• Journal of the Korean Society of Physical Medicine
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• 제4권4호
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• pp.231-240
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• 2009

Purpose：The aim of this study was to determine the effect of active sling exercise on shoulder subluxation in hemiplegic patients. Methods：Twenty persons with shoulder subluxation were randomly divided into two groups; the experimental group(10 persons) and the control group(10 persons). Usual physical therapy and occupational therapy were applied in all groups in a day for 4 weeks. Additionally the experimental group was received 30 minutes sling active exercise (flexion, extention, adduction, abduction, intenal rotation, external rotation, horizontal adduction, horizontal abduction) for shoulder joint in a day for 4 weeks. I investigated the therapeutic effect of sling exercise through the Wolf motor function test (WMFT), Quantitative radiographic measurements and range of motion test at pre and post intervention period. Results：The passive range of motion was significantly increased in the experimental group compare with the control group. However, the active range of motion was no statistically significantly difference in both of the experimental and the control group. The level of WMFT was significantly decreased in the experimental group compared with control group. Although, there was no significantly difference the degree of the shoulder subluxation was more decreased in experimental group than control group. Conclusion：Taken together, these results suggest that sling exercise could be beneficial therapeutic method for hemiplegic shoulder. But to generalize it, more study and exercise program might be needed to confirm its availability.

• Journal of the Korea Convergence Society
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• 제11권11호
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• pp.195-201
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• 2020

This paper implemented quadcopter-type drone system and proposed the heuristic method for obtaining the optimum gain coefficients in order to minimize the settling time. Control system for quadcopter posture stabilization reads the posture data from accelerator and gyro sensor, revises the original posture data using Mahony filter, and drives 4 DC motors using PID controller. The first step of the proposed method is to obtain the gain coefficients using the Ziegler-Nichols method, and then determine the optimum gain coefficients using the heuristic method at the next 3 steps. The experimental result shows that the maximum overshoot decreases from 44.3 to 29.8 degrees and the settling time decreases from 2.6 to 1.7 seconds compared to the Ziegler-Nichols method. Therefore, we proved that the proposed method works well in quadcopter flight system with high motor noise while reducing trial and error to obtain the optimal PID gain coefficients.

• The Journal of Korean Physical Therapy
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• 제11권1호
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• pp.149-156
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• 1999

Resistive therapeutic exercise prescription goal is to improve functional performance and capabilities through the development of increased muscular strengh endurance or power. Resistance can be applied to either dynamic or static muscle contractions. Resistive therapeutic exorcise can be carried nut concentrically, eccentrically, isometrically, isokinetically. Neurodevelopmental treatment has not resistive therapeutic exercise concept. But proprioceptive neuromuscular facilitate techniques have resistive therapeutic exercise concept with pattens and techniques. It is aid muscle contraction, motor control and increase strength. Manual muscle testing will help the therapist establish a qualitative and quantitative baseline level of strength. Manual resistance maybe applied a against controlled lengthening contraction re static contraction of a muscle. A repetition maximum is not easy to calculate and is not the most accurate method available today to measure strength before of after a resistive therapeutic exercise program. Oddvar Holten Diagram is essy to calculate and is the most accurate method available today to measure strength before of after a resistive therapeutic exercise program. Plyometric training emphasize the development of muscular power and coordination. Quick bursts of force in functional movement patterns are often necessary of a patient is to return to high-demand occupational, recreational or sports related activities.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제5권3호
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• pp.236-240
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• 2004

We have implemented image monitoring system on PXA255 processor based embedded board that is ported QT/Embedded 2.3.7 version. User is able to monitor camera's capture image for widely separated host PC at client PXA255 board target board by ethernet communication method. And we designed PCI interface card that control motor for camera's Pan & Tilt. Bitmap format's images of $320\times{240}$ size are displayed on PXA255 board's TFT-LCD and User is able to monitor wanted position's image by touch screen input method.

• Journal of the Korean Society for Precision Engineering
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• 제16권6호
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• pp.58-65
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• 1999

The spinning machine has been developed for a bus and truck wheel disc which is manufactured by spinning process method. This machine has the mechanical structure with bed, 2-column, cross head, 2-vertical slide, 2-horizontal slide with forming roller, clamp slide and main spindle similar to large size vertical lathe. Main spindle attached the mandrel is rotated about 500rpm drived by 280kW power DC motor, and a rotating black material pressed on the mandrel with the clamp slide is spinformed by 2-forming rollers which are attached inner end of the 2-horizontal slides. The 2-vertical and 2-horizontal slides are actuated by the hydraulic cylinder which is controlled by the servo valve individially, and these servo valves are controlled by control signal of the CNC controller which is computed with position signal feedbacked from the encoder sensor. The developed machine can manufacture wheel disc of various section profile without mandrel change because section profile is easily modified using program editing in the CNC controller processor. The wheel disc manufactured by spinning process method has many advantages that the endurance is increased by 2 times and the weight is decreased by 30% compared with a conventional disc.

