• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.121-130
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• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

• Journal of Korean Physical Therapy Science
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• v.31 no.1
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• pp.1-15
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• 2024

Background: This study was conducted to apply active release techniques to male youth basketball players to help improve physical development and damage prevention and improve performance through improved balance and functional movement. Design: Randomized control trial. Methods: The subjects included 33 youth basketball players who were randomly assigned to the experimental group (n=17) and the control group (n=16). For the experimental group, the active release technique was applied to the hip muscles, calf muscles, posterior thigh muscles based on the distribution of injuries surveyed in youth basketball players in the Korean Basksetball League. The Y-balance test and the functional reach test (FRT) were used to assess balance and the Functional Movement Screen (FMS) was used to assess functional movement. Interventions were conducted twice a week for 4 weeks at 40 minutes per session. The experimental group was the active release technique group, and static stretching, a common exercise therapy technique, and self-myofascial release using a foam roller were applied for 20 minutes. The control group received general exercise therapy and placebo active release technique. The placebo active release technique applies pressure only. results:The experimental group showed a greater improvement in balance, as evidenced by the FRT, compared to the control group, which received general exercise treatment. However, there was no statistically significant difference in improvement between the 2 groups. In the case of the experimental group, the difference in the Y balance test before and after the intervention was larger than that of the control group, but there was no statistically significant difference. Significant improvement was found in functional movement, as evidence by the FMS, for the trunk stability test (p < 0.05), in-line lunge test (p < 0.05), rotational stability test (p < 0.05), total score (p < 0.05). Conclusion: In this study, the active release technique improved the balance and functional movement of young basketball players more than general exercise therapy. The application of the active release technique is therefore expected to assist in physical development, prevent damage, and improve the performance of youth basketball players.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.121-134
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• 2006

The purpose of this study was to analyze the effect of different types of rehabilitation training program on the kinetic and kinematic parameters during sit-to-stand movement(STS) in chronic stroke patients. Two groups of hemiparetic patients, experimental and control, participated in the study. The experimental group participated in a 10-week training program (three sessions/wk, $1{\sim}1.5\;hr/session$) consisting of a warm-up, aerobic exercises, lower extremity strengthening. and a cool-down. The control group participated in an aerobic exercise. Three dimensional kinematic analysis and force platform; were used to analyze the duration of STS, lower extremity angle, and weight bearing ability. The experimental group which had more strength of lower extremity displayed decrease in duration of STS. However, the control group showed increases in duration during sit-to-stand movement. The control group flexed their trunk more than the group did Therefore, it took more time to extend their trunk during STS. The duration in sit-to-stand was affected by the strength of lower extremity and the angle of trunk movement. The angles of ankle and knee joint had an influenced on duration of STS. The post experimental group performed with their feet near the front leg of the chair during sit-to-stand, therefore the duration was decreased. The repetitive sit-to-stand movements as a resistance exercise was effective to hemiparetic patients in learning mechanism of sit-to-stand. The control group showed decreased differences in the vertical ground reaction forces between paretic and non-paretic limbs. Their training program included strengthening exercise that may help improving weight bearing ability. The control group showed increases in the center of pressure in the anteroposterior and mediolateral displacement. This means that the stability of movement was low in the control group. Their training program which combined aerobic and strengthening exercises that are more effective to improve the stability of movement.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.6
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• pp.2180-2200
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• 2015

This paper considers mobility control to improve packet delivery in delay-tolerant networks (DTNs) under group mobility. Based on the group structure in group mobility, we propose two mobility control techniques; group formation enforcement and group purposeful movement. Both techniques can be used to increase the contact opportunities between groups by extending the group's reachability. In addition, they can be easily integrated into some existing DTN routing schemes under group mobility to effectively expedite the packet delivery. This paper is divided into 2 parts. First, we study how our proposed mobility control schemes reduce the packet delivery delay in DTNs by integrating them into one simple routing scheme called group-epidemic routing (G-ER). For each scheme, we analytically derive the cumulative density function of the packet delivery delay to show how it can effectively reduce the packet delivery delay. Then, based on our second proposed technique, the group purposeful movement, we design a new DTN routing scheme, called purposeful movement assisted routing (PMAR), to further reduce the packet delay. Extensive simulations in NS2 have been conducted to show the significant improvement of PMAR over G-ER under different practical network conditions.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.808-811
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• 2009

Robovie-R2 [1], developed by ATR, is a 110cm high, 60kg weight, two wheel drive, human like robot. It has two arms with dynamic fingers. It also has a position sensitive detector sensor and two cameras as eyes on his head for recognizing his surrounding environment. Recent years, we have carried out a project to integrate new functions into Robovie-R2 so as to make it possible to be used in a dining room in healthcare center for helping serving meal for elderly. As a new function, we have developed software system for adaptive movement control of Robovie-R2 that is primary important since a robot that cannot autonomously control its movement would be a dangerous object to the people in dining room. We used the cameras on Robovie-R2's head to catch environment images, applied our original algorithm for recognizing obstacles such as furniture or people, so as to control Roboie-R2's movement. In this paper, we will focus our algorithm and its results.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1121-1124
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• 1999

Linear motor is able to produce line movement without rotary-to-line converter at the system required line moving. Thus Linear motor has no gear, screw, belt for line movement. Therefore it has some advantage which decrease friction loss, noise, vibration, maintenance effort and prevent decay of control performance due to backlash. This paper proposes the estimation method of unknown parameters from the BLDC Linear motor and determine the PI controller gain through this estimation. Each control movement that is current, speed, position control, and PWM wave generation is performed on Processor, which is DSP(Digital Signal Processor), having high speed performance. PI theory is adopted to each for controller for control behavior More fast convergence to command position is accomplished by applying the new velocity locus which derived from position error.

