• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.185-190
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• 1991

In this paper, we present a method of analising a system with nonlinear parameter by pole sensitivity defined by the rate of pole movement with respect of non-linear parameter variation. Pole sensitivity give us not only the rate of pole movement but also the directional information. We present a method of design of a state feedback for a system with nonlinear system parameter by considering the pole sensitivity and show that the suggested method guarantee the stability robustness for a system with nonlinear parameter, parameter perturbation and urimodelled dynamics.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2008.04a
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• pp.618-623
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• 2008

Due to recent trends of the atypical plan shapes and the zoning construction in high-rise buildings, the building stability under construction is arising as an important issue for design and construction plan. To ensure the stability under construction, the differential column shortening and the lateral movements with unbalanced distributions of self-weight of structure members and the load flows before completion of member connections and lateral load resisting system should be checked by construction sequence analysis. This paper presents the scheme of zone-based construction sequence analysis, to check the stability of high-rise building under construction. This scheme is applied to the construction sequence analysis for real high-rise building under construction.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.4
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• pp.64-72
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• 2004

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.301-306
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• 2001

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

• Proceedings of the Korean Society for Rock Mechanics Conference
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• 2007.10a
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• pp.63-79
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• 2007

Several remedial works were attempted to stabilize the collapsed area of the inlet slopes of diversion tunnel, but prevention of any further movement was being only carried out at beginning stage by filling the area with aggregates and rock debris, after several cracks had been initiated and developed around the area. The extra specialty developed folding zone is consisted with highly weathered Greywacke and Black shale. The suggested solution is to improve the properties of the rock mass of failed area by choosing the optimum level of reinforcement through the increment of slope rock support design so as to control the movement of slopes during the re-excavation. The Bakun hydroelectric project includes the construction of a hydroelectric power plant with an installed capacity of 2,520MW and a power transmission system connecting to the existing transmission networks in Sarawak and Western Malaysia. The power station will consist of a 210m height Concrete Faced Rockfill Dam. During the construction of the dam and the power facilities the Balui River has to be diverted of the tunnels is 12m and the tunnel width is 16m at the portal area. This paper describes the stability analysis and design methods for the open cut rock slopes in the inlet area of the diversion tunnels. The geotechnical parameters employed in stability calculations were given as a function of four defined Rock Mass Type (RMT) which were based on RMR system from Bieniawski. The stability calculations procedure of the rock slopes are divided into two stages. In the first stage, it is calculated for the stability of each "global" slope without any rock support and shotcrete system. In the second stage, it is calculated for each "local" slope stability with berms and supported with rock bolts and shotcrete. The monitoring instrumentation was performed continuously and some of the design modification was carried out in order to increase the safety of failed area based on the unforeseen geological risks during the open cut excavation.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.369-376
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• 2013

The purposes of this study were to assess dynamic stability toward pelvis-spine column distortion during running and to compare the typical three-dimensional angular kinematics of the trunk motion; cervical, thoracic, lumbar segment spine and the pelvis from the multi-segmental spine model between exercise group and non-exercise group. Subjects were recruited as exercise healthy women on regular basis (group A, n=10) and non-exercise idiopathic scoliosis women (group B, n=10). Data was collected by using a vicon motion capture system (MX-T40, UK). The pelvis, spine segments column and lower limbs analysiaed through the 3D kinematic angular ROM pattern. There were significant differences in the time-space variables, the rotation motion of knee joint in lower limbs and the pelvis variables; obliquity in side bending, inter/outer rotation in twisting during running leg movement. There were significant differences in the spinal column that is lower-lumbar, upper-lumbar, upper-thoracic, mid-upper thoracic, mid-lower thoracic, lower thoracic and cervical spine at inclination, lateral bending and twist rotation between group A and group B (<.05, <.01 and <.001). As a results, group B had more restrictive motion than group A in the spinal column and leg movement behaved like a 'shock absorber". And the number of asymmetry index (AI) showed that group B was much lager unbalance than group A. In conclusion, non-exercise group was known to much more influence the dynamic stability of equilibrium for bilateral balance. These finding suggested that dynamic stability aimed at increasing balance of the trunk ROM must involve methods and strategies intended to reduce left/right asymmetry and the exercise injury.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.79-88
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• 2019

