• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.4
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• pp.523-528
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• 2015

A new algorithm for a coordinative control method is proposed with respect to voltage control and system stabilization of local substations. This is accomplished using control cooperation between a static synchronous compensator (STATCOM) and the existing voltage compensation equipment in the steady state and emergency state of a power system. A real-time system analysis was developed by combining a system analysis program with InTouch, which has primarily been used in factory automation for verification. PSS/E was used for the load flow calculation software, Python for language, Intouch as an HMI program, and MS SQL for the database. To test this system, the system in the vicinity of the Migeum and the Migeum substations was modeled and simulated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.5
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• pp.661-666
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• 2015

This paper proposes a method for solving running cost problem by minimizing switching reactive power compensation devices. An objective function was modeled by calculating the weighting value of cost, and a solution was derived using ILP. This paper suggests optimal coordinative control method between FACTS, Shunt Reactors, Capacitors and OLTC. Therefore, it is valuable for decision maker in determining order and capacity of devices which gaining a voltage stabilization. As a result, the objectives of voltage stabilization and cost minimization were achieved simultaneously. This realizes the economic efficiency of the system. We start by showing how to solve systems of linear equations using the language of pivots and tableaus. The effectiveness of this technique is demonstrated in modified PSS/E MIGUM 45 bus system. The simulation results show the effectiveness of this algorithm by comparing the outcome withseveral established methods.

• Journal of Electrical Engineering and Technology
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• v.7 no.5
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• pp.689-697
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• 2012

This paper proposes a new coordinated voltage control scheme between STATCOM (Static Synchronous Compensator) and reactive power compensation devices, such as shunt elements(shunt capacitor and shunt reactor) and ULTC(Under-Load Tap Changer) transformer in a local substation. If STATCOM and reactive power compensators are cooperatively used with well designed control algorithm, the target of the voltage control can be achieved in a suddenly changed power system. Also, keeping reactive power reserve in a STATCOM during steady-state operation is always needed to provide reactive power requirements during emergencies. This paper describes the coordinative voltage control method to keep or control the voltage of power system in an allowable range of steady-state and securing method of momentary reactive power reserve using PSS/E with Python. In the proposed method of this paper, the voltage reference of STATCOM is adjusted to keep the voltage of the most sensitive bus to the change of loads and other reactive power compensators also are settled to supply the reactive power shortage in out range of STATCOM to cope with the change of loads. As the result of simulation, it is possible to keep the load bus voltage in limited range and secure the momentary reactive power reserve in spite of broad load range condition.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1261-1268
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• 2013

This study proposes a voltage and reactive coordinative control strategy with distributed generator (DG) in a distribution power system. The aim is to determine the optimum dispatch schedules for an on-load tap changer (OLTC), distributed generator settings and all shunt capacitor switching on the load and DG generation profile in a day. The proposed method minimizes the real power losses and improves the voltage profile using squared deviations of bus voltages. The results indicate that the proposed method reduces the real losses and voltage fluctuations and improve receiving power factor. This paper proposes coordinated voltage and reactive power control methods that adjust optimal control values of capacitor banks, OLTC, and the AVR of DGs by using a voltage sensitivity factor (VSF) and dynamic programming (DP) with branch-and-bound (B&B) method. To avoid the computational burden, we try to limit the possible states to 24 stages by using a flexible searching space at each stage. Finally, we will show the effectiveness of the proposed method by using operational cost of real power losses and voltage deviation factor as evaluation index for a whole day in a power system with distributed generators.

• The Journal of Korean Physical Therapy
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• v.23 no.3
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• pp.71-77
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• 2011

Purpose: In this study, we tried to determine the effect of upper extremity training such as functional reaching on improved trunk control and ADL performance in post-stroke hemiplegic patients. Methods: We randomly selected 11 stroke patients in the hospital, who had a problem with the upper extremity, trunk and ADL performance. The patients were divided into the conservative training group and the functional reaching training group. We applied general occupational therapy only in the conservative training group whereas we applied upper extremity training with a focus on functional reaching in the functional reaching training group. To compare the two groups we used several assessment tools such as Modified Barthel Index (MBI), total Trunk Impairment Scale (TIS), static TIS, dynamic TIS and coordinative TIS. Results: The results obtained were as follows: (1) In the functional reaching training group, there was a statistically significant difference in the total TIS score, dynamic TIS score, and MBI. (2) We compared the results obtained before training with the changes in the results obtained after training and found that there was a relation between the assessment outcomes. Especially, static TIS score showed a relation in both groups. Conclusion: Functional reaching training influenced both the trunk control and ADL performance. Especially, the functional reaching training group demonstrated better static trunk control ability than the conservative treatment group.

