• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.7
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Journal of Biomedical Engineering Research
• /
• v.28 no.2
• /
• pp.187-194
• /
• 2007

The purpose of this study is to determine the characteristics of ground reaction force(GRF) in golf swing for various slopes of flat lie and uphill lies of 5 and 10 degrees. Five right-handed professional golfers were selected for the experiment and the 7 iron club was used. We used four forceplates to measure GRF and synchronized with the three-dimensional motion analysis system. Results showed that slope did not affect the total time for golf swing, but the time until the impact had a tendency to slightly increase for the uphill lie(p<0.05). The medial-lateral GRF of the right foot increased toward the medial direction during back swing, but less increases were found with the angle of uphill lie(p<0.05). The GRF of the left foot increased rapidly toward the medial direction at the uncocking and the impact during down swing, but decreased with the increase in the angle of uphill lie(p<0.05). The anterior-posterior GRF of both feet showed almost the same for different slopes. With the slopes, the vertical GRF of the right foot increased, but the vertical GRF of left foot decreased(p<0.05). Uphill lies would have negative effect to provide the angular momentum during back swing, restricting pelvic and trunk rotations, and to provide the precise timing and strong power during down swing, limiting movements of body's center of mass. The present study could provide valuable information to quantitatively analyze the dynamics of golf swing. Further study would be required to understand detailed mechanism in golf swing under different conditions.

• Physical Therapy Rehabilitation Science
• /
• v.5 no.3
• /
• pp.149-154
• /
• 2016

Objective: The arm swing is associated with gait ability in healthy young adults. The purpose of this study was to examine the effects of arm swing during gait in healthy young adults. Design: Cross-sectional study. Methods: Forty-five subjects without any orthopedic or neurological injuries participated in this study. All subjects performed all three conditions according to the arm swing type as follows: first procedure (condition 1), walking as usual without arm swing constraint; second procedure (condition 2), constraint of dominant arm swing walking as usual; third procedure (condition 3), constraint of both arm swing walking as usual. Gait parameters such as gait velocity, stride length, cadence, step time, single limb support, and double limb support were measured in all arm swing conditions performed randomly, with the mean value obtained from three measurements. A rest period of 5 minutes was given to prevent repetition of each condition and learning effect. All data was analyzed using repeated measures ANOVA to notice the changes between arm swing conditions. Results: Within walking conditions, significant difference of gait velocity, stride length, cadence, and double limb support was noticed (p<0.05), except step time and single limb support. Gait velocity and stride length were significant reduced, and in cadence and double limb support were increased (p<0.05). Condition 3 had the most significant decrease of gait ability compared with condition 1 (p<0.05). Conclusions: These finding suggested that constraint arm swing conditions reduced gait ability in healthy young adults. Also, these findings can be utilized as a reference to future studies that not only pelvic, knee and ankle, but also upper limb affect to gait ability.

• Korean Journal of Applied Biomechanics
• /
• v.25 no.4
• /
• pp.483-488
• /
• 2015

Objective : The purposes of this study was to analyze the locomotive movement of forelimbs according to changes in velocities in the quadruped cadence of horses. Methods : Horses selected as subjects consisted of Jeju pony horses (heights of withers: $1.23{\pm}0.51$). Two camcorders (HDR-HC7/HDV 1080i, Sony Corp, Japan) were used to capture the movement of the horses' forelimbs at a rate of 60 frames/sec. Additionally, raw data was collected from Kwon3D XP motion analysis package ver 4.0 program (Visol, Korea) with DARTFISH (DFKREA., Korea) video software solution. The variables analyzed consisted of 1 step lengths, 1 stride lengths, stance time, swing time, 1 stride time, velocity while walking, and trot of the horses. A two-way ANOVA and paired t-test of the variables by velocity and phase were treated at .05 level of significant difference, statistically. Results : The time elapsed of walk(stance: 0.63 sec[63.86%], swing: 0.35 sec[36.14%], 1 stride time: 0.99 sec respectively) showed significant difference with more delay than that of trot(stance: 0.29 sec[45.73%], swing: 0.34 sec[54.27% ], 1 stride time: 0.63 sec respectively), and also showed significant difference at trot in interaction (stance time>tort swing>walk swing>walk stance). The 1 step lengths and stride lengths in trot showed significant difference with longer than that of walk. Velocity of Trot showed significant difference statistically with higher than that of walk Conclusion : The horses' velocity during 1 step lengths and 1 stride lengths showed a proportional relationship, but the correlation between the horses' velocity and stance time showed a negative relationship during the quadruped cadence.

