for SARS but also for other respiratory transmissible diseases. For the infection control of transmissible diseases including SARS, more investment is needed on medical facilities and comprehensive support from the public health department required.

주의력결핍 과잉행동장애 아동의 지적수준에 따른 정신병리와 실행기능의 차이

천은진,서완석,이종범,김진성,구본훈,송창진,성형모,배준용,배대석 大韓神經精神醫學會 2005 신경정신의학 Vol.44 No.4

To investigate psychopathoIogy and executive functions of attention deficit hyperactivity disorder (ADHD) children according to intelligence level, this study included 197 ADHD children who visited the outpatient department of neuropsychiatry of YeungNam University Medical Center, from July 2000 to June 2002. The children were divided into groups based on their intelligence levels. They were compared by the Personality Inventory for Children (PIC), Conncers' Continuous Performence Test (CPT), and Wisconsin Card Sorting Test (WCST). There were significant differences in PIC, on the subscales of verbal development, socialization and autism. In the CPT, there was no significant difference. In the WCST, there were significant differences in the total number of errors, the number of perseverative errors, the number of completed categories and the number of trials needed to complete the first category. Considering these results, the intelligence level of ADHD children is related to their disabilities and behavioral symptoms.Executive functions such as abstract thinking, categorization, working memory and flexibility had significant relationship to the intelligence levels of ADHD children. Therefore, the intelligence level of children with ADHD influences the higher executive functions of regulating attention and information processing rather than attentional functions and capacity alone.

파라콰트 중독 흰쥐에서 항산화제 U-74389G 의 치료 효과

오진호,정성필,임훈,노성훈,김혜영,김승호,이한식,민진식 대한응급의학회 2000 대한응급의학회지 Vol.11 No.4

Background: This study was conducted to verify the hypothesis that the suppression of lipid peroxidation with the antioxidant, U-74389G, could improve the survivability of paraquat intoxicated rats. Methods: First, we obtained the 24-h mortality by using several paraquat dosages and calculated the 24-h LD5O in 24 male Wistar rats(250~350 g). To examine the effect of U-74389G, we divided the rats in 4 groups: a control group and U-74389G only group, a paraquat only group, and a paraquat plus U-74389G group(n=10 each). Paraquat, 35 mg/kg, was injected intraperitoneally at 0 h. U-74389G, 10mg/kg, was administered intraperitoneally at 0, 12 h or at 1, 12 h in the respective groups. The rats were observed for 24 hours. At 24 h, plasma and lung, liver, and kidney tissues were obtained after sacrificing the surviving rats to determine the degree of lipid peroxidation by using a thiobarbituric acid reactive substances (TBARS ) quantitative analysis. Results: The 24-h LD50 of paraquat was calculated as 40 mg/kg in our rats. The 24-h mortality was as follows: control group and U-74389G group 0%, paraquat group 30%, and paraquat plus U-74389G group 10%. The TBARS analysis showed no differences between the U-74389G and the control groups. The paraquat group showed significantly increased TBARS levels in the serum and in the kidney and lung tissue compared to the control group(p<0.05). With U-74389G, the increased TBARS levels were significantly decreased in the plasma, kidney, and lung tissues compared to the paraquat group(p<0.05). However, in the liver tissue, there were no significant differences among the groups. Conclusion: A 21-aminosteroid antioxidant, U-74389G, improved the survivablity of paraquat-intoxicated rats through the suppression of lipid peroxidation. Our result suggests the possibility of clinical application of this drug as an antidote for paraquat poisoning.

급성충수돌기염으로 발현된 방선균증 2예

조진원,송진영,김창억,민영훈,최창순,우흥정,현인규,김종현,유기철,채승완,손진희 대한화학요법학회 2001 대한화학요법학회지 Vol.19 No.1

The Actinomyces species are normal flora of oral cavity and upper intestine characterized as gram-positive, non-spore-forming anaerobic or mjcroaerophilic rods. Actinomycosis is a chronic suppurative and granulomatous disease characterized by abscess, sinus, abundant granulation and mass. The appendix is the commonly involved site among abdominal actinomycosis. Abdominal actinomycosis is often difficult to diagnose before operation because of no reliable clinical features and infrequency of the disease. We report two cases of abdominal actinomycosis which were manifested as acute appendicitis. Those were detected Incidentally tv the pathologist after routine appendectomy. Both patients were successfully treated with appendectomy followed by proper antibiotics use.

