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>

서울의 PPNG 발생 빈도(1991-1992)

김재홍,윤기범,박평원,김영진,전경민,김영태,김중환,곽호,구상완,송민석,유옥,지혜구,김동원,문상은,박영립,정승호,성범진,성순제,엄주용,황정열,이기홍,이주협,전태진 대한화학요법학회 1994 대한화학요법학회지 Vol.12 No.1

The prevalence of PPNG among pretreated gonorrhea cases isolated at the STD clinic of Choong-Ku Public Health Center in Seoul has been studied and reported annually since 1981. In 1991, 123 strains of N.gonorrhoeae were isolated, among which 58(47.1%) were PPNG. In 1992, 98 starains of N.gonorrhoeae were isolated, among which 51(52.0%) were PPNG. In all, 109(49.3%) strains were found to be PPNG among 221 strains isolated between 1991-1992. The prevalence of PPNG in Seoul showed increased tendency till 1989, thereafter, it has been stationary or slightly decreasing.

鬪技種目選手의 肺機能에 關한 硏究

尹坪晉,廉哲鎬 조선의대 1985 The Medical Journal of Chosun University Vol.10 No.1

肝吸蟲에 대한 Albendazole의 殺蟲效果에 관한 實驗的 硏究

裵平元,金洙鎭,林漢鍾 고려대학교 의과대학 1984 고려대 의대 잡지 Vol.21 No.3

Newly developed albendazole(zentel®) is a broad spectrum anthelmintic which high activity against intestinal nematodas as well as trematodes and cesstodes infections. The present study was undertaken to evaluato in vitro and in vivo activities of albendazoles against adult worms of clonorchis sinensis. The morphological change of C. sinensis obtained from experimentally infected rats treated with various dosages of albendazole were studied by means of scaning and transmission electron microscope. The results are as follows: 1. The adult worms of C. sinensis were incubated in the medium containing albendazole with various concentrations. By 24 hours after incubation, none of the worms were dead in concentrations of 0.01μg/ml of albendazole. 2. In order to evaluate the effect of albendazole in vivo, experimentally infected rats with 50 metacencariae of C. sinensis each were treated orally with various dosages of albendazole. In the result, anthelmintic effect was confirmed at the dosage of albendazole with 2×25㎎/㎏×2 days (total amounts 100㎎/㎏). 3. Macrocopital examination was to the clonorchis worms which were collected from the bile ducts of the rats autopsied at 24 hours after treatment with albendazole. The lack of intestinal contents was observed in most of worms from the groups treated with 1×200 ㎎/㎏ and 2×25 ㎎/㎏×2 or 4 days, and the elongation of the anterior portion of the worm body was also observed n the worms from the groups treated with 2×25 ㎎/㎏×2 or 4 days. 4. In the scanning electron microscopic observation, many blebs were fromed on the surface of the damaged tegument of the worms at 24 huors after treatment with albendazole(1×200 ㎎/㎏ and 2×25 ㎎/㎏×2 or days). 5. The transmissions electron microscopic observation indicated that degeneration of mitochonriae and destruction of tegumental syncytium of the worms at 24 hours after treatment with albendazole(1×200 ㎎/㎏ and 2×25㎎/㎏ or 4 days). Inaddition to the findings the degeneration of the intestinal lamellae in the caeca was also observed in the worms from the groups treated with same dosages of albendazole.

토끼 귀의 출혈모델에서의 스트렙토키나제-덱스트란 포합체의 혈전용해효과 및 항원성 평가

명평근,최수라,박목순,박진규 충남대학교 약학대학 의약품개발연구소 2000 藥學論文集 Vol.16 No.-

The way in which a thrombolytic agent, streptokinase(SK, Dongkook) and streptokinase-Dextran conjugate(SK-DEX, Russia), cause the dissolution of haemostatic plugs of different ages was investigated in a novel rabbit bleeding model, and antigenicity of SK and SK-DEX was elvalutated by indirect ELISA using antisera collected after 7 days intravenous injection to a rabbit ear. Standardized incisions were made on rabbit ear and the wounds were left to heal for 0.5 h or 24 h, before the thrombolytic agent was infused. SK showed a pronounced fresh colt selectivity since it was significantly more effective in lysing flesh clots than old ones (96% vs 52%) respectively, percent lysis of haemostatic plus of different ages with SK-DEX conjugate (150,000 IU/㎏) was more effective in lysing fresh clots than old ones (20% vs 0%) respectively. The time onset of bleeding observed for SK(Dongkook) (19min) was the same as that of SK (Kabi) (19min), but the bleeding time observed for SK(Dongkook) (90 min) was twice longer than that formed SK(Kabi) (49min). However, the time to onset of bleeding of SK-DEX(Russia) (61min) was longer than that of the formed SK(Dongkook) (19 min). The bleeding time observed for SK-DEX(Russia, 150,000 IU/㎏) (1min) was shorter than that found for SK(Dongkook) (90min). The antigenicity of SK-DEX(Dongkook) was more effective than that of SK(Dongkook) in comparision with each control. These results suggest that the fresh clot selectivity demonstrated for SK and SK-DEX may be clinically beneficial and remains to be clarified by further invertigations.

