• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• 자동차안전학회지
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• 제16권1호
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• pp.6-11
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• 2024

This paper presents a motion planning algorithm of autonomous racing vehicles for mimicking the characteristics of a human driver. Time optimal maneuver of a race car has been actively studied as a major research area over the past decades. Although the time optimization problem yields a single time series solution of minimum time maneuver inputs for the vehicle, human drivers achieve similar lap times while taking various racing lines and velocity profiles. In order to model the characteristics of a specific driver and reproduce the motion, a stochastic motion planning framework based on kernelized motion primitive is introduced. The proposed framework imitates the behavior of the generated reference motion, which is based on a small number of human demonstration laps along the racetrack using Gaussian mixture model and Gaussian mixture regression. The mean and covariance of the racing line and velocity profile mimicking the driver are obtained by accumulating the outputs tested at equidistantly sampled input points. The results confirmed that the obtained lateral and longitudinal motion simulates the driver's driving characteristics, which are feasible for actual vehicle test environments.

• 한국운동역학회지
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• 제24권2호
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• pp.151-160
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• 2014

The purpose of this study was to investigate the GRF(ground reaction force) parameters according to the shoes's heel heights and ground landing distances during downward stairs on bus. Participants selected as subject were consisted of young and healthy women(n=9, mean age: $21.30{\pm}0.48$ yrs, mean height: $164.00{\pm}3.05cm$, mean body mass: $55.04{\pm}4.41kg$, mean BMI: $20.47{\pm}1.76kg/m^2$, mean foot length: $238.00{\pm}5.37mm$). They were divided into 2-types of shoe's heel heights(0 cm/bare foot, 9 cm) and also were divides into downward stairs with 3 types of landing distance(20 cm, 35 cm, 50 cm). A one force-plate was used to collect the GRF(AMTI, USA) data from the sampling rate of 1000 Hz. The GRF parameters analyzed were consisted of the medial-lateral GRF, anterior-posterior GRF, vertical GRF, loading rate, Center of Pressure(${\Delta}COPx$, ${\Delta}COPy$, COP area) and Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) during downward stairs on bus. Medial-lateral GRF and vertical GRF didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 9 cm shoes heel showed higher vertical GRF than that of 0 cm bare foot in landing distance of 50 cm. Also anterior-posterior GRF didn't show significant difference statistically according to the shoe's heel heights, but landing distance of 20 cm showed higher than that of landing distances of 35 cm and 50 cm in anterior-posterior GRF. Loading rate didn't show significant difference statistically according to the landing distance, but 9 cm shoe's heel showed higher than that of 0 cm bare foot during downward stairs. The ${\Delta}COPy$ and COP area didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 0 cm bare foot showed higher than that of 9 cm shoe's heel in ${\Delta}COPx$. Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) didn't show significant differences statistically according to the landing distance, but 9 cm shoe's heel showed decreased value than that of 0 cm bare foot in dynamics balance. Considering the above, parameters of GRF showed different characteristics according to the shoe's heel heights and ground landing distances during downward stairs on bus.

• The Korean Journal of Physiology and Pharmacology
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• 제16권4호
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• pp.255-264
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• 2012

The structures of the intact synaptosomal plasma membrane vesicles (SPMVs) isolated from bovine cerebral cortexs, and the outer and the inner monolayer separately, were evaluated with 1,6-diphenyl-1,3,5-hexatriene (DPH) and 1,3-di(1-pyrenyl)propane (Py-3-Py) as fluorescent reporters and trinitrophenyl groups as quenching agents. The methanol increased bulk rotational and lateral mobilities of SPMVs lipid bilayers. The methanol increased the rotational and lateral mobilities of the outer monolayers more than of the inner monolayers. n-(9-Anthroyloxy)stearic acid (n-AS) were used to evaluate the effect of the methanol on the rotational mobility at the 16, 12, 9, 6, and 2 position of aliphatic chains present in phospholipids of the SPMVs outer monolayers. The methanol decreased the anisotropy of the 16-(9-anthroyloxy)palmitic acid (16-AP), 12-(9-anthroyloxy)stearic acid (12-AS), 9-(9-anthroyloxy)stearic acid (9-AS), and 6-(9-anthroyloxy)stearic acid (6-AS) in the SPMVs outer monolayer but it increased the anisotropy of 2-(9-anthroyloxy)stearic acid (2-AS) in the monolayers. The magnitude of the increased rotational mobility by the methanol was in the order at the position of 16, 12, 9, and 6 of aliphatic chains in phospholipids of the outer monolayers. Furthermore, the methanol increased annular lipid fluidity and also caused membrane proteins to cluster. The important finding is that was far greater increase by methanol in annular lipid fluidity than increase in lateral and rotational mobilities by the methanol. Methanol alters the stereo or dynamics of the proteins in the lipid bilayers by combining with lipids, especially with the annular lipids. In conclusion, the present data suggest that methanol, in additions to its direct interaction with proteins, concurrently interacts with membrane lipids, fluidizing the membrane, and thus inducing conformational changes of proteins known to be intimately associated with membranes lipids.