괴산군 지역 농업 생태계의 곤충 다양성 비교 분석

김훈 ( Kim¸ Hoon ),순옌 ( Yan Sun ),이승민 ( Lee¸ Seung-min ),구본진 ( Ku¸ Bon-jin ),구윤모 ( Ku¸ Yun-mo ),김태연 ( Kim¸ Tae-yeon ),문명진 ( Moon¸ Myung-jin ) 한국유기농업학회 2021 韓國有機農業學會誌 Vol.29 No.4

Agricultural ecosystem biodiversity monitoring and community variation analysis of insects were conducted from 2016 to 2018 in selected conventional and organic farming fields in Goesan district, Chungcheongbuk-do, South Korea. The total number of 1,125 species in 16 orders and 207 families were identified. The numbers of species collected in the locations practicing organic farming were greater than the conventional farming both in the paddy fields (564 vs. 383 species) and the upland fields (471 vs. 365 species). Among them, Hemiptera had the most abundant of species, followed by Diptera, Hymenoptera, Coleoptera and Araneae. We calculated various index values of biodiversity (diversity index H’, richness index R, evenness index J’, dominance index D, and similarity index QS) based on quantitative measurements of species and individuals collected over three years of field monitoring. Variations in biodiversity index values in different agricultural systems show that the positive effect of organic farming is to produce more biodiversity than conventional farming systems. When compared to other index results reported in Korea, Japan and China, the richness index was higher and other index values were at similar levels.

Goretex를 이용한 융비술

최진영,민철기,명훈,황순정,서병무,이종호,정필순,김명진 大韓顎顔面成形再建外科學會 2003 Maxillofacial Plastic Reconstructive Surgery Vol.25 No.4

융비술시 실리콘 고무는 다루기 쉽고 조직 반응이 적어 현대 많이 돌출의 합병증이 생길 수 있다. 저자등은 이러한 실리콘의 단점을 보완할 수 있는 goretex를 사용하여 융비술을 시행하고 비첨에 대해서 자가연골을 이식하여 만족할 만한 결과를 얻었기에 goretex가 안면부 연조직의 증강을 위한 이식재료로 적합하다고 생각되어 문헌고찰과 함께 보고하는 바이다. Many different materials have been used to provide augmentation of the nasal dorsum. this include both autogenous and homogenous materials,as well as allografts. Silicone among the artificial materials has been most widely used. The silicone has some advantages and disadvantages. Goretex(expanded polytetra-fluoroethylene) which has widely used in vascular surgery and abdominal surgery can be used for facial soft tissue augmentation. The author presemts 2 cases of nasal augmentaion using goretex with literature review.

치조열 환자에서의 치아형태이상, 결혼치 및 위치이상에 대한 임상적 연구

강진한,최진영,이종호,정필훈,김명진 대한악안면성형재건외과학회 2000 Maxillofacial Plastic Reconstructive Surgery Vol.22 No.5

Until recent time many studies for relationship of dental abnormalities and cleft lip and palate were reported, higher prevalence of abnormality was revealed. The patients with large cleft size had significantly more missing teeth than patients with small cleft size. The tooth that is most usually missed in normal population is the mandibular second premolar, followed by the maxillary lateral incisor and the upper second premolar. The aim of this study was to analyse the prevalence of dental abnormalities and ectopic eruption in patients with cleft alveolus visiting our hospital. Radiographs, dental cast and records from about 60 patients were analysed to find the relation of missing, malformed, malpositioned tooth and delayed eruption and cleft site.

대퇴동맥을 통한 경피적 관동맥 중재시술 환자의 천자부위 지혈을 위한 Angioseal^(�) 사용과 고식적 용수 압박법의 비교 : 전향적 연구

김용훈,권현철,김필호,안석진,유철웅,최진호,이상철,김준수,김덕경,전은석,이상훈,홍경표,박정의,서정돈 대한내과학회 2004 대한내과학회지 Vol.66 No.5

