• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.192-194
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• 2002

We present the results on the calibration of iso-center positions using the quality assurance system established at PMRC for determination of center position in X-ray and proton irradiation fields. Details on the system are presented in another presentation in this session. The equipment in the system is mounted on a patient treatment bed in each proton exposure room, G1 or G2. A center of a stainless ball on the equipment is set at a cross of laser markers located around the iso-center and fixed on the room and on the snout in the gantry. A proton beam or an X-ray beam is exposed onto the ball through a brass collimator of 100 mm ${\times}$ 100 mm and projected onto the imaging plate set at I cm behind the ball. On the axis perpendicular to the thrust axis of the gantry on the imaging plate, a distance between a center of the collimator image and a center of the ball image varies as a cosine function of gantry angles unless the ball is set on the iso-center. An amplitude of the cosine curve shows the distance between the ball and the iso-center, an offset the offset of the collimator, and a phase shift at a zero crossing point the ball direction viewed from the iso-center. We present the relation among the iso-center position, the laser maker position, and the center of proton and X-ray irradiation fields. Its stability and its reproducibility are discussed.

• Korean Journal of Applied Biomechanics
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• v.31 no.3
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• pp.214-219
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• 2021

Objective: The aim of this study was to evaluate the differences in muscle activity of hamstring muscle depending on the position of the feet during Swiss ball hamstring curl exercise. Method: Total of 15 male participants with no history of hamstring muscle injuries and musculoskeletal disorders in the past 6 months were participated in this study (Age: 29.27 ± 4.96 yrs, Height: 173.47 ± 5.18 cm, Body mass: 75.47 ± 12.50 kg). The muscle activation of semitendinosus and biceps femoris with four different feet positions including neutral stance, internal rotation, external rotation, and wide stance were measured during a Swiss ball hamstring curl exercise. For the analysis, the Swiss ball exercise movement comprised of 3 events (90°→ 0°→ 90°) based on the knee angle and 2 phases relative to the mechanism of muscle contraction (eccentric/concentric contraction). To pursue the study goal, an one-way ANOVA with repeated measures was performed with statistical significance as α = 0.05. Results: There was no statistically significant feet position effect found during the Swiss ball hamstring curl with eccentric contraction phase (p>.05). It is, however, semitendinosus showed an enhanced muscle activation in concentric contraction phase, displaying the highest muscle activity in wide stance and the lowest in external rotation (p<.05). Conclusion: Our findings suggest that this exercise can be beneficial in selectively training the semitendinosus. In other words, Swiss ball hamstring curls performed in wide stance strengthens semitendinosus, which improves the stability of knee and are effective in preventing knee injuries and reinforces rehabilitation.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.1
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• pp.49-60
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• 2022

Purpose : The purpose of this study was to identify whether gym-ball exercise in standing position was an effective intervention for improving muscle strength, balance, gait, and fall efficacy in stroke patients. Methods : Twenty-four stroke patients were randomized into three groups: experimental group 1 (n=8), experimental group 2 (n=8), and control group (n=8). Experimental groups 1, 2 and the control group performed the gym-ball exercise in standing position, same exercise without a gym-ball, and general physical therapy for 4 weeks, five times a week in 30-minute sessions. Muscle strength, balance, gait, and fall efficacy were assessed using a handheld dynamometer, the Berg Balance Scale (BBS), the wearable BTS G-WALK® sensor, and the Korean version of the Falls Efficacy Scale (K-FES), before and after training, respectively. Comparisons within and between groups were analyzed using the Wilcoxon signed rank test, Kruskal Wallis H test, and Mann-Whitney U test. Bonferroni correction was performed when significant differences between groups were identified (p<.017, .05/3). Results : Regarding muscle strength, BBS score, cadence and FES-K were significantly improved after intervention in all three groups. The weight bearing rate, gait speed and step length in experimental group 1 and 2 were significantly improved after the intervention. The stride length in experimental group 1 were significantly improved after the intervention. Experimental group 1 had significantly improved BBS score and stride length after intervention than experimental group 2 and control group. Experimental group 1 and 2 improved muscle strength, weight bearing rate, and FES-K score more than the control group. Experimental group 1 showed significant improvement in cadence, gait speed, and step length after the intervention than control group. Conclusion : This study showed that exercise with gym-ball in standing position can be an effective intervention to improve balance and gait in stroke patients than the same exercise without gym-ball.