• Physical Therapy Korea
• /
• v.14 no.4
• /
• pp.66-74
• /
• 2007

The aim of the present study was to investigate age-related differences in stepping behavior in response to sensory perturbations of postural balance. The participants for this study were 2 healthy elderly adults (mean age=76.0) and 2 younger adults (mean age=25.5). Subjects were asked to step over a 10 cm high obstacle at self-paced speed with the right limb to land on the primary target (normal step length) that is 10 cm in diameter. However, if, during movement, the light was illuminated, then the subject had to step on the secondary target (long step length). It was planned that the onset of the light would be prior to peak Fx of swing limb, between swing peak Fx and swing toe-off, and after swing toe-off. In the younger adults these secondary visual cues were provided at mean times of 240 ms (standard deviation (SD)=11), 402 ms (SD=13), and 476 ms (SD=88) following the movement onset. Corresponding mean times for the healthy elderly were 150 ms (SD=67), 352 ms (SD=39), and 562 ms (SD=115). Results showed great changes in both group and visual cue condition in Fx ground reaction forces and temporal events following the swing toe-off. Swing limb acceleration force (Fx) and stance peak Fx1 was much greater in the young adults compared to the older adults. Both young and older adults increased stance peak Fx2 in the visual cue condition compared to normal stepping. There was no difference in stance peak Fx2 between the visual cue conditions in both groups. Similarly, the time to stance peak Fx2 was much longer for the visual cue condition than for the normal stepping. It was not different between the visual cue conditions in the young adults, but in the elderly mid and late cue was much greater than early cue. In addition, time to stance peak Fx2 and swing and stance time were much longer in the older adults compared to the young adults for the visual cue conditions. These results suggest that unlike young adults, elderly adults did not flexibly modify their responses to unexpected changes in step length while stepping over obstacles.

• Korean Journal of Applied Biomechanics
• /
• v.12 no.2
• /
• pp.33-49
• /
• 2002

This study was intended to provide basic materials for golf coaching by somatotype by analyzing and comparing the kinematic factors found in each somatotype at the time of golf swing. For this purpose, the somatotype was divided into endomorph, mesomorph and ectomorph in reference to the weight, height and upper arm circumference of each of nine professional golfers. Each of their swing motions was videotaped with the camcorder and their swing motion was analyzed by dividing it into 8 sections. The time required for the swing motion, the displacement of the center of the human body and the rotation angle of the upper body were calculated through the three-dimensional image analysis based on the DLT(Direct Linear Transformation). Based on the findings of this study, the following conclusion was drawn: The endomorphic golfers showed the longest required golf swing time, followed by the mesomorphic golfer and then the endomorphic golfer. The displacement of left-to-right movement was largest in the mesomorphic golfers, followed by the endomorphic golfers the up-to-down displacement was upward at the time of impact and that the endomorphic and mesomorphic golfers raised the sense of stability by maintaining an almost uniform height at the time of impact. As for the rotational angle of the upper body and the rotational angle of the thigh, the upper body and the thigh took a form of rotating earlier in the ectomorphic golfers at the time of impact, who showed a somewhat different characteristics compared to the endomorphic and mesomorphic golfers. It is necessary to investigate the movement of more fundamental forces in presenting the theory related to the kinematic characteristics of this swing by somatotype. Accordingly, it is thought that it is necessary to analyze the center of pressure(COP) using the ground counterforce in the future study.