• 대한의생명과학회지
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• 제13권4호
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• pp.251-261
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• 2007

A myofiber of skeletal muscle is composed of myofibrils, sarcolemma (plasma membrane), and constameres, which anchor the myofibrils to the sarcolemma. Achvillin is a recently identified F-actin binding muscle protein, co-isolates with dystrophin and caveolin-3 in low-density sarcolemma of striated muscle, and colocalizes with dystrophin at costameres, the specialized adhesion sites in muscle. Archvillin also binds to nebulin and localizes at myofibrillar Z-discs, the lateral boundaries of the sarcomere in muscle. However other roles of archvillin on the dynamics of myofibrillogenesis remain to be defined. The goal of this study is, by using siRNA-mediated gene silencing technique, to investigate the effect of archvillin on the dynamics of myofibrillogenesis in cell culture of a mouse skeletal myogenic cell line (C2C12), where presumptive myoblasts withdraw from the cell cycle, fuse, undergo de novo myofibrillogenesis, and differentiate into mature myotubes. The roles of archvillin in the assembly and maintenance of myofibril and during the progression of myofibrillogenesis induced in skeletal myoblast following gene silencing in the cell culture were investigated. Fluorescence microscopy demonstrated that the distribution of archvillin was changed along the course of myofibril assembly with nebulin, vinculin and F-actin and then located at Z-lines with nebulin. Fluorescence microscopy demonstrated that knockdown of mouse archvillin expression led to an impaired assembly of new myofibrillar clusters and delayed fusion and myofibrillogenesis although the mouse archvillin siRNA did not affect those expressions of archvillin binding proteins, such as nebulin and F-actin. This result is corresponded with that of RT-PCR and western blots. When the perturbed archvillin was rescued by co-transfection with GFP or Red tagged human archvillin construct, the inhibited cell fusion and myotube formation was recovered. By using siRNA technique, archvillin was found to be involved in early stage of myofibrillogenesis. Therefore, the current data suggest the idea that archvillin plays critical roles on cell fusion and dynamic myofibril assembly.

• 대한의용생체공학회:의공학회지
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• 제21권3호
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• pp.261-271
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• 2000

벽면운동(wall motion)과 임피던스 페이즈앵글(impedance phase angle; 압력파와 유랑파 기아의 위상차)을 고려하여 맥동유동하에 있는 복부대동맥 분기관모델에서 2차원 전산유체해석을 수행하였다. 해석결과 분기광 근처에서응 전단응력의 크기가 매우 급격한 변화를 보임을 관찰하였고 벽면운동은 전단응력의 진폭을 감소시키는 효과를 가져왔다. 임피던스 페이즈 앵글이 음의 값을 향해 갈수록 시간 평균된 벽면 전단응력(mean wall shear stress)의 값은 감소하였으나 진폭(amplitude of wall shear stress)은 오히려 증가하였다. 페이즈앵글의 영향은 평균 벽면전단응력이 영에 근접하는 외벽(outer wall or lateral wall)의 바같쪽으로 휘어지는 부분(curvature site)에서 상대적으로 크게 나타났는데 $-90^{\circ}$ 페이즈앵글(혈류파가 혈압파를 1/4주기 앞서는 경우)일 경우에 $0^{\circ}$의 경우에 비해 평균은 $50\%$정도 감소하였고 진폭은 $15\%$정도의 상승를 나타내었다. 그러므로 고혈압 환자와 같이 큰 음의 페이즈앵글을 갖는 경우, 벽면전단응력의 평균은 낮아지고 시간에 따라 변화량(진폭)은 증가하므로 low and oscillatory wall shear stress 이론에 의하면 동맥경화에 더 민감하게 된다. 비뉴턴유체로 모델링한 경우에는 뉴턴유체의 경우에 비해 벽면전단응력의 평균값이 증가하므로서 동맥경화에 덜 민감하게 된다.