Objective: The aim of this study was to determine the peak torques of the knee and ankle joint and local stability of the lower extremity's joints, and muscle activation patterns of the lower extremity's muscles between fallers and non-fallers in the elderly women during walking. Method: Four elderly women (age: $74.5{\pm}5.2yrs.$; height: $152.1{\pm}5.6cm$; mass: $55.3{\pm}5.4kg$; preference walking speed: $1.19{\pm}0.06m/s$) who experienced falls within six months since experiment had been conducted (falls group) and thirty-six subjects ($74.2{\pm}3.09yrs.$; height: $153.6{\pm}4.9cm$; mass: $56.7{\pm}6.4kg$; preference walking speed: $1.24{\pm}0.10m/s$) who had no experience in falls (non-falls group) within this periods participated in this study. They were measured torque peaks of the knee and ankle joint using a Human Norm and while they were walking on a treadmill at their natural pace, kinematic variables and EMG signals were collected with using a 3-D motion capture system and a wireless EMG system, respectively. Lyapunov Exponent (LyE) was determined to observe the dynamic local stability of the lower extremity's joints, and muscles activation and their co-contraction index were also analysed from EMG signals. Hypotheses between falls and non-falls group were tested using paired t-test and Mann-Whitey. Level of significance was set at p<.05. Results: Local dynamic stability in the adduction-abduction movement of the knee joint was significantly lower in falling group than non-falling group (p<.05). Conclusion: In conclusion, muscles which act on the abduction-adduction movement of the knee joint need to be strengthened to prevent from potential falls during walking. However, a small number of samples for fallers make it difficult to generalize the results of this study.

• The Journal of the Korea Contents Association
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• v.21 no.7
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• pp.637-649
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• 2021

This study aims to see, a 10-weeks program of Body Stability Exercise(BSE) was conducted on 21 male handball players at Muan Y High School and then, the results of changes in Visual Response Speed Test, Functional Movement Screen, Y-Balance Test, and Vital Capacity were observed, compared and analyzed to provide follow-up management and training data that can be used to reduce injuries and improve performance. After training, strength and quickness were increased significantly and reaction time was significantly shortened (p<0.001). The total score of Functional Movement Screen was increased from 10.43±1.16, before training to 12.05±1.07 after training, which was statistically significant(p<0.001). Y-Balance Test was significantly increased from 89.18±6.99 before training to 91.39±7.33 after training(p<0.001). The Vital Capacity increase was also shown to be more than statistically significant(p<0.001). The 10-week BSE program improved speed, agility, Functional Movement Screen, Y-Balance Test, and Vital Capacity. In conclusion, it's can prevent or reduce injuries and performance could be improved while playing handball.

• Journal of Digital Convergence
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• v.14 no.11
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• pp.357-367
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• 2016

In this study, we examined the impact on balance ability and jump performance of soccer players with functional ankle instability using virtual reality based neuromuscular posture control fusion training. Soccer players were divided into 15 people of virtual reality-based neuromuscular posture control fusion training group and 15 people of common treadmill training group and performed for 30 minutes three times a week for 8 weeks. In order to evaluate the balance of ability, using biorescue, it measured surface area, whole path length, limit of stability. In order to measure jump performance, it measured counter movement jump with arm swing and standing long jump. The results showed the statistically significant difference in the balance comparison of surface area, whole path length, limited of stability and the jump performance comparison of counter movement jump with arm swing, standing long jump. As a result, virtual reality-based neuromuscular posture control fusion training was found to be more effective to improve its balance ability and jump performance than common treadmill training.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.71-76
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• 2012

The purpose of the present study was to compare and analyze differences in job satisfaction and quality of life in relation to the use of movement assisters among workers with severe and slight external physical disabilities and to analyze the effect of job satisfaction on the quality of life of disabled persons who use movement assisters. First, severely disabled persons who used movement assisters showed higher degrees of satisfaction with their work content, working environments, working hours, possibilities for development, communication, and human relations. On the other hand, slightly disabled persons who used movement assisters showed higher degrees of satisfaction only with their working environments. Second, severely disabled persons who used movement assisters perceived a higher quality of life in the areas of family, residence, and work. Slightly disabled persons who used movement assisters perceived a higher quality of life only in the area of family. Third, workers with external physical disabilities who used movement assisters had positive effects on their quality of life arising from job satisfaction in relation to income, job stability, working environments, working hours, possibilities for job development, communication, and human relations that is, a higher job satisfaction was correlated with a higher perceived quality of life.