• The Transactions of the Korean Institute of Power Electronics
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• 제3권1호
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• pp.8-14
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• 1998

This paper describes a novel real-time based optimal Pulse Width Modulation (PWM) method suitable for microprocessor-based PWM inverters. Optimal switching patterns minimizing the performance index corresponding to the distortion between the reference and the controlled output voltages are decided by on-line calculation using the microprocessor-implemented control system. To show the effectiveness of the proposed PWM scheme, digital simulation studies and experiments using a 16-bit single-chip microcontroller (Intel 80C196KC) are performed. The results obtained from these simulation studies and experiments show that the proposed PWM scheme has better performance than the other methods such as the natural PWM and the direct PWM.

• KIEE International Transactions on Electrophysics and Applications
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• 제5C권4호
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• pp.145-151
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• 2005

The synthetic breaking test method was developed to evaluate the breaking performance of ultra high-voltage circuit breaker and made up of two independent circuits; current source circuit and voltage source circuit. In application of this test method, it is necessary to extend the arc of the test breaker. So, the new re-ignition system using VTGS (Vacuum Triggered Gap-Switch) was constructed to improve the efficiency and reliability of this test. In this re-ignition system, VTGS operates in high vacuum state of $5{\time}10^{17}$torr and control system consists of the triggering device and the air M-G (Motor-Generator). This re-ignition system showed the operating characteristics, such as delay time ($t_d$) and jitter time ($t_j$ not exceeding 5us and 1us respectively, and had the operating voltage of $25\~150kVdc$ at the gap distance of 24mm.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제60권3호
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• pp.632-638
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• 2011

In this paper, a nonlinear controller is proposed to track the desired velocity and to cancel sinusoidal disturbances. The proposed method consists of a velocity tracking controller and internal model principles (IMPs). For the design of the velocity tracking controller, mechanical and electrical dynamic controllers are independently designed. For the mechanical dynamics, the velocity tracking controller generates the desired quadrature current to track the desired velocity. The current tracking controller is designed to guarantee the desired quadrature current and to regulate the direct current. Therefore, the proposed velocity tracking controller has a field-oriented control. Since the controllers of the mechanical and electrical dynamics are independently designed, the stability of the closed-loop system is demonstrated using passivity. Since both the cogging torque and DC current errors act as sinusoidal disturbances in PMSM, we use four add-on type IMPs that preserve the merits and performance of the pre-designed controller without sacrificing the closed-loop stability. The performance of the proposed method is validated via simulations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.1166-1171
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• 2001

The method for output disturbance estimation is proposed. In this method, output disturbance is estimated from the closed loop system dynamics using the output and control input signals. In the closed-loop output-disturbance estimator, precise system identification is required to reduce estimation error. The realization of estimator was done by the DSP board (DSPl103), and disturbance estimation in various environments was performed： change of rotation speed, media feature and spindle motor with (or without) auto-ball balancing system (ABS). From these experiments, the disturbance characteristics of ODD under various conditions are analyzed, and the desirable servo loop configuration based these results is proposed.

• The Journal of Korea Robotics Society
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• 제7권3호
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• pp.171-181
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• 2012

Outdoor mobile robots are faced with various terrain types having different characteristics. To run safely and carry out the mission, mobile robot should recognize terrain types, physical and geometric characteristics and so on. It is essential to control appropriate motion for each terrain characteristics. One way to determine the terrain types is to use non-contact sensor data such as vision and laser sensor. Another way is to use contact sensor data such as slope of body, vibration and current of motor that are reaction data from the ground to the tire. In this paper, we presented experimental results on terrain classification using contact sensor data. We made a mobile robot for collecting contact sensor data and collected data from four terrains we chose for experimental terrains. Through analysis of the collecting data, we suggested a new method of terrain feature extraction considering physical characteristics and confirmed that the proposed method can classify the four terrains that we chose for experimental terrains. We can also be confirmed that terrain feature extraction method using Fast Fourier Transform (FFT) typically used in previous studies and the proposed method have similar classification performance through back propagation learning algorithm. However, both methods differ in the amount of data including terrain feature information. So we defined an index determined by the amount of terrain feature information and classification error rate. And the index can evaluate classification efficiency. We compared the results of each method through the index. The comparison showed that our method is more efficient than the existing method.