• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.6
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.211-216
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• 2014

In general, gantry robot is very useful handling of heavy objects. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.4
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• pp.75-83
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• 2013

Purpose : This research was conducted to see the correlation between sway speed and muscle activity for lower extremity of stroke patients through unstable surface training. Methods : A total of 60 patients were randomly divided unstable surface group (30 peoples) and stable surface group (30 people). Then they were asked to carry out the same exercise program for 6 weeks. The unstable surface group and stable surface group performed the exercise program on the balance mat and on the hard wood block. We checked the changes of sway speed and the changes in muscle activity for lower extremity. Results : The unstable surface group displayed significantly reduced sway speed, and improved muscle activity of lower extremity. There were significant correlation between change amount of muscle activity and sway velocity in Gastrocnemius, Biceps femoris during unstable surface training(r=.373, p<.05)(r=.369, p<.05). And there were not show significant differences during stable surface training. Conclusion : Judging from this, we can have knowledge that the correlation between increase of muscle activity and decrease of sway velocity for Gastrocnemius, Biceps femoris in the unstable surface training.

• Journal of the Ergonomics Society of Korea
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• v.25 no.3
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• pp.1-15
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• 2006

Loss of postural balance can possibly lead to increased risk of slips and falls in work places. Present study was performed to investigate the effects of noisy environments on postural stability during standing. It is known that a sound is characterized by the frequency and pressure level of the sound. Therefore, effects of the frequency and pressure level on postural stability were of primary concern. Ten male subjects participated in the experiment. Subject's center of pressure(COP) position was collected on a force plate while they were exposed to different frequency and pressure levels of the sound. Measured COP was then converted into the length of postural sway path in both anterior-posterior(AP) and medio-lateral(ML) axis. Results showed that the length of sway path in AP axis was significantly affected by the frequency of sound. The length of sway path was lowest at frequency level of 2000Hz and increased below and above this frequency range. The sound pressure level, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that industrial workers in noisy environments should be aware that their abilities of postural balance can be disturbed significantly.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.2
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• pp.39-47
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• 2020

Postural stability can reduce the likelihood of critical slip and fall accidents in workplaces. The present study aimed to analyze the effect of shoes type on the ability of postural control during quiet standing. The effect of workload on the body balance was also of primary concern. Thirteen healthy male undergraduate students participated voluntarily in the experimental study. Standing on a force plate with wearing slippers, sports shoes, or safety shoes, two-axis coordinate on subjects' center of pressures (COP) was obtained in the two levels, rest and workload. For the workload level, subjects performed treadmill exercise to reach the predetermined level of physical workload. By converting the position coordinates of COPs, the postural sway length in both anterior-posterior (AP) axis and medio-lateral (ML) axis was assessed. ANOVA results showed that, in AP direction, wearing slippers significantly increased the postural sway length compared to wearing sports shoes or safety shoes. No significant difference in the mean sway length in AP axis was observed between sports shoes and safety shoes. In ML direction, both the workload and the shoes type did not significantly affect the mean length of postural sway. However, the postural sway length increased marginally with the slippers especially during the workload condition. This study explains wearing slippers may interfere with the ability of postural control during quiet standing. Physical workload decreases the ability of postural stability further.

• The Journal of Korean Physical Therapy
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• v.31 no.5
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• pp.273-278
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• 2019

Purpose: The purpose of this study was to investigate the effects of three-dimensional virtual reality horse riding simulator training using a head-mounted display on gait and balance in children with cerebral palsy. Methods: Ten children with cerebral palsy were randomly assigned to the horse riding simulator (HRS) group (n=5) or the horse riding simulator with virtual reality (HRSVR) group (n=5). To evaluate balance, center of gravity (COG) sway velocity and total sway distance of each group were assessed using the Wii balance board, and gait speed and stride length of each group were assessed using a gait analysis system. Results: Intra-group comparisons between pre- and post-intervention measures revealed that there were significant changes in all gait and balance variables such as stride length, gait velocity, COG sway velocity and COG sway distance in the HRSVR group (p<0.05). In the HRS group, there were significant changes in all variables except stride length (p<0.05). In addition, inter-group comparisons showed significant differences between the two groups in stride length, gait velocity and COG sway distance except COG sway velocity (p<0.05). Conclusion: The findings of this study suggest that horse riding simulator training combined with 3D virtual reality can be a new positive therapeutic approach for improving functional performance in children with cerebral palsy.