목적 : 경피적 관동맥 중재술은 최근 양적 및 질적으로 급격한 발전을 보였지만 시술 시 천자부위의 혈관 합병증은 아직 해결해야 할 문제점이다. 저자들은 대퇴동맥을 통한 경피적 관동맥 중재술을 환자에게 천자부위 지혈을 위한 혈관폐쇄기구인 안지오실의 안전성과 유용성을 고식적인 용수 압박법과 비교 연구하고자 하였다. 방법 : 2002년 4월부터 2003년 5월 사이에 삼성서울병원 심장혈관센터에서 대퇴동맥을 통한 경피적 관동맥 중재술을 성공적으로 시행한 200명의 환자(안지오실 사용군: A군, 100명, 고식적 용수압박법 사용군 B군, 100명)를 대상으로 시술 후 주요 합병증 및 경한 합병증, 지혈 후 환자가 자리에 앉기까지의 시간, 보행개시 가능시간, 총 재원 기간과 시술 1주 후의 합병증을 전향적으로 조사하여 비교 연구하였다. 결론 : 두 군에서 연령, 성별, 기저질환, 심혈관 질환의 위험요소, 시술의 종류, 시술 중 사용한 헤파린의 양, clopidogrel의 양, ticlopidine의 양, 지혈 시 수축기와 확장기혈압, ACT (activated clotting time)는 차이가 없었다. A군이 B군에 비해 시술 후 자리에 앉기까지의 시간 (A군: 4.3±0.3시간, B군: 13.7±0.8시간, p=0.004) 및 보행개시까지의 시간(A군: 6.8±0.5시간, B군: 18.8±2.1시간, p=0.013)이 유의하게 짧았다. 시술 후 주요 합병증은 두군 모두에서 관찰되지 않았으며, 경한 합병증의 전체발생은 A군에서 유의하게 적었다(A군: 28명, B군: 19명, p=0.003). 반상출혈의 경우는 A군에서 유의하게 낮았지만(A군: 3명, B군: 12명, p=0.01), 혈종, 출혈의 발생은 두군간에 차이가 없었다. 총 재원기간에는 두 군간에 차이가 없었다(p=0.239). 시술 1주 후 경과관찰에서 주요합병증은 역시 두 군 모두에서 관찰되지 않았으며, 경한 합병증의 전체발생은 두 군에서 차이가 없었다(A군: 15명, B군: 13명 p=0.418), 반상출혈의 빈도는 차이가 없었지만 혈종의 발생은 A군에서 더 낮았다(A군: 2명, B군:6명, p=0.004). 두 군 모두에서 출혈은 발생하지 않았다. 결론 : 대퇴동맥을 통한 경피적 관동맥 중재술을 시행한 환자에서 안지오실의 사용은 고식적 용수 압박법에 비해 환자의 침상 안정시간을 줄여 조기 활동개시가 가능하게 하였으며 국소합병증의 위험도를 일부 낮추어, 시술에 따른 환자의 불편을 현저하게 감소시킬 수 있다고 할 수 있을 것으로 기대된다. Background : Although the number and the quality of percutaneous coronary intervention have been recently increased dramatically, the vascular complication at puncture site is still the major cause of patients' morbidity. We evaluated the safety and efficacy of newly of newly-developed collagen-based arterial closure device, Angioseal after transfemoral percuatenous coronary intervention. Methods : This study was designed as a prospective single center non-randomized comparative study. A total 200 patients undergoing transfemoral percutaneous coronary intervention were enrolled between April 2002 and May 2003. They were divided into two groups; Angioseal group (group A, n=100) and manual compression group (group B, n=100). The baseline clinical and angiographic characteristics were reviewed. The time to sit up, the time to ambulation, the duration of hospital stay, major and minor vascular puncture site complications were monitored. The patients were followed-up for 1 week after procedure by telephone. Results : The baseline clinical characteriwtics, clinical diagnosis, cardiocascular risk factors, typesof procedure, doses and numbers of anticoagulants were similar between two groups. The blood pressure and activated clotting time were also similar. The time to sit up (group A: 4.3±0.3 hours, group B: 13.7±0.8 hours, p=0.004) and the time to ambulation (group A: 6.8±0.5 hours, group B: 18.8±2.1 hours, p=0.013) were shorter in group A. No major vascular complications were noted. The incidence of hematoma and bleeding were not significantly different between two groups. The incidence of ecchymosis, however, was significantly lower in group A (group A:12%, group B: 3%, p=0.001) The duration of gospital stay was similar between groups. During 7 days of follow-up period incidence of hematoma was significantly lower in group A (p=0.004). Although the incidence of ecchymosis was not significantly different between two groups. Conclusion : The angioseal may be associated with earlier ambulation and less patients' morbidity with low incidence of local complication rate compared to manual compression after transfemoral percutaneous coronary intervention.