• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.76-82
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• 1998

In this study, the Ball screw and Servo motor Mechanism is considered as a High Speed Tool Feed System for the machining of a piston of a reciprocating engine. For the machining of a piston, that shapes oval, high speed servo mechanism is needed as a positioning of a cutting tool, and the stroke of tool is 0.1 mm ~ 1 mm. Ball screw and servo motor Mechanism is available very much because this mechanism is used widely in general machine. This Mechanism has been designed with the use of the decrease in mass and partial wear of the ball screw for high speed positioning of tool. Also the periodic learning control method with the inverse transfer function compensation has been applied to the positioning control for the high accuracy positioning of tool. These applications lead the achievement of the machining of a piston with an accuracy of 5${\mu}{\textrm}{m}$ at 2500 rpm in CNC turning.

• Journal of IKEEE
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• v.23 no.4
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• pp.1236-1242
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• 2019

Recently, according to improvement of robot technology, research for mobile robot is increasing. Mobile robot having 2-wheels or 4-wheels is easy for straight driving but is difficult for direction change and rotation. So, ball robot having one contact point with base is interested by researchers. By characteristics of the one contact, ball robot is required the balancing and driving control. In this paper, smart phone application, which is usable for control by wireless communication, is proposed. The ball robot having the proposed smart phone application is designed and manufactured. Balancing and driving control by wireless communication is conducted. From the test, it is conformed that ball robot has the control performances as roll angle error is ±0.8deg, pitch angle error is ±0.7deg, x-axis position error is ±0.1m, and y-axis position error is ±0.08m for 1m driving control.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.2
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• pp.44-49
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• 2008

This paper describes the problem of ultraprecision positioning with a ball screw mechanism in the microdynamic range, along with its solution. We compared the characteristics of two ball screw mechanisms with different table masses. The experimental results showed that the vibration resulting from the low stiffness of the ball screw degraded the positioning performance in the microdynamic range for the heavyweight mechanism. The proposed nominal characteristic trajectory following (NCTF) controller was designed for ultra precision positioning of the ball screw mechanism. The basic NCTF control system achieved ultra precision positioning performance with the lightweight mechanism, but not with the heavyweight mechanism. A conditional notch filter was added to the NCTF controller to overcome this problem. Despite the differences in payload and friction, both mechanisms then showed similar positioning performance, demonstrating the high robustness and effectiveness of the improved NCTF controller with the conditional notch filter. The experimental results demonstrated that the improved NCTF control system with the conditional notch filter achieved ultra precision positioning with a positioning accuracy of better than 10 nm, independent of the reference step input height.

• 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.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Korean Journal of Soil Science and Fertilizer
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• v.10 no.1
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• pp.61-67
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• 1977

A study was conducted in order to compare the topdressing method of the conventional fertilizers as control and the deep application method of the ball complex fertilizer newly developed. The ball complex fertilizer consisted of 5% of nitrogen, 5% of phosphorus, and 7% of potassium. Basal application of nitrogen for the rice plant was the same for both control plots and ball complex plots. One ball complex fertilizer per four hills was applied at depth of 12~13cm 35days before heading stage while control plot received three times topdressing at different growth stages as usual practice. The results obtained were as follows. 1. The ball complex fertilizer applied in the soil was continuously utilized by the rice plants until harvest time while nitrogen and potassium uptake of control plots was reduced rapidly after heading stage. Daily uptake of nitrogen and potassium per hill at maturing stage were 0.45mg and 0.68mg in control plots, but 4.80mg and 7.0mg respectively in ball complex plots. 2. Dry matter productivity of the rice plant in control plots, well coinciding with nutrients uptake pattern, was maximum just after heading stage decreased at maturing stage. But dry matter productivity in ball complex plots was much higher at maturing stage than at heading stage. 3. Ball complex application increased effective tillering rate, causing higher panicle number per hill. 4. Ball complex application brought about 528kg/10a of hulled grain yield while the conventional practice 423kg/10a. 5. Deep application of ball complex was superior to usual practice in terms of yield components such as panicle number per hill, filled grain number per panicle, maturing rate, and 1,000 grain weight. 6. From the morphological characteristics point of view, the deep application of ball complex made the flag leaf and the 2nd leaf heavier, larger and broader as compared to control treatment. 7. It is considered that by applying the ball complex fertilizer at depth of 12~13cm sufficient amount of nitrogen and potassium could be utilized by rice plants during the maturing stage and assimilated in the leaf blade, consequently making the flag leaf and the 2nd leaf bigger and healthier. The fact can easily explain that the ball complex plots had higher capacity of photosynthesis, less discoloration of lower leaves, bigger leaf area index, and better grain yield as compared to the conventional practice. In conclusion the deep application method of the ball complex fertilizer was superior to the routine topdressing method of the usual fertilizers.

