• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.882-887
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• 2008

In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.315-318
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• 2003

A systematic output-tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm-bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities (LMIs). A stability condition on the traversing time-instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design method.

• Proceedings of the Korea Contents Association Conference
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• 2013.05a
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• pp.385-386
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• 2013

키네시오 테이핑은 일반 테이핑과 함께 다양한 분야에서 쓰이고 있으며 그 효과에 대한 연구 또한 다양하게 진행되고 있다. 우리는 키네시오 테이핑과 테이핑이 제자리 점프 시 발목 관절의 균형에 어떠한 영향을 미치는가를 알아보기 위해 다음의 실험을 고안하였다. 11명의 피험자에게 제자리 점프 시 발목관절의 움직임을 맨발, 테이핑 적용, 키네시오 테이핑 적용후로 나누어 시상면의 각도 변화를 통해 평가하였다. 테이핑은 근피자극효과에 초점을 맞추어 발목 관절의 움직임을 제한할 정도로 적용하지는 않았다. 그 결과 키네시오 테이핑과 테이핑 모두에서 줄어든 각도 변화가 관찰되었으나 유의한 차이값을 보여주지는 않았다. 그러므로 키네시오 테이핑과 테이핑(근피자극효과)이 발목관절의 안정성에 효과가 있는지에 관한 문제는 추가적인 연구가 필요할 것으로 보인다.

• Journal of International Academy of Physical Therapy Research
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• v.7 no.1
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• pp.979-988
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• 2016

The purpose of this systematic review is to investigate the effects of tape application on improving body conditions. The search strategy for this review included a literature search by members of the International Kinematic Academy in 12 countries between January 2014 and February 2015 using PubMed, CINAHL, Cochrane, Google Scholar, websites and national journals. The search words included "Kinesiotape, Kinesio tape, kinesiotaping, elastic taping, taping, functional taping, myofascial taping, sensomotor taping". The review included all articles, even those published in different languages. These searches resulted in 821 publications. There are several effects of tape application were revealed such as improving blood circulation, lymphatic circulation, body range of motion, activation of mechanoreceptor and joint stability, and decreasing pain. No one negative about the positive effects of taping, however the more effort is required to find evidence of effects of tape application.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.445-445
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• 2000

This paper proposes the MIMO indirect adaptive fuzzy controller to control the two-link manipulators. The input-output linearization technique, equivalent control input plus integral term, augmented error model and recursive least square adaptive law are used fer the controller. The linear type of fuzzifier-defuzzifier fuzzy logic system used for nonlinear function makes easy to farm the error model and able to follow the adaptive system approach. Such that control approach, the control system is not required joint speed and accerelation measurement and easy to implement and tune. The simulation results showed that the proposed controller has good control performance, stability, very small tracking error, decoupling, fast convergence, robust to parameter variation and load.

• 한국연소학회:학술대회논문집
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• 2002.11a
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• pp.25-31
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• 2002

For the better understanding of the stability of turbulent combustion, more researches on extinction and re-ignition are needed. Flame interactions in non-premixed flame have also not been greatly researched. We made a hybrid twin jet flame, the combinations of diffusion flame and partially-premixed diffusion flame, in a twin jet counterflow configuration. The extinction limits of a crossed twin jet counterflow have been extended in comparison with those of a one-dimensional counterflow because of flame interactions through heat transfer and joint ownership of various radicals. Besides, we have obtain ignition $Damk\"{o}hler$ number by experimental method without external ignition source using the extinction characteristic in a crossed twin jet counterflow flame. From results, we can identify the hysteresis between extinction and ignition $Damk\"{o}hler$ number in S-curve.

• Journal of Korean Orthopaedic Sports Medicine
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• v.6 no.2
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• pp.77-82
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• 2007

The thrower's shoulders require a delicate balance between mobility and functional stability. First step to successful nonoperative management is an accurate diagnostic approach. Rehabilitation program follows a well-organized, multiphase approach with focus on controlling painful inflammation, restoring muscle balance, obtaining joint flexibility, improving proprioception and neuromuscular control, and effectively returning to competitive pitching. In this article, the typical musculoskeletal profile of the overhead thrower and various rehabilitation programs for specific injuries are discussed.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.4
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• pp.446-454
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• 2011

In terms of the anatomy and mechanics of the human foot, a flexible robot foot with toes and heel joints is designed for a bipedal walking robot. We suggest three design considerations in determining foot design parameters which are critical for walking stability. Those include the position of the frontal toe, the stiffness of toes and heels, and the position of the ankle joint. Compared with the conventional foot with flat sale, the proposed foot is advantageous for human-like walking due to the inherent structural flexibility and the reasonable parameter values. Simulation results are provided to determine the design parameters and also show that the proposed foot enables smaller energy consumption.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.123-129
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• 2010

The purpose of study is to investigate the correlation between the Lyapunov exponent (LE) and the displacement of the center of gravity (DCG) for clarifying walking stability on the treadmill. From fifteen young healthy subjects volunteered, lower extremity joint angles were recorded using a three-dimensional motion capture system with reflective markers. The anteroposterior DCG and the LE were calculated by a commercial software. A linear correlation between LE and DCG (p<0.05) showed that LEs compensated for walking distance on the treadmill walking. However, LEs were found to be independent of self-selected walking speeds by a negligible correlation between LE and the Froude number (p>0.05).