• Proceedings of the KSME Conference
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• 2000.04a
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1183-1194
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• 2006

The aim of this study was to identify the characteristics of the flexion withdrawal reflex modulated by the hip angle and hip movement in spinal cord injury (SCI). The influence of the hip position and passive movement were tested in 6 subjects with chronic SCI. Each subject placed in a supine position and lower leg was fixed with the knee at 5 -45 degree flexion and the ankle at 25-40 degree plantar flexion. A train of 10 stimulus pulses were applied at 200 Hz to the skin of the medial arch to trigger flexion reflexes. From results of the regression analysis, static properties of normalized muscle activation of flexor muscles have the linear relationship with respect to hip angle (P< 0.05). In order to verify the neural contribution of flexion reflex, we compared the static and dynamic gains of estimated muscle activations with measured EMG of ankle flexor muscle. Form this study, we postulate that the torque and muscle response of flexion withdrawal reflex have linear relationship with hip angle and angular velocity.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.3
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• pp.154-160
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• 2004

In this paper, a combined field orientation and adaptive backstepping approach using a sliding mode adaptive flux observer, is proposed for the control of induction motor In order to achieve the speed regulation with the consideration of improving power efficiency, rotor angular speed and flux amplitude tracking objectives are formulated. Rotor flux and inverse time constant are estimated by the sliding mode adaptive flux observer based on a fixed stator frame model and mechanical lumped uncertainty such as inertia moment, load torque disturbance, friction compensated by the adaptive backstepping based on a field-oriented model. Simulation results are provided to verify the effectiveness of the proposed approach.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1039-1040
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• 2007

This paper is derived a solutions for an analytical model of an induction motor and the formula of regenerative power, based on spiral vector. The torque is controlled linearity through variations of the slip angular velocity, based on the field acceleration method (FAM). And also PWM inverter fed induction motor drives is schemed to be easily a regenerative power. The experimental tests verify the performance of the FAM, proving that good behavior of the drive is achieved in the transient and steady state operating condition. and are discussed to shave the power that regenerative power is measured at the operating acceleration or deceleration of servo system.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.294-296
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• 1995

In this paper, a vector control method for a AC-Excited BLSM(Brushless Synchronous Motor) is proposed. The BLSM has a feature that separate exciter is not needed for excitation. The proposed method is described in two parts as follow, one is the design of drive and the other is a modeling for its implementation. Rotor flux is estimated using indirect sensing method based on voltage equation in the synchronously rotation reference frame. And rotor position is calculated from rotor angular velocity and stator current. Through computer simulation results of this proposed system, it is shown that the BLSM drive has a ability of precision torque control from the static and dynamic performance.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.9
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• pp.108-115
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• 1997

This paper presents a robust controller design for uncertain nonlinear systems with input saturation. In actual application, the robust controller may require a high input torque so that it faces input saturation due to power limitation of the system. The satruation problem may cause instability of the system. To improve this problem, a robust controller using a fuzzy logic control is proposed. The proposed controller keeps state errors bounded. To validate the proposed controller, an invert pendulum and its control system is set up. The experimental result shows bounded angular position errors under saturated input torques.

• Clinics in Shoulder and Elbow
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• v.15 no.2
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• pp.79-85
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• 2012

Objective: It has been expected that patient with posttraumatic recurrent anterior shoulder dislocation might have limited daily life activity because of pain and apprehension of dislocation. But there have been only a small number of investigations regarding the rotator strength in this patient. The aim of this study is to find the characteristics about rotator strength of patient with posttraumatic recurrent anterior shoulder dislocation using an isokinetic testing. Method: We enrolled thirteen patients with posttraumatic recurrent anterior shoulder dislocation and fifteen sex, age-matched healthy nonathletic subjects in this controlled study. All participants were male and there were no significant differences between the two groups in age, height, weight, BMI. Isokinetic internal rotator and external rotator strength was evaluated with a Biodex Isokinetic Testing machine (Biodex Medical Systems, Shirley, NY, USA), tests were performed at 60 deg/sec and 180 deg/sec for both sides. Peak torque normalized to body weight, external rotator to internal rotator ratio, total work and fatigue were calculated for each angular velocity. The association between internal rotator and external rotator strength and shoulder instability was analyzed by comparisons with a control group. Results: Any notable differences could not be found between the two groups given all data from no symptomatic left shoulder. There were no significant differences between the two groups statistically in internal rotation strength of right shoulder. However, there has been a tendency that at all angular velocities, external rotator peak torque to body weight, total work and external rotator to internal rotator ratio were significantly lower in the anterior instability group than the control group at all angular velocities. There was no substantial difference between those groups with respect to the fatigue of external rotator and internal rotator in our study. Conclusion: The prominent characteristics of posttraumatic recurrent anterior shoulder dislocation are external rotator weakness and loss of balance with external rotator and internal rotator. Therefore selective training using this information rotator might be helpful in conservative treatment and rehabilitation.

• Korean Journal of Applied Biomechanics
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• v.15 no.3
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• pp.143-152
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• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.12
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• pp.3902-3909
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• 2009

The purpose of this study was to investigate the spontaneous therapy, TENS(transcutaneous electrical nerve stimulation) and ice therapy after induction of DOMS(delayed onset muscle soreness) through application of eccentrically exercise in ralation to biceps brachii muscle of opposite-dominance. And to explain this, we analyzed VAS(visual analogue scales), peak torque, RMS(roots mean square) when exercising elbow joint. The subjects were 30 adults without any physical defect. Subjects were divided into three groups that spontaneous therapy, TENS therapy and ice therapy after DOMS induction, choosen movement could get the maximal peak torque in angular velocity of $60^{\circ}$/sec, and mearsured peak torque, RMS and VAS. 1. The VAS was significantly decreased after 3 days application of TENS than other groups(p<.05). 2. The peak torque was significantly increased after 3 days application of TENS than other groups(p<.05). 3. The RMS was significantly increased after 3 days application of TENS than other groups(p<.05). This study showed that TENS therapy application were effective treatment strategy on DOMS than spontaneous therapy and ice therapy. Therefore, it could be considered as a treatment method in the patients with DOMS.