• Journal of Wind Energy
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• v.10 no.3
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• pp.5-11
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• 2019

This paper suggests and compares two algorithms, a moving average filter method and a method developed by the National Renewable Energy Laboratory (NREL), to verify the yaw control algorithm characteristic to reduce yaw error for a wind turbine. A characteristic change for yaw movement in accordance with control parameter change that consists of each control method has been verified. Also, yaw simulations were performed using nacelle wind data measured from two areas with different turbulence intensities and the yaw movement data in each area was compared. These two algorithms and real data were compared by calculating mean absolute error (MSE) and the number of yawing (NY). As a result of the analysis, the MSE values were not significantly different between the two algorithms, but the algorithm proposed by the NREL was found to reduce yaw movement by up to 50 percent more than the moving average filter method.

• Journal of Acupuncture Research
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• v.15 no.2
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• pp.105-116
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• 1998

Purpose In this study, We observed the recovery process in the ability to move in the hind limbs of the rats whose spinal cord injuries were treated by Radix acouniti(RA). The purpose of this study is to see the effects of Radix acouniti(RA) water extract on the contraction of rat's spinal cord injury. Procedure First, the rats were subjected to hemisectional spinal cord injuries by a scalpel blade. Those rats, then, were divided into three groups: Sham operated rats group and the experimental group, which received the Radix acouniti(RA) water extract, and the control group, which had no treatment. Their recovery in the ability to walk was observed by the Open Field Test (OFT) for 14 days after the injuries. Method The OFT was applied at four points: the hip, knee, ankle joint, and the tail. Each joint was given a movement rating of from 0 to 3, depending on the amount of movement. A movement rating of 0 designates no movement, a 1 designates slight movement, a 2 designates increased movement, and a 3 designates active movement. Slight movement is defined as a joint displaying less than or equal to 30% of that joint range, increased movement is displaying less than or equal to 60% of that joint's range, and active movement is greater than or equal to 90% of that joint's range. Tail movement is also graded on a scale of 0 to 3. A rating of 0 indicates that the tail is down 100% of the time, one of 1 indicates that the tail is down more than 10%, one of 2 shows that the tail is down less than 50% but more than 10% of the time, and one of 3 shows that the tail is down less than 10% of the time. All four ratings were added together and then averaged to arrive at a single score. Results The sham group which did not go through spinal cord injuries showed near normal results on all 3 joints and tail from right after the operation, which one would expect. The RA oral application group showed more effective recovery of movememt function than the control group around 4 days after the spinal cord injuries. However, after 14 days, both groups displayed almost the same degree of movement recovery. The results of this study are summarized as follows: 1. After 14days the spinal cord injuries, movement was recovered in sham operated group, control group, and experimented group in the hip, the knee, the tail and then the ankle of rats, in that order. 2. Around 7 days after the spinal cord injuries, the experimental group proved the effectiveness of the therapy in terms of movement recovery. 3. The level of ALT, ALP, AST in RA treated group was slightly increased. 4. The level of BUN and creatinine in RA treated group was slightly increased. The above results indicate that RA therapy at an early stage can bring about better movement recovery in patients with spinal cord injuries from traffic accidents or industrial disasters. But there is apparent side effect of RA on clinical, therefore the study on this should be continued.

• Nuclear Engineering and Technology
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• v.42 no.3
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• pp.329-338
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• 2010

We developed an achievable control logic for the reactor power level during a power maneuvering event and set up some constraints for the control of the reactor power in a conceptual sodium-cooled fast reactor (KALIMER-600) that was developed at KAERI. For simulating the dynamic behaviors of the plant, we developed a fast-running performance analysis code. Through various simulations of the power maneuvering event, we evaluated some suggested control logic for the reactor power and found an achievable control logic. The objective of the control logic is to search for the position of the control rods that would keep the average temperature of the primary pool constant and, concurrently, minimize the power deviation between the reactor and the BOP cycle during the power maneuvering. In addition, the flow rates of the primary pool and the intermediate loop should be changed according to the power level in order to not violate the constraints set up in this study. Also, we evaluated some movement speeds of the control rods and found that a fast movement of the control rods might cause the power to fluctuate during the power maneuvering event. We suggested a reasonable movement speed of the control rods for the developed control logic.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.2
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• pp.1768-1773
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• 2019

Background: Aging reduces cognitive abilities, including visual memory (VM) and visual discrimination (VD). Since common cortical networks subserve eye movement and attention, voluntary eye movement may improve visual attention. Visual selective attention was major role for memory, and visual memory and visual attention are intimately related. Objective: To identify the improvement in VD and VM, after implementing the eye movement program consisting of saccadic eye movement (SEM) and pursuit eye movement (PEM) in the institutionalized healthy elderly. Design: Randomized controlled trial. Methods: The study involved a sample of 36 participants, and the mean age was 79.03 years (range 76~84 years). They were randomly allocated to the experimental group (n=16) and control group (n=20). Participants in the experimental group performed SEM 5 times per week for 4 weeks: twice daily at the same time in the morning and afternoon. The program was carried out for 3 minutes, and it consisted of SEM and PEM. The target's moving frequency was set at 0.5 Hz. VM and VD at the baseline and post-intervention were measured using Motor-Free Visual Perception test-4 (MFVPT-4). Results: VM significantly improved in the experimental group (p < .01), and significant differences were observed compared to the control group (p < .01). There was no significant change in VD. Conclusion: The eye movement program consisting of SEM and PEM increased VM more than VD. Therefore, eye movement program was feasible interventions for improving VM in institutionalized elderly persons.