• Journal of Korean Physical Therapy Science
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• v.29 no.3
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• pp.56-62
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• 2022

Background: The purpose of this study was to investigate the effects of ankle joint immobilization on postural balance during quiet standing. Design: Cross-sectional study Methods: Twenty-seven healthy subject participated in this study. The subjects performed to stand quietly for 30s in eyes open on the platform with three different conditions. The sway length, sway area and sway velocity of center of gravity (COG) displacement and limit of stability (LOS) was measured using the balance platform. Repeated measured ANOVA was used to compare the postural balance parameters depending on three different ankle immobilized conditions. Results: Sway length, sway area and sway velocity of the COG displacement with bilateral ankle immobilized condition was significantly increased compared to those of the other two conditions(p<0.05). All directions of LOS with bilateral ankle immobilized condition were significantly decreased compared to those of the other two conditions. Conclusion: These findings suggest that ankle joint immobilization could be one of the factors that interfere the maintaining of the postural balance in quiet standing.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.6
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• pp.615-624
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• 2016

In this study, two rectangular barges in close proximity were simulated to analyze the characteristics of motion responses due to hydrodynamic interactions. Using a numerical solution from DNV-GL SESAM, coupled stiffness matrix terms for these same FEM models were added to the multiple body modes in the surge direction. Potential theory was used to calculate the first order radiation and diffraction effects on the simulated barge models. In the results, the sheltering effect of the barges was not shown at 1.3 rad/s with hull separation of 20 m in transverse waves. The separation effect between the barges was more clear with longitudinal waves and a shallow water depth. However, sway forces were influenced by hull separation with transverse waves. The peaks for sway and heave motion and sway force occurred at higher frequencies as hull separation narrowed with longitudinal and transverse waves. Given a depth of 10 m, the sway motion on the lee side of a coupled barge made a significant difference in the range of 0.2-0.8 rad/s with transverse and oblique waves. Also, the peaks for sway force were situated at lower frequencies, even when incident waves changed.

• Journal of Biomedical Engineering Research
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• v.28 no.5
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• pp.628-635
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• 2007

We studied the effect of vibratory stimulations of different leg muscles, tibialis anterior(TA) and triceps surae(TS), and plantar zones in ten healthy subjects during 1) quiet standing, 2) forward lean of body, 3) backward lean of body, 4) right lean of body, and 5) left lean of body. The experiments were performed on the force platform. The effect of vibration were measured by monitoring the area of COP(Center of pressure) sway. The subjects wore a vibratory stimulation system on foot and ankles and were given the instruction not to resist against the applied perturbations. The results show that all vibratory stimulations to lower limb muscles and plantar zones reduced the COP sway area. This reduction of the COP sway area occurred also in partial vibratory stimulations during quiet standing. In forward lean of body, vibratory stimulations to TA reduced the COP sway area. During backward lean of body, vibratory stimulations to TS reduced the COP sway area. When the subject was tilted right, vibratory stimulations to left plantar zone reduced the COP sway area. During left lean of body, vibratory stimulations to right plantar zone reduced the COP sway area. Thus, the influence of vibratory stimulations to leg muscle and plantar zones differed significantly depending on the lean of body. We suggest that the vibration stimuli from leg muscles and plantar zones could be selectively used to help maintaining postural balance stable.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.7 no.1
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• pp.35-47
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• 2012

Objectives : The purpose of this study is to investigate the clinical application of Rocking forward, Rocking backward Exercise and MET(Muscle Energy Techniques) to three patients who had sway-back posture. Methods : Three patients diagnosed as sway-back posture, not have discogetic pain, were hospitalized Bu-Chun Jaseng hospital of Oriental Medicine about 20 days and they were treated by Rocking forward, Rocking backward Exercise and MET. To measure the outcome of the patients' improvement, we observed the X-ray of Whole spine and Numerical Rating Scale(NRS). Results : After being treated by Rocking forward, Rocking backward Exercise and MET, the patients' posture was significantly improved and the pain was reduced. The X-ray of Whole spine became almost normal and the improvement of patients' in the NRS score was detected. Conclusions : These results suggest that Rocking forward, Rocking backward Exercise and MET were effective treatment on patients who had sway-back posture.