• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.359-370
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• 2023

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.

• 자동차안전학회지
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• 제15권3호
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• pp.17-26
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• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• Earthquakes and Structures
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• 제25권6호
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• pp.417-427
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• 2023

If the center of mass and center of stiffness or strength of a structure plan do not coincide, the structure is considered asymmetric. During an earthquake, in addition to lateral vibration, the structure experiences torsional vibration as well. Lateraltorsional coupling in asymmetric structures in the plan will increase lateral displacement at the ends of the structure plan and, as a result, uneven deformation demand in seismically resistant frames. The demand for displacement in resistant frames depends on the magnitude of transitional displacement to rotational displacement in the plan and the correlation between these two. With regard to the inability to eliminate the asymmetrical condition due to various reasons, such as architectural issues, this study has attempted to use supplemental viscous dampers to decrease the correlation between lateral and torsional acceleration or displacement in the plan. This results in an almost even demand for lateral deformation and acceleration of seismic resistant frames. On this basis, using the concept of Torsional Balance, adequate distribution of viscous dampers for the decrease of this correlation was determined by transferring the "Empirical Center of Balance" (ECB) to the geometrical center of the structure plan and thus obtaining an equal mean square value of displacement and acceleration of the plan edges. This study analyzed stiff and flexible torsional structures with one-way and two-way mass asymmetry in the Opensees software. By implementing the Particle Swarm Optimization (PSO) algorithm, the optimum formation of dampers for controlling lateral displacement and acceleration is determined. The results indicate that with the appropriate distribution of viscous dampers, not only does the lateral displacement and acceleration of structure edges decrease but the lateral displacement or acceleration of the structure edges also become equal. It is also observed that the optimized center of viscous dampers for control of displacement and acceleration of structure depends on the amount of mass eccentricity, the ratio of uncoupled torsional-to-lateral frequency, and the amount of supplemental damping ratio. Accordingly, distributions of viscous dampers in the structure plan are presented to control the structure's torsion based on the parameters mentioned.

• 대한물리의학회지
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• 제3권2호
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• pp.127-133
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• 2008

Purpose : The purpose of this study was carried out to review the correlation between foot shape(supination foot, pronation foot) and low back pain, hip abduction muscle and ankle lateral sprain. Methods : By using internet, we research the PubMed, Science Direct, KISS, DBpia We selected the article between 1990 and 2007. Key words were supination foot, pronation foot, balance. Results : Normal control balance of human body needs a optimal anatomical alignment and function of musculoskeletal and central nerve system that control continuously to integrate. Especially ankle and foot complex play an important role in postural control because it is located distal part in human body. Supination foot brings to chronic ankle sprain or chronic ankle instability and range of motion limitation due to the weakness of lateral ankle muscle. Pronation foot brings to knee injury because of lower leg internal rotation force. Conclusion : Excessive supination and pronation foot happen to muscle imbalance. Especially weakness of hip abduction or injury of ankle lateral muscle or low back pain are due to abnormal balance and anatomical alignment.

• International Journal of Automotive Technology
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• 제4권4호
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• pp.173-180
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• 2003

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

• International Journal of Aeronautical and Space Sciences
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• 제2권1호
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• pp.93-102
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• 2001

Flight control design for the autonomous waypoint navigation of aircraft is presented in this study. The waypoints are defined in terms of desired longitude and latitude. The control design is conducted in longitudinal and lateral directions, respectively. The lateral control is based upon coordinated turn strategy for which no sideslip is allowed under the turning maneuver. The longitudinal control is mainly focused on altitude hold during navigation. Neural network control approach is applied to the altitude-hold mode control. Simulation of the proposed control strategy has been performed under various conditions. A graphical simulation tool was developed to visually demonstrate the control technique developed in this study. A method to simulate the gas turbine transient behavior is developed. The basic principles of the method.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.183-192
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• 2003

Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

• 한국전문물리치료학회지
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• 제27권3호
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• pp.178-184
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• 2020

