• The Journal of Korean Physical Therapy
• /
• v.16 no.3
• /
• pp.152-160
• /
• 2004

The purpose of this study was to investigate the effect of elastic band based of PNF pattern on the U/E function in the spinal cord injury patient. 11 subjects with spinal cord injury participated in this study. They took elastic band excercise 5 times per week for 8 weeks. One time excercise spent 35minutes. The therapeutic effect was evaluated by Cybex 6000, BTE Work Simulator, how many seconds they needed to walk 100 meters. 11 cases were examined before, after 8 week, elastic band excercise. The results of this study are as follows; 1. Isokinetic power by Cybex 6000 : The elbow flexion, shoulder flexion and extension were significant difference between test-retest(p<.05). but elbow extension were not significant difference between test-retest. 2. BTE Work Simulator : Wheelchair Propulsion and Steering Torque were significant difference between test-retest(p<.05). 3. Wheelchair Propulsion velocity : There were significant difference between test-retest(p<.05). The findings suggest that SCI patients can improve their Isokinetic power on shoulder and elbow joint, wheelchair propulsion and Steering Torque by BTE Work Simulator, Wheelchair Propulsion velocity through elastic band based of PNF pattern.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.12 no.5
• /
• pp.417-423
• /
• 2002

In this paper, we propose intelligent steering control system that apply LIBL(Linguistic Instruction Based Learning) method to steering system of ship and take the place of process that linguistic instruction such as officer s steering instruction is achieved via ableman. We embody ableman s suitable steering manufacturing model using fuzzy inference rule by specific method of study, and apply LIBL method to present suitable meaning element and evaluation rule to steering system of ship, embody intelligent steering gear control system that respond more efficiently on officer s linguistic instruction. We presented evaluation rule to constructed steering manufacturing model based on ableman s experience, and propose rudder angle for steering system, compass bearing arrival time, meaning element of stationary state, and correct ableman manufacturing model rule using fuzzy inference. Also, we apply LIBL method to ship control simulator and confirmed the effectiveness.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.12a
• /
• pp.93-97
• /
• 2002

In this paper, we propose intelligent steering control system that apply LIBL(Linguistic Instruction Based Learning) method to steering system of ship and take the place of process that linguistic instruction such as officer's steering instruction is achieved via ableman. We embody ableman's suitable steering manufacturing model using fuzzy inference rule by specific method of study, and apply LIBL method to present suitable meaning element and evaluation rule to steering system of ship, embody intelligent steering gear control system that respond more efficiently on officer's linguistic instruction. We presented evaluation rule to constructed steering manufacturing model based on ableman's experience, and propose rudder angle for steering system, compass bearing arrival time, meaning element of stationary state, and correct ableman manufacturing model rule using fuzzy inference. Also, we apply LIBL method to ship control simulator and confirmed the effectiveness.

• Korean Journal of Computational Design and Engineering
• /
• v.3 no.1
• /
• pp.40-47
• /
• 1998

Recently, the various driving simulator have been used widely to analyze the handling performance of vehicle and to verify the motion control algorithm of vehicle. In this study, a virtual driving simulator based on the 20-DOF vehicle model is realized to estimate the handling performance and stability of a 4WS (Four-wheel-steering) and/or 4n(Four-wheel-driving) vehicle. Especially the DC motor controlled 4WS actuator is modelled in order to reflect the effect of the responsiveness of actuator on the handling performance and stability. And the realized simulator can be applied to develope a real time simulation system for designing and testing the real vehicles.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.3
• /
• pp.645-650
• /
• 2010

In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.6
• /
• pp.86-94
• /
• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• Journal of Sensor Science and Technology
• /
• v.15 no.6
• /
• pp.425-432
• /
• 2006

This paper presents a control algorithm for smart actuators that can be used in a 'steer-by-wire' system for next-generation intelligent automobiles. 'Steer-by-wire' is a network-based mechatronic steering system in which mechanical linkages and hydraulics are replaced by electric motors and a digital communication network. The algorithm is designed not only to achieve the capabilities of following the desired steering angles while minimizing the discrepancy between two steering wheels, but also to tolerate an actuator with faults. The proposed algorithm is based on a simple proportional control so that it can be implemented in real-time with a low-cost embedded microcontroller. The effectiveness of the control algorithm is examined using a hardware-in-the-loop simulator consisting of two DC motors and a CAN bus network.

• International Journal of Internet, Broadcasting and Communication
• /
• v.7 no.2
• /
• pp.113-116
• /
• 2015

Generally, in the railway vehicle the driving force of gravity happens by the high-speed running and the repetitive impulse cause the degradation and the malfunction phenomenon shows differently because the durability of each component changes according to the internal and external causes. The maintenance of propulsion control device which is played the very important role as to the stable service of the railway vehicle is greatly important among them. Therefore maintenance training propulsion control device simulator is needed to maximize learning through repetition and improve the maintenance practical skills training. This paper designed the railway vehicle running device with a miniature for the railway vehicle maintenance training and developed a propulsion control device simulator equipped the imitation steering wheel.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.10
• /
• pp.1528-1534
• /
• 2015

This paper designed the railway vehicle running device with a proto-type for the railway vehicle maintenance training and developed a propulsion control device simulator equipped the imitation steering wheel. In addition, this paper applied a multi-thread technology in order to implement the staged fault and the propulsion control device protected operation test and an implementation of the failure that occur in actual rail vehicle and confirm the validity as the propulsion control device simulator for the maintenance training.

• Journal of Biosystems Engineering
• /
• v.21 no.3
• /
• pp.283-292
• /
• 1996

Automatic guidance of farm tractors would improve productivity by reducing operator fatigue and increasing machine performance. To control tractors within $\pm$5cm of the desired path, fuzzy and adaptive steering controllers were developed to evaluate their characteristics and performance. Two input variables were position and yaw errors, and a steering command was fed to tractor model as controller output. Trapezoidal membership functions were used in the fuzzy controller, and a minimum-variance adaptive controller was implemented into the 2-DOF discrete-time input-output model. For unit-step and composite paths, a dynamic tractor simulator was used to test the controllers developed. The results showed that both controllers could control the tractor within $\pm$5cm error from the defined path and the position error of tractor by fuzzy controller was the bigger of the two. Through simulations, the output of self-tuning adaptive controller was relatively smooth, but the fuzzy controller was very sensitive by the change of gain and the shape of membership functions. Contrarily, modeling procedure of the fuzzy controller was simple, but the adaptive controller had very complex procedure of design and showed that control performance was affected greatly by the order of its model.