• 대한인간공학회지
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• 제31권2호
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• pp.345-352
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• 2012

Objective: The aim of this study is to evaluate the accuracy and reliability of Spine-Pelvis Monitor(SPM) that was developed to measure 3-dimensional motion of spine and pelvis using tilt sensor and gyro sensor. Background: The main cause of low back pain is very much associated with the task using the low back and pelvis, but no measurement technique can quantify the both spine and pelvis. Method: For testing the SPM, 125 angles from three anatomical planes were measured three times in order to evaluate the accuracy and reliability. The accuracy of SPM in measuring dynamic motion was evaluated using digital motion analysis system. The motion pattern captured by two measuring methods was compared with each other. In result, the percentage error and Cronbach coefficient alpha were calculated to evaluate the accuracy and reliability. Results: The percentage error was 0.35% in flexion-extension on sagittal plane, 0.43% in lateral bending on coronal plane, and 0.40% in twisting on transverse plane. The Cronbach coefficient alpha was 1.00, 0.99 and 0.99 in sagittal, coronal and transvers plane, respectively. Conclusion: The SPM showed less than 1% error for static measurement, and showed reasonably similar pattern with the digital motion system. Application: The results of this study showed that the SPM can be the measuring method of spine pelvis motion that enhances the kinematic analysis of low back dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.537-541
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• 2003

In order to control the missiles by aerodynamics, control surfaces sometime called fins are used. Deflection angles of these fins are the right control variables of the aerodynamics, but aerodynamicists prefer to use analytic variables called aileron, elevator and rudder instead of these physical variables, because these three analytic variables dominantly influence on the roll, pitch and yaw channels of the missile maneuver, respectively, and each can be assumed a linear combination of four fin deflection angles. On that basis, roll, pitch and yaw autopilots for controlling the attitudes or lateral acceleration of the missile are designed, and as a consequence outputs of each autopilot are aileron, elevator and rudder commands, respectively. In the existing fin control scheme for the typical tail-fin controlled cruciform missiles, firstly these outputs are distributed to four fin defection commands, and after that four fins are actuated by fin controllers so that their deflections follow the commands. This paper shows that performance of such control schemes can be degraded significantly when fin actuators have certain physical constraints such as slew rate, voltage or current limit, uncertainty of actuator dynamics, and so on, and propose a new control scheme which alleviates such problems. This scheme can be widely applied to various fin actuation systems. But in this paper, for convenience, tail-fin controlled cruciform missile is taken as an example, and it is shown that a proposed control scheme gives better performance than the existing one.

• 대한의용생체공학회:의공학회지
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• 제28권2호
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• pp.187-194
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• 2007

The purpose of this study is to determine the characteristics of ground reaction force(GRF) in golf swing for various slopes of flat lie and uphill lies of 5 and 10 degrees. Five right-handed professional golfers were selected for the experiment and the 7 iron club was used. We used four forceplates to measure GRF and synchronized with the three-dimensional motion analysis system. Results showed that slope did not affect the total time for golf swing, but the time until the impact had a tendency to slightly increase for the uphill lie(p<0.05). The medial-lateral GRF of the right foot increased toward the medial direction during back swing, but less increases were found with the angle of uphill lie(p<0.05). The GRF of the left foot increased rapidly toward the medial direction at the uncocking and the impact during down swing, but decreased with the increase in the angle of uphill lie(p<0.05). The anterior-posterior GRF of both feet showed almost the same for different slopes. With the slopes, the vertical GRF of the right foot increased, but the vertical GRF of left foot decreased(p<0.05). Uphill lies would have negative effect to provide the angular momentum during back swing, restricting pelvic and trunk rotations, and to provide the precise timing and strong power during down swing, limiting movements of body's center of mass. The present study could provide valuable information to quantitatively analyze the dynamics of golf swing. Further study would be required to understand detailed mechanism in golf swing under different conditions.

• 대한기계학회논문집A
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• 제36권6호
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• pp.673-679
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• 2012

차량의 롤오버는 심각한 사고중의 하나로 SUV 에 있어서 더욱 위험하나 롤오버 방지시스템을 통하여 발생을 최소화 시킬 수 있다. 하지만 이러한 방지 시스템의 성능은 승객 수나 다른 하중 조건에 따라 변하는 차의 질량이나 무게중심 같은 차량 관성 파라미터에 매우 민감하다. 본 논문에서는 이러한 문제점을 개선하기 위하여 종 방향, 횡 방향, 수직 방향 동역학을 기반으로 한 세 가지 질량 추정 알고리즘을 개발하고 이 세 가지 알고리즘들을 통합하여 임의의 주행 상황에서 실시간 연산을 통해 차량의 질량을 추정할 수 있는 통합 차량 질량 추정 방법을 제안하였다. 또한 실시간 시뮬레이션과 실험을 통하여 이 방법의 성능을 검증하였다.