광전도성 N-알킬카르바졸 폴리머의 합성에 관한 연구

정평진,박노훈 단국대학교 1998 論文集 Vol.33 No.-

The N­alkylcarbazole polymers were synthesized by cationic polymerization. These polymerizations were reacted under different condition for 3hrs or 24 hrs. These reactions between N­unsaturatedalkylcarbazole monomers and boron trifluoride diethyl etherate(BF_3ㆍEt_2O) were conducted in toluene at ice water bath under N_2 atmosphere or in benzene at room temperature under vacuum atmosphere. At htis time the starting materials were monomer 1.0g and initiator 1.42㎎, respectively. All of these compounds of substrates and products were characterized by melting point. FT­IR and ^1H­NMR spectroscopy.

靑少年運動選手의 肺機能에 關한 硏究

尹坪晋,廉哲鎬 朝鮮大學校 附設 醫學硏究所 1983 The Medical Journal of Chosun University Vol.8 No.1

Despite the theoretical problems of the water spirometer and its poor frequency response, the water spirometer is adequate for the physiological function tests even in healthy people. We must encourage the use of the spirometer as part of routine examination of nearly all adult patients. Recently, Pulmonary function studies are widely used in evaluation of various physical condition. The aim of this study was to report the pulmonary function studies of young athletes. Subjects were 221 young athletes from 11 to 17 years of age. They were elementary school boys and girls, middle school boys and girls, high school boys and girls. The following were mainly observed for the study; frequency of breath, vital capacity, tidal volume, and breath holding time. The results obtained were summarized as follow; 1. Frequency of breath; (cycle/min. M±SD) Elementary school boys show 18±5.5, elementary school girls 19±5.0, middle school boys 17±2.3, middle school girls 17±3.0, high school boys 15±6.5, high school girls 15±5.7. 2. Vital capacity; (ℓ, M±SD) Elementary school boys show 1.63±0.138, elementary school girls 1.60±0.241, middle school boys 3.08±0.650, middle school girls 2.79±0.562, high school boys 4.24±0.545, high school girls 2.90±0.792. 3. Tidal volume; (㎖, M±SD) Elementary school boys show 393±40.7, elementary school girls 439±108, middle school boys 590±103, middle school girls 508±78.6, high school boys 727±113, high school girls 618±84. 4. Breath holding time; (sec, M±SD) Elementary school boys show 43±15.5, elementary school girls 45±15.4, middle school boys 53±9.7, middle school girls 46±9.4, high school boys 57±12.9, high school. girls 45±10.1.

大學生 肺容積 및 最大換氣能에 關한 硏究

尹坪晋,廉哲鎬 中央醫學社 1983 中央醫學 Vol.45 No.6

The aim of this study was to report the lung volume and the maximal voluntary ventilation of the students in the courses of physical and medical education at Chosun university. Subjects were 165 physical students and 74 medical students. The results are as follows: 1) Frequency of breath: (cycle/min, M±SD) Physical male students show 13+3.28, physical female students 17±4.88, medical male students 17+3.51, medical female students 16±4.22. The values of physical male students are represented lower than those of medical male students. There are almost no differences between the two female groups. 2) Vital capacity: (1, M±SD) Physical male students show 4.35±0.610, physical female students 3.45±0.683, medical male students 3.88±0.487, medical female students 2.64±0.318. The values of physical male and female students in common are represented significantly higher than those of medical male and female students. 3) Tidal volume: (ml, M±SD) Physical male students show 684±119, physical female students 677±198, medical male students 482±114, medical female students 468±151. The values of physical male and female students are represented considerably higher than those of medical male and female students. 4) Maximal voluntary ventilation: (1 /min, M±SD) Physical male students show 152.6+12.75, physical female students 117.4±10.24, medical male students 129.7±13.83, medical female students 93.9±11.94. The values of physical male and female students are represented significantly higher than those of medical male and female students.

S_N1 치환 반응에 의한 N-불포화 알킬카르바졸 유도체의 합성에 관한 연구

정평진,조을훈 단국대학교 1998 論文集 Vol.32 No.-

N-unsaturated alkylcarbazole derivatives were synthesized by the unimolecular nucleophilic substitution(S_Nl) of a carbazole with an unsaturated alkyl chloride. The reaction between the carbazole and unsaturated alkyl chloride was conducted in dimethyl sulfoxide (DMSO) containing an alkali (NaOH or KOH) for 4hrs under nitrogen atmosphere at room temperature. At this time the mole ratios between the carbazole alkali and unsaturated alkyl chloride were found to be 1 : 6 : 1, 1 : 3 : 1 and 1 : 1 : 1, respectively. All the compounds including starting materials and reaction products were characterized by CHN analysis ^1H-NMR and FT - IR spectroscopy.

고주파 가열에 따른 반응고 알루미늄합금의 미세조직 특성

신평우,이정환,이상용,노진호,이영선 國立 昌原大學校 産業技術硏究所 1997 産技硏論文集 Vol.11 No.-

Semi-solid forming is relatively new process for forming alloys in the semi-solid condition into near net produce. It relies on the behaviour of semi-solid slurrys in which the solid exists in the form of non-dendritic, spheroidal particles in a liquid matrix. Powder of the Al-20Si-5Fe-2Ni alloy was manufactured by spray forming and powder metallurgy, one of the rapid cooling method, and its microstructure became fine with several ㎛ size through the extrusion process. Spray forming and powder metallurgy are a rapid solidification process in which capable of producing materials consisted of very fine, uniform particles. Spray forming can be described as incorperating the advantages of powder metallurgy without disadvantages of degassing and consolidation. In this paper, the microstructural evolution of the P/M, S/F Al-20Si-5Fe-2Ni alloys and wrought Al 2024 alloys were investigated various heating conditions by high frequency induction heating system.