• The Journal of Korean Physical Therapy
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• v.16 no.4
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• pp.264-282
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• 2004

The purpose of the study was to investigate the effectiveness of ankle mobilization on neck and shoulder position. One hundred volunteers, aged between 18 and 26 years (mean age 22), were recruited and each subject was divided into four mobilization groups by their body type, which is based on the concept from 'general coordinative manipulation' and a control group. Ankle mobilization was applied based on their body type and no mobilization was applied on those of the control group. The positions of shoulders and neck were measured in comfortable standing posture. All measurements were taken before and after ankle mobilization from each subject in mobilization groups and those of control group was measured twice between ten minutes by a different tester on three different occasions. Twenty subjects were in each group basis of their body type and a control. In the position of neck and shoulder, all subjects regardless group showed significantly changed their neck

• PNF and Movement
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• v.14 no.3
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• pp.203-208
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• 2016

Purpose: This study seeks to examine the effect of a program with functional taping and CLT on the program on fall efficacy and balance of stroke patients with knee pain on the non-affected side, as well as to develop effective programs and training methods to improve the functions of such patients. Methods: The subjects included 31 patients with hemiplegia caused by stroke. The subjects were randomly divided into an experimental group (n = 15), which participated in a program for functional taping and CLT, and a control group (n = 16), which participated in general exercise therapy. The control group underwent general exercise therapy for 30 minutes, three days per week for a six-week period. VAS, FES and TUG were conducted to evaluate changes in pain degree, fall efficacy, and balance. Results: After the intervention, significant differences (p < 0.05) were seen in the VAS, FES and TUG in both groups. The experimental group showed more significant improvement than the control group (p < 0.05). Conclusion: The results from this study indicate that the CLT program is extremely effective for improving fall efficacy and balance.

• The Journal of Sustainable Design and Educational Environment Research
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• v.13 no.2
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• pp.35-43
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• 2014

Under the influence of birth control and rapid urbanization, China's rural school-age population is on a year-by-year decrease, which has led approximately 300 thousand middle and primary schools to idleness ever since 2000. A majority of these idle schools are located in rural areas, almost one half remaining idle due to vagueness in property right. The disposed schools are less efficient for not being combined with the real situation of rural areas. Based on the opportunity of coordinative development of urban-rural areas, this paper analyzes the situationsin terms of the development of public service facilities and the gap between rural and urban areas over the recent years. Then the effective and sustainable reuse scheme to dispose of the idle schools and reshape them into the facilities for the elders, cultural facilities and medical facilities is proposed from the perspectives of perfecting rural public service facilities and guaranteeing citizens' equal share of public service, which both maintains the public nature of the idle schools, reconciles the fuzzy property right, and boosts efficiency of reuse, saves resources, and reduces investment for perfecting rural public facilities.

• PNF and Movement
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• v.16 no.1
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• pp.27-32
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• 2018

Purpose: This study examined changes in gait speed and stride length after an intervention involving simultaneous scapular and pelvic patterns of proprioceptive neuromuscular facilitation in a hemiplegic patient. Methods: A 58-year-old woman with left hemiplegia who had complained of slowness of gait speed and weakness of leg strength took part in an intervention involving scapular postdepression patterns on the affected side and pelvic postdepression patterns on the nonaffected side. The intervention was performed with the patient lying on her left side, in a half kneeling position, and in a standing posture. Rhythmic initiation was used for teaching the movements to the patient and improvement of kinesthesia, and a combination of isotonic was employed for increasing strength and irradiation of the scapula and pelvic movement. The intervention took place for 30 min. It was implemented twice a day, 5 days a week, for 3 weeks. After three repetitions, the average time taken to complete the 10-m walk test (10 MWT), in addition to stride length, was measured to determine gait speed. Results: After the 3-week program, the patient's performance in the 10 MWT improved from 21.7sec to 17.1sec, and her stride length improved from 31.4cm to 38.7cm. Conclusion: The results showed that trunk movement exercise, especially coordinative movements of the scapula and pelvis can improve gait speed and stride length by increasing trunk stability and mobility. A combination of pelvic and scapular patterns can facilitate trunk rotation, thereby improving gait speed and stride length.