• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.6
• /
• pp.563-568
• /
• 1997

본 논문에서는 약간의 가정하에 리모트 제어용 모형 헬리콥터의 동역학방정식을 유도하였으며, 이를 토대로하여 헬리콥터의 자세안정을 위한 제어 알고리듬을 제안하였다. 제어이론으로서는 파라메타의 변화및 외란에 강인한 가변구조 제어이론을 활용하였다. 본 제어 알고리듬에서는 헬리콥터의 위치이동 제어에 대하여서는 다루지를 못하였으며, 단지 헬리콥터의 hovering 상태에서의 자세 안정화에만 촛점을 두어 제어 알고리듬을 제안하였다. 컴퓨터 모사를 통하여, 제안된 제어 제어 알고리듬의 타당성을 보였으며, 약 2-3초의 시간이 경과된 이후 자세가 안정화 됨을 볼 수 있었다.

• Proceedings of the Korea Contents Association Conference
• /
• 2017.05a
• /
• pp.347-348
• /
• 2017

만성요통 환자 15명을 대상으로 4주간, 주 3회 3차원 척추안정화운동과 허리안정화운동을 실시한 후 3차원 척추안정화검사를 통하여 허리심부근력을 측정하고 Tetrax장비를 통하여 신체균형능력을 평가하였다. 단기간일지라도 3차원척추안정화운동을 통해 정확한 방법으로 운동을 실시하였더니 만성요통환자의 허리근력과 자세균형에 긍정적인 효과를 주었다.

• Journal of Korea Entertainment Industry Association
• /
• v.14 no.3
• /
• pp.475-482
• /
• 2020

The abdominal drawing-in maneuver(ADIM), which is performed to strengthen the stabilization muscles of the lumbar, is an exercise method that selectively contracts the TrA and IO by increasing intra-abdominal pressure. In order to check the effect of ADIM in sitting position, which is the most frequently used posture in everyday life, on how to grip power, ADIM was conducted in a sitting position for 30 healthy adults, and then the state was not performed. In each, the grip power was measured to determine how ADIM performed in the sitting position had an effect on grip power and which muscles had the most influence. The muscles mobilized for the electromyography(EMG) measurement were RA, EO, IO/TrA, and ES, which were the most activation lumbar stabilization muscles when ADIM was applied. As a result of the study, the activity on muscles of the lumbar stabilization was significantly increased and the grip power of the muscles was significantly increased than the ADIM in the sitting position. By comparing the measured difference value of each muscle, it was found that any muscle had a greater effect on grip power, but no muscle showed a significant correlation. It is thought that the increase of intra-abdominal pressure did not affect the grip power of a specific muscle. Therefore, if ADIM is performed in a sitting position that is frequently used in everyday life through this study, it will be more effective in increasing the grip power and lumbar stabilization.

• The Journal of the Convergence on Culture Technology
• /
• v.5 no.4
• /
• pp.227-235
• /
• 2019

The purpose of this study was to investigate the effects of cervical vertebral height and shoulder stabilization on anterior head posture in people with turtle neck. The subjects of this study consisted of normal and healthy people with 30 turtle necks. Subjects were randomly assigned to shoulder stabilization exercise and cervical vertebrae exercise (30 men, 15 men and 15 women, height: $168.67{\pm}6.51$, $22.33{\pm}8.27$, $65.03{\pm}11.98$, and $28.66{\pm}1.91$), In the experimental group, shoulder stabilization exercise and cervical spine exercise were performed for 4 weeks. Deep neck flexor, leavator scapular, upper trapezius, rhomboid, and lower trapezius showed significant differences in shoulder stabilization and cervical vertebrae before and after the experiment. As a result, the CVA value decreased significantly and the muscle activity value increased significantly when exercise and Mckenzie program were applied. These results show that exercise and Mckenzie programs have a positive effect on turtle neck improvement.

