• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.78-86
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• 2002

In this paper, LMI (Linear Matrix Inequality) based on H$\_$$\infty$/ controller for a lire of sight (LOS) stabilization system. It shows that the proposed controller has more excellent stabilization performance than that of the conventional PI-Lead controller. An H$\_$$\infty$/ control has been also applied to the system for reducing modeling errors and the settling time of the system. The LMI-based H$\_$$\infty$/ controller design is more practical in view of reducing a run-time than Riccati-based H$\_$$\infty$/ controller. This H$\_$$\infty$/ controller is available not only to decrease the gain in PI-Lead control, but also to compensate the identifications for the various uncertain parameters. Therefore, this paper, shows that the proposed LMI-based H$\_$$\infty$/ controller had good disturbance attenuation and reference input tracking performance compared with the control performance of the conventional controller under any real disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.71.4-71
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• 2001

This paper presents swing up and stabilization control of an underactuated two-link robot called the Pendubot. This device is a two-link planar robot with an actuator at the shoulder, but no actuator at the elbow. The controller swings up first link from its open loop stable equilibrium point to the unstable equilibrium point and then, catches the unactuated second link to balance it there. Two control algorithms are used for this task. Proportional Derivative Control technique is used to design the swing up control. The linear model of Pendubot is obtained by linearizing the nonlinear dynamic equations about the desired equilibrium point and LQR technique is used to design a stabilization controller.

• 대한기계학회논문집A
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• 제32권4호
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• Journal of Pharmaceutical Investigation
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• 제32권4호
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• pp.327-330
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• 2002

Alginate based polymeric matrices were designed for controlled release and stabilization of cefaclor in gastrointestinal fluid. Cefaclor is known to be acid stable and subjected to be degraded at neutral and alkaline pHs. In order to achieve an effective release profile of cefaclor in gastrointestinal tract, a particular strategy in dosage form design should be required from the view point of maintaining its activity. The amphiphilic nature of cefaclor allowed its controlled release using ionic polymers based on ionic interaction between the drug and polymers. The thrust of this study was to develop a technique that delivers cefaclor keeping effective release rate in the intestinal tract. Considering the fast degradation of cefaclor in the intestinal fluid, the matrices were designed to release surplus amount of cefaclor. The alginate based matrices demonstrated increase in release rate in the simulated intestinal fluid, which was favorable to compensate the degraded portion of cefaclor. In addition, stabilization of cefaclor in the intestinal fluid was obtained by employing citric acid that provides an local acidic environment. The matrices might be valuably used for the development of an oral cefaclor dosage form.

• Physical Therapy Rehabilitation Science
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• 제11권3호
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• pp.321-328
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• 2022

Objective: The purpose of this study was to investigate the effect of neck stabilization exercise combined with vibroacoustic sound on patients with chronic neck pain and tension-type headache. Design: Two group pre test - post test design. Methods: 36 patients participated. Headache impact test-6(HIT-6), numerical rating scale(NRS) and muscle characteristics were measured at pre-post test. Participants divided into vibroacoustic sound group(VSG, n=18), control group(CG, n=18). VSG performed neck stabilization exercise and vibroacoustic sound stimulation. CG performed neck stabilization exercise. Both groups participated 3 times a week for a total of 4 weeks. Results: NRS showed a significant difference before and after intervention in both groups (p<0.05). HIT-6 showed a significant difference before and after intervention in the VSG group (p<0.05). Muscle tone showed a significant difference before and after intervention in the experimental group (p<0.05). There was no significant difference in muscle stiffness and muscle elasticity before and after the intervention in both groups (p>0.05). Conclusions: Based on the results of the study, it is thought that sonic vibroacoustic sound can be established as an effective treatment tool through a study applied to various diseases and symptoms.

• Physical Therapy Rehabilitation Science
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• 제12권3호
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• pp.310-319
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• 2023

Objective: The purpose of this study was to investigate the effects of a combination of progressive scapular stabilization exercises, neck and thoracic spine mobilization, and thermoelectric physical therapy on pain, range of motion, muscle strength, and function in patients with acute whiplash injury. Design: A randomized controlled trial design. Methods: A total of 24 subjects were included in this study. They were randomly assigned to an experimental group (n=12) that performed scapular stabilization exercises, neck and thoracic spine mobilization, and physiotherapy, and a control group (n=12) that only performed neck and thoracic spine mobilization and physiotherapy. The pre-test was conducted before the intervention and consisted of a total of 12 treatment sessions of 60 minutes each, three times a week. A posttest was conducted 4 weeks later. Pain, range of motion, muscle strength, and function were assessed before and after intervention. Results: The results of the study showed that there was a significant difference in pain reduction and range of motion and muscle strength improvement in the experimental group, and a significant difference was also found between the experimental group and the control group in terms of functional evaluation. Conclusions: The combination of exercise therapy and joint mobilization technique and physical therapy resulted in greater improvements in pain, range of motion, strength, and function assessment, contributing to improved overall function.