Background: Stroke patients have reduced trunk control compared to normal people. The ability to control the trunk of a stroke patient is important for gait and balance. However, there is still a lack of research methods for the characteristics of stroke control in stroke patients. Objects: The aim of this research was to determine whether trunk position sense has any relation with balance and gait. Methods: This study assessed trunk performance by measuring position sense. Trunk position sense was assessed using the David back concept to determine trunk repositioning error in 20 stroke patients and 20 healthy subjects. Four trunk movements (flexion, extension, lateral flexion, rotation) were tested for repositioning error and the measurement was carried out 6 times per move; these parameters were used to compare the mean values obtained. Subjects with stroke were also evaluated with clinical measures of balance and gait. Results: There were significant differences in trunk repositioning error between the stroke group and the control group in flexion, lateral flexion to the affected side, lateral flexion to the unaffected side, rotation to the affected side, and rotation to the unaffected side. Mean flexion error: post-stroke: 7.95 ± 6.76 degrees, control: 3.32 ± 2.27; mean lateral flexion error to the affected side: 6.13 ± 3.79, to the unaffected side: 5.32 ± 3.15, control: 3.57 ± 1.92; mean rotation error to the affected side: 8.25 ± 3.09, to the unaffected side: 9.24 ± 3.94, control: 5.41 ± 1.82. There was an only significant negative correlation between the repositioning error of lateral flexion and the Berg balance scale score to the affected side (-0.483) and to the unaffected side (-0.497). A strong correlation between balance and gait was found. Conclusion: The results of this study indicate that stroke patients exhibit greater trunk repositioning error than age-matched controls on all planes of movement except for extension. And lateral flexion has correlation with balance and gait.

• Journal of Periodontal and Implant Science
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• 제53권2호
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• pp.157-169
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• 2023

Purpose: The aim of this study was to evaluate the impact of polydeoxyribonucleotide (PDRN) on histologic outcomes when implant placement and lateral sinus floor elevation are performed simultaneously. Methods: Three bimaxillary premolars (P2, P3, and P4) were extracted from 4 beagle dogs 2 months before lateral sinus floor elevation. After lateral elevation of the sinus membrane, each sinus was allocated to either the test or control group. Sinuses underwent either 1) collagenated synthetic bone graft with PDRN following lateral sinus floor elevation (test group) or 2) collagenated synthetic bone graft without PDRN after lateral sinus floor elevation (control group). Eight weeks after the surgical procedure, all animals were euthanised for a histologic and histomorphometric assessment. Augmented height (AH), protruding height (PH), and bone-to-implant contact in pristine (BIC_p) and augmented (BIC_a) bone were measured. The composition of the augmented area, which was divided into 3 areas of interest located in coronal, middle and apical areas (AOI_C, AOI_M, and AOI_A), was calculated with 3 parameters: the area percentage of new bone (pNB), residual bone graft particle (pRBP), and fibrovascular connective tissue (pFVT). Results: AH, PH, BIC_p, BIC_a total, BIC_a coronal, and BIC_a middle values were not significantly different between sinuses in the control and test groups (all P>0.05). The BIC_a apical of sinuses in the test group (76.7%±9.3%) showed statistically higher values than those of sinuses in the control group (55.6%±22.1%) (P=0.038). pNB, pRBP, and pFVT showed statistically significant differences between the 2 groups in AOI_A (P=0.038, P=0.028, and P=0.007, respectively). pNB, pRBP, and pFVT in AOI_C and AOI_M were not significantly different between samples in the control and test groups (all P>0.05). Conclusions: The histologic findings revealed that lateral sinus floor elevation with PDRN might improve early new bone formation and enable higher bone-to-implant contact.

• 한국공간구조학회논문집
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• 제6권3호
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• pp.103-110
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• 2006

본 연구에서는 지진하중을 받는 고층 RC 골조구조물의 횡변위를 정량적으로 제어할 수 있는 방안을 제시한다. 이를 위해 수학적인 일반성을 가지면서 큰 규모의 문제도 효율적으로 다룰 수 있는 근사화 개념을 도입하여 횡변위 구속조건식을 설정한다. 아울러 구조부재의 단면특성 관계식을 설정함으로써 설계변수의 수를 줄여주고, 초기에 주어진 단면형상이 최적설계 과정동안 계속 유지된다는 가정을 이용하여 최적설계결과에서 구해진 단면특성에 따라 부재단면크기를 산출하는 방안을 강구한다. 특히 근사화된 횡변위구속조건식을 정식화 하기 위해 동적 변위민감도해석 방안이 고려된다. 이와 같이 제시된 동적 강성최적설계 기법의 효용성을 검토하기 위해 10층과 50층 규모의 삼차원 RC 골조구조물 모델이 고려된다.