• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.91-96
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• 2003

The forces and moments at the aircraft c.g. have components due to aerodynamic effects and to engine thrust. For the flight stability and autopilot systems we present a attitude control method using an intelligent control algorithm Which is based on the control rules from experts knowledge concerning the motion equations and other experiences. Then a robust fuzzy controller is developed to control the flight attitude. The controller can deal with multiple inputs and outputs. We have made an aircraft model and the orientation sensor for experimental flights. The control rules based on the flight expert s experience and knowledge can be programmed by fuzzy rules, and determined control rules by experimental flight. We can be stable attitude control by fuzzy controller.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.33-39
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• 2011

Biped robot with high DOF has instability in mechanism. Therefore, it is important to guarantee walking stability of biped robot. Biped robot can stably walk on the flat ground using static walking patterns. However, walking stability of robot becomes increasingly worse on the uneven terrain. In the paper, we propose a robust walking algorithm of biped robot with motion stabilization to solve the problem The proposed algorithm was designed to stabilize walking motions based on the inclination of robot body using a gyro sensor and a accelerometer equipped in the center of the upper body. If unstable motions are recognized, angles of each joints are modified to increase stability by using compensation of angles of lower legs. The experimental results show that biped robot performs stable walking on the uneven terrain.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.11
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• pp.998-1007
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• 2015

The $H_{\infty}$ control theory using LMI method is applied to design an attitude controller of radial type satellite that has strongly coupled channels due to the large product of inertia. It is observed that the cross-over frequency of open-loop with $H_{\infty}$ controller is lower than that of open-loop without controller, which is not typical phenomenon in an optimal control design result: it is interpreted that due to a large product of inertia, there is certain limit in increasing agility of satellite by just tuning weighting function. ${\mu}$-analysis is performed to verify the stability and performance robustness with the assumption of +/-5% MOI variation. ${\mu}$-analysis result shows that the variation of principal MOI degrades the stability and performance robustness more than the variation of POI does.

• The Journal of Korean Academy of Prosthodontics
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• v.49 no.1
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• pp.38-48
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• 2011

Purpose: Dentists suffer back, neck and shoulder pain during their careers due to bad operating posture. If dentists have a good operating posture ergonomically, there would be less pain and discomfort in the shoulder and back. Therefore, dentists should learn the Home position which enables dentists to approach a stable posture ergonomically. This study was to compare tooth preparation in the Home position and the Random position, and evaluate the clinical efficacy of the Home position. Materials and methods: Tooth preparation for fixed partial denture was performed on the maxillary left 2nd premolar and maxillary left 2nd molar at the two different operating positions were compared. The amount of occlusal reduction, marginal width, subgingival margin depth, and convergence angle were measured. A T-test was performed separately to compare the results of the Random position and the Home position. Results: 1. The amounts of average thickness of occlusal reduction on fossa were deficient to the ordered ones in the Random position and the Home position (P > .05). 2. The average subgingival margin depth of prepared margin on maxillary left 2nd premolar, maxillary left 2nd molar were excessive in the Random position than in the Home position. On the maxillary left 2nd premolar, there was no statistical difference in the Random position and the Home position except Distal midline, DL line angle, Lingual midline, ML line angle (P< .05). On the maxillary left 2nd molar, there was no statistical difference in the Random position and the Home position (P < .05). 3. Average convergence angle in the Random position and the Home position were excessive compared to the ordered angle. There was no statistical difference in the Random position and the Home position (P > .05). 4. Analysis of pearson correlation : In the Random position, the amounts of average thickness of occlusal reduction, the average subgingival margin depth of prepared margin, convergence angle were significantly associated with each other (P < .05). But in the Home position, they were not significantly associated with each other (P < .05). 5. The time needed for preparation in the Home position was faster or equal than that of the Random position as time went on. Conclusion: In conclusion, there were no significant differences between Home position and Random position in measures of occlusal reduction, marginal width, marginal depth, convergence angle. However, preparation time and incidence of damaging adjacent teeth were less in Home position than in Random position. Therefore, if trained properly, Home position which is more ergonomically stable can be adopted for clinical use.