• Physical Therapy Rehabilitation Science
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• 제13권1호
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• pp.1-7
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• 2024

Objective: The objective of this study was to investigate the effect of the thoracic mobility exercise program on pain, proprioception, and static balance ability in patients with non-specific chronic low back pain. Design: Randomized controlled trial design. Methods: Thirty patients with non-specific chronic low back pain participated in this study. The participants were randomized into the thoracic mobility exercise group (n=15) and the lumbar stabilization exercise group (n=15). Both groups received traditional physical therapy for 30 minutes per session. In addition, the thoracic mobility exercise group and the lumbar stabilization exercise group each exercise 3 times a week for 6 weeks. All participants were measured visual analog scale, proprioception test, and static balance ability before and after the intervention. Results: After 6 weeks of interventions, the thoracic mobility exercise group showed greater improvement in visual analog scale, proprioception test, and static balance ability than the LSE group (p<0.05). Further, the thoracic mobility exercise group had significant Enhancements in all measured variables compared to the baselinetest (p<0.05). However, the lumbar stabilization exercise group had significant improvement only visual analog scale, and static balance ability compared to the baselinetest (p<0.05). Conclusions: Our investigation demonstrates that the thoracic mobility exercise is an effective intervention method for improving pain, proprioception, and static balance ability in patients with non-specific chronic low back pain.

• PNF and Movement
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• 제15권3호
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• pp.291-302
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• 2017

Purpose: The purpose of this study was to describe the effects of neck and trunk stabilization exercise on the onset time of trunk muscle contraction in the elderly. Methods: Elderly subjects were divided into 2 groups: a neck and trunk stabilization exercise group (NTSG) and a control group (CG). The NTSG performed both neck and trunk stabilization exercises and the CG performed gait training on a treadmill, at 30 min per session, 3 times per week, over 8 weeks. Surface electromyography was employed to measure the onset times of trunk muscle contractions in the right anterior deltoid, rectus abdominis, external oblique abdominis, internal oblique abdominis, and erector spinae muscles. Results: The NTSG subjects showed earlier and statistically significant onset of contraction in trunk muscles as compared to the CG. Conclusion: The combination of neck and trunk stabilization exercises may more effectively improve the onset of muscle contractions in the elderly than other types of exercise. The present study's findings may be used as basic data for the development of exercise programs suitable to the elderly, specifically for the design of home exercise programs.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2002년도 봄 학술발표회 논문집
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• pp.731-738
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• 2002

Recently, as large constructions on the coast are performed frequently, surface layer stabilization method which Is one of the improvement methods for dredged soft clay has been applied. However, there have been few studies about the surface layer stabilization method. The purpose of this study is to clarify characteristics of ultra-soft marine clay and hardening agent. Also, optimal mixture ratio of hardening agent was verified through the laboratory tests such as statistical analysis and pilot tests. Laboratory tests were performed with proper hardening agent and test soil and standard mixing tables of hardening agent were determined according to ground conditions through statistical analysis. Also, applicability of surface layer stabilization method to field was verified by pilot tests. From the results of the tests, it was found that hardening agent materials such as cement, slag, fly-ash, inorganic salts, arwin, gypsum etc. affect on the appearing compressive strength. It was defined optimal mixture ratio which satisfies the required compressive strength from the statistical analysis. Also, It was compared the effect of ground improvement by cements and hardening agents through the pilot tests. This study will serve as data for design or construction criteria of stabilization of surface layer on ultra-soft marine clay.

• 국제물리치료학회지
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• 제10권2호
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• pp.1785-1790
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• 2019

Background: Lumbar disc herniation (LDH) causes neurological symptoms by compression of the dura mater and nerve roots. Due to the changed in proprioception inputs that can result in abnormal postural pattern, delayed reaction time, and changed in deep tendon reflex. Objective: To investigate the effects of lumbar stabilization exercises on motor neuron excitability and neurological symptoms in patients with LDH. Design: Randomized Controlled Trial (single blind) Methods: Thirty patients with LDH were recruited; they were randomly divided into the balance center stabilization resistance exercise group (n=15) and the Nordic walking group (n=15). Each group underwent their corresponding 20-minute intervention once a day, four times a week, for four weeks. Participants' motor neuron excitability and low back pain were assessed before and after the four-week intervention. Results: There were significant differences in all variables within each group (p<.05). There were significant differences between the experimental and control groups in the changes of upper motor neuron excitability and pain (p<.05), but not in the changes of lower motor neuron excitability and Korean Oswestry Disability Index. Conclusion: Lumbar stabilization exercises utilizing concurrent contraction of deep and superficial muscles improved low back function in patients with LDH by lowering upper motor neuron excitability than compared to exercises actively moving the limbs. Lumbar stabilization exercises without pain have a positive impact on improving motor neuron excitability.