• Journal of the Korea Society of Computer and Information
• /
• v.28 no.5
• /
• pp.95-102
• /
• 2023

The purpose of this study was to the effects of the Sling Neurac stabilization exercise(SNSE) on pain, cervical lordosis angle(CLA), and cervical gravity line(CGL) in young adults with a forward head posture. The subjects of the study were selected as SNSEG(n=10) and control group(n=10), they were conducted for 70 minutes three times a week for 8 weeks. Study results showed that pain(p<.001), CGLe(p<.01) were significantly decreased and CLA(p<.001) were also significantly increased in the SNSEG. In conclusion, SNSE is effective in improving the proprioceptive sense of the LM group and activating the muscle. Co-activation with the GM group was found to be effective in improving the CLA and CGL. Therefore, reactivation of the deep neck flexors and suboccipital muscles is an important factor in pain control and postural alignment, and is suggested as an effective intervention method to improve forward head posture.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.8
• /
• pp.796-803
• /
• 2011

It is called self-alignment or initial alignment that INS(Inertial Navigation System) is aligned using the measurements from the inertial sensors as an accelerometer and a gyroscope and the inserted reference navigation information in the stop state. The main purpose of self-alignment is to obtain the initial attitude of INS. The accuracy of self-alignment is determined by the performance grade of the used inertial sensors, especially horizontal attitude accuracy by the horizontal accelerometer and vertical attitude accuracy by the E-axis gyroscope. Therefore the uncertain errors in the inertial sensors cause the performance of self-alignment to degrade. In this paper, we analyze theoretically and through a simulation how the errors of inertial sensors in the temperature stabilizing state, one of the uncertain errors, affect the accuracy of self-alignment.

• Journal of Advanced Navigation Technology
• /
• v.21 no.5
• /
• pp.450-458
• /
• 2017

This paper presents dynamic modelling and simulation study on attitude/altitude control of an insect-mimicking flapping micro aerial vehicle during hovering. Mathematical modelling consists of three parts: simplified flapping kinematics, flapping-wing aerodynamics, and six degree of freedom dynamics. Attitude stabilization is accomplished through linear quadratic regulator based on the linearized model of the time-varying nonlinear system, and altitude control is designed in the outer loop using PID control. The performance of the proposed controller is verified through numerical simulation where attitude stabilization and altitude control is done for hovering. In addition, it is confirmed that the attitude channel by periodic control is marginally stable against periodic pitching moment caused by flapping.

• Korean Journal of Applied Biomechanics
• /
• v.19 no.4
• /
• pp.689-696
• /
• 2009

This study was conducted to examine the effects of the lumbar stabilization exercise (LSE) on fall prevention in elderly females (n = 21) by measuring changes in the isometric strength, multifidus, transverse abdominis muscle thickness, and posture stability index. The strength of isometric contraction was measured by the 3-D Pegasus system ; the thickness of the multifidus and transverse abdominis were measured by using Sonoace 6000C, and the posture stability index was measured using a computerized Biodex Balance System SD apparatus analysis. These results lead us to the conclusion that flexion and extension, left rotation on strength of isometric contraction, and thickness of the transverse abdominis (when released) statically increased. Overall, the anterior/posterior and medial/lateral elements in the posture stability index statically decreased, Consequently, the LSE should the prevent falls in elderly females.

• Journal of Satellite, Information and Communications
• /
• v.10 no.3
• /
• pp.32-37
• /
• 2015

Unmaned Aerial Vehical(UAV) is a flight which is automatically flying by remote control on th ground. However UAV has an advantage of control that is easy, but has an disadvantage of not hovering. By comparison, quadcopter which is one of the UAV is easily operated. Also quadcopter has hovering function and high stability. In this paper, we propose stable flight algorithm associated PID(proportional-integral-derivative) control with fuzzy contorl to implement stable quadcopter system. After getting a positioning information of the drone, This proposed system is implemented for stable flight through flight attitude control using gyro and acceleration sensor. We also propose the flight mode system to hover drone with GPS sensor.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.19 no.2
• /
• pp.437-444
• /
• 2024

The rotational inertial navigation system can provide more accurate navigation information by mounting an IMU (Inertial Measurement Unit) on the gimbal and rotating the gimbal regularly to cancel out the errors of the IMU. However, when an attitude change occurs due to waves, the attitude error is not removed to 0 at the end of one cycle of the rotation procedure and causes a large position error. In this paper, considering this problem, we propose a method of stabilizing the external gimbal by rotating it based on the roll information of the vehicle. Based on simulation, the impact of waves is analyzed and the performance of external gimbal stabilization is verified.