• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 추계학술대회
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• pp.41-46
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• 2004

본 논문에서는 속도 구속조건을 갖는 수중이동체를 초기위치로부터 목적위치에 접안하는 제어기법에 대해서 논의한다. 단, 수중이동 체는 일정방향으로 속도성분을 갖지 않는 즉, 속도구속조건을 가지는 것으로 가정한다. 본 논문에서는 이러한 시스템에 대하여 비 홀로노믹적인 관점에서 시스템을 해석하고 수중이동체를 체인드폼으로 변환한 후 Multi-rate 디지털 제어기법을 적용하여 자세제어를 행하고 수치시뮬레이션을 통하여 제어기법의 유용성을 평가하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.387-392
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• 1992

This paper presents a local trajectory generation method which is based on a sequence of reference posture-velocities and the efficient low level control algorithm which constructs the complete smooth curve from the trajectory specification. The reference trajectory generator(RTG) which is in between the local path planner(LPP) and the robot motion controller(RMC) generates a sequence of set-points for each path segments from the LPP and pass it to the RMC. The RMC controls the motions of vehicle which should follow the sequence. In the feedback controller of VMC, the method which compensates robot posture-velocity error correctly is used. These methods are implemented on indoor autonomous vehicle, 'ALIVE' mobile robot. The ALIVE mobile robot system is implemented on the 32bit VME bus system: the two VME CPU's are used for RTG and RMC, while the 80C196KC-based VME board is used for motor controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2756-2759
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• 2000

In this paper. A PID motion controller based on the fuzzy concept is discussed for nonholonomic mobile robot. The difficulties in controlling such a Mobile robot vehicle lies in the fact that it usually has only two degrees of freedom for motion control in a tracking mode. It makes the control of speed and steering possible to decompose the error between the reference posture and the current posture. The Gyro compass is used to measure the position of robot. The proposed nonholonomic mobile robot is shown to follow the reference trajectory and compensate the dynamics. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• 국제물리치료학회지
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• 제12권2호
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• pp.2354-2358
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• 2021

Background: Stroke is a neurological disorder characterized by an impaired static balance. A change in poor posture after stroke may worsen static balance. The balance control through an upright posture may include kinesiology taping of the middle back. Objectives: To investigated the effect of kinesiology taping of middle back on static balance in patients with stroke. Design: A randomized controlled trial. Methods: A total of 10 patients with stroke were divided into two groups. The experimental and control groups received kinesiology taping and placebo taping of the middle back, respectively. After 24 h, static balance (i.e., sway area and path length) was measured in closed eyes condition. Results: The experimental group (kinesiology taping group) showed a significant decrease in sway area and path length after the intervention. In addition, kinesiology taping group showed a significant decrease in sway area and path length compared to the control group. Conclusion: Kinesiology taping of the middle back can improve static balance in stroke patients.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.77.2-77
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• 2002

Human upright standing posture in the sagittal plane is studied, when it exposed in the antero-posterior vibration. A two link inverted pendulum model is considered and described its functional behavior in terms of ankle and hip joint according to the dominant joints that provides the largest contribution to the corresponding human reactionary motion. The data is analyzed, both in the time domain and the frequency domain. Subjects behave as a non-rigid pendulum with a mass and a spring throughout the whole period of the platform motion. When vision was allowed, each segment of body shows more stabilized.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.84.6-84
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• 2002

• 대한기계학회논문집A
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• 제32권12호
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• pp.1088-1095
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• 2008

5-axis NC machining has a good advantage of the accessibility of tool motion by adding two rotary axes. It offers numerous advantages such as expanding machining fields in parts of turbo machineries like impeller, propeller, turbine blade and rotor, reasonable tool employment and great reduction of the set-up process. However, as adding two rotary axes, it is difficult to choose suitable machining conditions in terms of tool path, tool posture, feedrate control at a tool tip and post-processing. Therefore in this paper, it is proposed to decide suitable machining condition through an experimental method such as adopting various tool paths, tool postures, and feedrate types. Machining experiment on AL7075 for impeller is performed to define suitable machining condition, and measurement of surface roughness on machined surfaces depended on each machining condition is performed. By defining suitable machining condition, we should have conclusion as improving the surface quality in the aspect of surface roughness and machined shape of surface.

• 대한정형도수물리치료학회지
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• 제25권1호
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• pp.1-7
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• 2019

Background: The purpose of this study is investigate the effects of cervical range of motion (ROM) and forward head posture (FHP) on cervical manual traction in normal adults. Methods: The subjects were randomly assigned to either the experimental group(Female 9, Male 6) who conducted the manual cervical traction or the control group(Female 9, Male 6) who did not conduct the any intervention. The subject in the EG have conducted the 1 set of 10 minutes of manual cervical traction per day, 2 times a week for 6 weeks. The cervical ROM was measured by the digital inclinometer and The factors of FHP was measured by cranial vertebral angle (CVA) and cranial rotation angle (CRA). Results: Comparing the cervical ROM and FHP between the experimental and control groups before and after the experiment, it could be seen that flexion, extension, right lateral flexion, left lateral flexion, CVA and CRA of the experimental group has been increased. Thus, cervical manual traction was resulted in the increased cervical ROM and decrease FHP. Conclusion: In this study, it was confirmed that cervical manual traction affects increase cervical ROM and decrease FHP that play a important role in neck stability and mobility.

• The Journal of Korean Physical Therapy
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• 제30권6호
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• pp.218-223
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• 2018

Purpose: The purpose of this study was to evaluate the impact of active vibration exercise on the neck pain, disability index, and muscle activity of patients with forward head posture. Methods: A total of 24 patients were randomly assigned to an experimental group or a control group (n=12 each). The experimental group performed active vibration exercise using a flexi-bar for 20 minutes a day, five times a week for four weeks. The study measured patient neck pain using a visual analog scale, neck pain related disability using the neck disability index, and muscle activity using electromyography. Results: The intragroup comparison showed significant differences in the visual analog scale score, neck disability index score and upper trapezius, lower trapezius and serratus anterior muscle activity values among patients in the experimental group. The intergroup comparison showed that differences in the visual analog scale score, neck disability index score and upper trapezius, lower trapezius and serratus anterior muscle activity values in the control group. Conclusion: This study showed that active vibration exercise was effective in improving the neck pain, disability index, and muscle activity of patients with forward head posture.