• Journal of the Korean Applied Science and Technology
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• v.39 no.4
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• pp.507-516
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• 2022

The purpose of this study was to investigate the effect of rotational preference on body stability based on COP and EMG analysis in an quiet standing after turn in the left and right directions. The subjects of this study were 16 subjects with a high lateral preference for the right hand and foot. The subjects of this study were 16 subjects with high unilateral preference for the right hand and foot, and three rotational direction conditions (QS: quiet standing, LT: 10 turns on the left, RT: 10 turns on the right) were performed. In order to evaluate the stability in an quiet standing after turning, the results were derived and analyzed using a COP plate and an EMG. As a result of the study, LT and RT were larger than QS for all COP variables, but there was no difference according to the direction of turning. In EMG, RT showed larger muscle activity than the QS according to the rotational direction in left and right gastrocnemius. In conclusion, although all subjects had a high right lateral preference, there was no effect of rotational preference in COP, and gastrocnemius showed the effect of rotational preference.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1291-1297
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• 2014

This paper proposes integrated chassis control (ICC) with electronic stability control (ESC) and active rear steering (ARS). Direct yaw moment control is used to generate a control yaw moment. A weighted pseudo-inverse-based control allocation (WPCA) method is adopted to distribute the control yaw moment into tire forces, generated by ESC and ARS. Simulation-based tuning of variables weights in the WPCA is used to enhance the yaw moment distribution performance. Simulations using the vehicle simulation software $CarSim^{(R)}$ show that the proposed ICC is effective in improving maneuverability and lateral stability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.103-111
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• 2016

This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.6 no.1
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• pp.35-49
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• 2000

허리 근육손상은 기대치 못한 상황에서 신체의 적절한 반응이 지연될 경우 근육 염좌와 같은 상해나 요통으로 연결된다. 이 연구는 척추 안정 운동 후 척추의 유연성과 척추 근육의 반응 속도를 만성 요통 환자와 정상인을 대상으로 비교 연구 하였다. 만성 요통 환자 군은 척추 안정 운동을 4주간 20회 시행하였으며 이와 비슷한 특성을 가진 대조군을 비교하였다. 신체 유연성은 환자가 앉은 자세에서 척추를 축으로 신체의 회전 정도를 측정하였다. 척추 반응 속도 측정은 환자가 선 자세에서 두 손으로 판을 들고있는 동안 정구공이 1.8 m (6.4 N)에서 낙하시 좌, 우측 척추 근육의 반응 속도를 Wavelet 분석으로 측정하였다. 연구 결과 척추 안정 운동을 행한 만성 요통 환자군의 신체 유연성과 척추 근육 반응 속도가 통계적으로 유의하게 증가하였다. 척추 유연성은 만성 요통 환자 군에서 131.0cm에서 척추안정 운동후 144.1cm으로 증가하였다 (p<0.05). 척추 근육 반응 속도는 척추 안정 운동을 행한 만성 요통 환자 군에서 90.00msec에서 68.55msec로 (p<0.05), 정상 군에서는 86.28msec에서 75.64msec로 (p>0.05) 단축되었다. 척추 안정 운동은 근, 신경 조직의 반응속도를 증가시키며 특히 만성 요통 환자에서 척추의 안정성을 회복시킨다. 특히 척추의 안정성 증가는 기대치 못한 상황에서 선체의 적절한 반응의 속도를 회복시키며 결과적으로 허리 손상을 예방 할 수 있다. 물리치료학에서 근 골격 신경계의 반응 속도측정을 위한 연구로 Wavelet 분석과 같은 첨단장비를 통한 운동 치료의 질에 관한 연구의 도입이 필요하다. 또한 구체적인 치료적 운동결과의 측정을 통해 물리 치료의 효과성과 효율성을 높이기 위한 생체 의학적 연구가 요망된다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.12
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• pp.5518-5524
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• 2011

The purpose of this study is to investigate the change of balance ability on aging by measuring balance ability of elderly females whose age is over 65. The subjects are ten elderly women (the mean age: 71.9) able to walk without assistants, the assistant equipments and drug dependence and ten young healthy women (the mean age: 23.2). We measured stability index (ST), Fourier index (F), weight distribution (WD), weight distribution index (WDI), synchronization index (SI) and fall index (FI) by using Tetrax (Tetra-ataxiometric Posturography). In result, STs and Fs at the low frequency region (F1) represented the significant difference between two groups at all postures with PO (pillow with eye open) exception (p<.01). Fs at the other frequency regions (F2~F8) represented the significant difference between two groups (p<.05). WDI of the elderly women represented the higher values than the young women at all postures but there are the significant difference at PO and PC (pillow with eye closed) only. These results may be due to age-related ability decline of somatesthesia, vestibular organ, central nervous system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.7
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• pp.640-646
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• 2007

Actuator-induced disturbance is one of the crucial factors of spacecraft attitude pointing and stability in fine attitude control problems. The control moment gyros (CMGs) are known as very attractive actuators from the point of high power and low weight. In order to develop a CMG as an actuator for fine controls, CMG-induced disturbances should be analyzed. Therefore, this paper aims to develop an analytic model and predict the effect of disturbances of CMGs by assuming static and dynamic imbalances. The proposed model is induced by the Lagrangian method on the basis of the small signal assumption.