• Journal of KSNVE
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• v.11 no.2
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• pp.336-345
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• 2001

This research presents a nonlinear model to analyze the ball bearing nitration due to the waviness in a rigid rotor supported by multi-row ball bearings. The waviness of a ball and each races is modeled by the superposition of sinusoidal function, and the position vectors of inner and outer groove radius center are defined with respect to the mass center of the rotor in order to consider five degrees of freedom of a general rotor-bearing system. The waviness of a ball bearing is introduced to these position vectors to use the Hertzian contact theory in order to calculate the elastic deflection and nonlinear contact force resulting from the waviness while the rotor has translational and angular motion. They can be determined by solving the nonlinear equations of motion with five degrees of freedom by using the Runge-Kutta-Fehlberg algorithm. Numerical results of this research are validated with those of prior researchers. The proposed model can calculate the translational displacement as well as the angular displacement of the rotor supported by the multi-row ball bearings with waviness. It also characterizes the nitration frequencies resulting from the various kinds of waviness in rolling elements, the harmonic frequencies resulting from the nonlinear load-deflection characteristics of ball bearing. and the sideband frequencies resulting from the waviness interaction.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.282-285
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• 1989

This paper presents a new algorithm for position control of the BALL-HOOP system driven by th D.C. servo motor-through the micro computer simulation. The Stale Feed back + PID control algorithm is proposed. This algorithm performs that the settling time is faster and overshoot is decreased more remarkably than the PID and the State Feedback algorithm alone. In this simulation the difference equations are used to calculate the output of the control system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.5
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• pp.972-980
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• 2010

In this study, we introduce the design methodology of an optimized type-2 fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. The type-2 fuzzy cascade controller scheme consists of the outer controller and the inner controller as two cascaded fuzzy controllers. In type-2 fuzzy logic controller(FLC) as the expanded type of type-1 fuzzy logic controller(FLC), we can effectively improve the control characteristic by using the footprint of uncertainty(FOU) of membership function. The control parameters(scaling factors) of each fuzzy controller using HFCGA which is a kind of parallel genetic algorithms(PGAs). HFCGA helps alleviate the premature convergence being generated in conventional genetic algorithms(GAs). We estimated controller characteristic parameters of optimized type-2 fuzzy cascade controller applied ball & beam system such as maximum overshoot, delay time, rise time, settling time and steady-state error. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1133-1139
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• 2014

This paper proposes a simple method to improve a sensitivity of a straightness measurement system for a linear stage, which is applied to a system based on a geometric optic method. An optical system for this method is composed of a corner-cube retro-reflector, a ball-lens and a twodimensional position sensitive detector (2D PSD). The effectiveness of the proposed method was examined theoretically, and verified experimentally using a prototype measurement system. The results show that the measuring sensitivity was dependent on the size of the ball-lens and the setup position of PSD from the ball-lens, and that the proposed method is efficient method to improve the measuring sensitivity.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.10a
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• pp.438-439
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• 2011

Magnetic levitation control system of a metal ball was designed using combined PID and fuzzy logic, in which two electromagnets are used to control the vertical and horizontal position of the ball. Single synchronization coil sensor was used to detect the vertical position. Electric power is differentially supplied to two electromagnets so that the ball can move horizontally. In the experiment 25 cm diameter metal ball was levitated and successfully controlled to move horizontally.

• Journal of IKEEE
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• v.25 no.1
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• pp.148-155
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• 2021

As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.

• Physical Therapy Rehabilitation Science
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• v.9 no.1
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• pp.25-35
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• 2020

Objective: To compare the effects of joint mobilization, gym ball exercises, and breathing exercises on breathing pattern disorders and joint position sense in persons with chronic lower back pain. Design: Three-group pretest-posttest design. Methods: Thirty-six individuals with chronic low back pain who were undergoing a postural correction and vertebral movement at a rehabilitation center participated in this study. The subjects were randomly divided into the joint mobilization group (n=12), gym ball exercises group (n=12), and the breathing exercises group (n=12). The exercises were applied for 40 minutes a day, twice a week for a total of 12 weeks. Measurement tools included the end-tidal CO₂ (ETCO₂), respiration rate (RR), breath hold time, Nijmegen Questionnaire (NQ), excursion, and joint position error (JPE). Results: The groups showed significant differences in the ETCO₂, RR, NQ, Excursion and JPE test before and after the intervention (p<0.05). The differences between the groups were significant in the group that received the gym ball and breathing exercises in ETCO₂ and RR (p<0.05). The differences between the groups were most significant in the group that received breathing exercises in NQ and excursion (p<0.05). The differences between the groups were significant in the group that received the gym ball and breathing exercises in JPE Lt. and Rt. (p<0.05). Conclusions: All three interventions had a significant impact on the biomechanical changes, respiratory variables, and joint position sense in participants with chronic lower back pain. Breathing exercises were found to be particularly effective in improving respiratory parameters.