• 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.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.4
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• pp.8-14
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• 2006

The important function of Ball-Stop part is to operate power shift using suitable pneumatic force for vehicle with more than 5 ton when a driver changes gear. In this paper, we have applied the concept of the DFSS(Design for Six Sigma) to robust design of Ball-Stop part. First, we have found the control factors which could mainly influence the performance of the Ball-Stop part. The simulations of contact between head and detent pin was performed to evaluate effect of control factors according to DOE(Design of experiment) by using $ADAMS^{(R)}$. Finally, we have obtained optimal levels of each factors using $MINITAB^{(R)}$. Through the comparison of the result of optimized design with one of inintial design, we have verified the usefulness of DFSS method which can be applied to robust design of mechanical systems.

• Advances in materials Research
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• v.6 no.3
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• pp.245-255
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• 2017

High energy ball milling is employed to produce iron matrix- multiwall carbon nanotube (MWCNT) reinforced composite. The damage caused to MWCNT due to harsh ball milling condition and its influence on interfacial bonding is studied. Different amount of MWCNT is used to find the optimal percentage of MWCNT for avoidance of the formation of chemical reaction product at the matrix - reinforcement interface. Effect of process control agent is assessed by the use of different materials for the purpose. It is observed that ethanol as a process control agent (PCA) causes degradation of MWCNT reinforcements after milling for two hours whereas solid stearic acid used as process control agent, allows satisfactory conservation of MWCNT structure. It is further noted that at a high MWCNT content (~ 2wt.%), high energy ball milling leads to reaction of iron and carbon and forms iron carbide (cementite) at the iron-MWCNT interface. At low percentage of MWCNT, dissolution of carbon in iron takes place and the amount of reinforcement in iron matrix composite becomes negligibly small. However, under the present ball milling condition (ball to metal ratio~ 6:1 and 200 rpm vial speed) iron-1wt.% MWCNT composite of good interfacial bonding can retain the tubular structure of reinforcing MWCNT.

• Physical Therapy Rehabilitation Science
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• v.12 no.3
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• pp.355-364
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• 2023

Objective: The aim of this study is to test the effects of elastic band exercise accompanied by Swiss ball exercise on lower limb muscle strength, balance and pain in middle-aged women with osteoarthritis. Design: A randomized controlled trial. Methods: Thirty-five participants were randomly assigned to the experimental group (n=18), which performed elastic band exercise combined with Swiss ball exercise, and the control group (n=17), which performed elastic band exercise only. Both groups did a 30-minute session of exercise three times a week for eight weeks and were assessed for lower extremity muscle strength, static and dynamic balance, and pain levels before the first therapy session. All participating patients underwent outcome assessment after eight weeks of therapy without any additional treatment. Results: The experimental group made a significant increase in muscle strength of the lower extremities, static and dynamic balance ability, and pain level (p<0.05). The control group made a significant improvement in lower limb muscle strength, dynamic balance ability and pain level (p<0.05) with no such improvement in static balance ability. The exercise group made a significant increase in static and dynamic balance ability and pain level compared to the control group (p<0.05). Conclusions: These results demonstrated that both Swiss ball exercise and elastic band exercise were effective for middle-aged women with osteoarthritis and found that elastic band exercise combined with Swiss ball exercise produced more significant effects on their balance and pain.