• Korean Journal of Applied Biomechanics
• /
• v.15 no.3
• /
• pp.79-94
• /
• 2005

Because the golf swing is very complex movement, it is varied in different gender, skill level, and club. This study measured kinematic variables in golf swing regarding gender, skill level, and club types using FasTrak electromagnetic tracking system. Golf swing kinematics including time variables, linear and angular displacement variables, angular velocity variables were analyzed and compared through three-way ANOVA The results were as follows: 1. In time variables, Female and driver showed longer backswing time than male and iron. Downswing time was longer in female and nonexperts than male and experts. Backswing time over downswing time was longer in experts than nonexperts. Uncocking time was longer in male and experts than female and nonexperts. The differences were statistically significant (p<.05). 2. In displacement variables, Female and nonexperts showed greater backswing head lift than male and experts. Impact head lift was greater in female, nonexperts, and iron than male, experts, and driver. The differences were statistically significant (p<.05). Experts and driver showed greater top hip rotation angle than nonexperts and iron. Top shoulder rotation angle was greater in male, experts and driver than female, nonexperts, and iron. X-factor was greater in male, experts, and driver than female, nonexperts, and iron. Male and experts showed greater backswing hip sway than female and nonexperts. Impact hip sway was greater in male and iron than female and driver. The differences were statistically significant (p<.05). 3. In velocity variables, Experts displayed higher impact hip rotation velocity than nonexperts. Impact shoulder rotation velocity was greater in male and iron than female and driver (p<.05).

• Korean Journal of Applied Biomechanics
• /
• v.18 no.2
• /
• pp.29-39
• /
• 2008

This study was to provide for Tippelt technique which was a basic technique used in parallel bars. The program was applied to players for 8 weeks. Then it was analyzed by using 3Dmotion Analysis system to seek the difference between before and after using the program. Moreover establish the improvement and trait for newly made program. The program was made up of down-swing, up-swing and composite connection-phase training. Through down-swing training, shoulder angle made extension and chest closed quickly. As a result, players' performance have improved. Through up-swing training, legs kicking to vertical direction and trunk stood up fastly. As a result, players' performance have improved. When going upward, the center of mass must be in control not to have a lot of movement and hip angle extension using the bar is very positive coaching. When coaching composite connection in training from down-swing to up-swing, must have enough air phase time using center of mass vertically to have extension of leg. As a result, players' performance have improved by having increase of air phase time.

• Journal of Electrical Engineering and Technology
• /
• v.3 no.1
• /
• pp.29-35
• /
• 2008

With long time setting, zone 3 impedance relays are considered insensitive to power swings, and their operation condition during power swings is seldom analyzed. Instead of ti me-consuming simulation to the swing loci, their operation condition is directly quantified by polynominal functions in this paper to find the critical swing angle and frequency for relay operation under different relay settings and system parameters. It is found: (1) the swing loci are more densely populated inside than outside of the protection region, which corresponds to long residence time and possible relay operations; (2) the relays may be sensitive to load encroac hments and stable power swings with different relay settings and system parameters; (3) the critical swing frequency may be in the range of low-frequency power swings.

• Korean Journal of Applied Biomechanics
• /
• v.13 no.1
• /
• pp.173-184
• /
• 2003

The purpose of this study was to investigate the batting characteristics in elite baseball players. Seven skilled collegiate players hit the ball which was thrown by a pitching machine linearly and strongly to the center of the field. Time, velocity, angle and pound reaction force variables were measured by using high-speed video cameras and pound reaction force analyzer. The results were as follows: 1. The elite players finished their stride performance in a short time and they stayed longer in a swing phase. The increases in the range of trunk rotation were associated with the delay of the swing phase. 2. The 'take-back' phenomenon in the trunk was showed after the stride phase. 3. The down swing demonstrated powerful line drives. 4. Equivalent body weights were placed on both feet during the ready phase. 95% of the body weights were moved to the rear foot during the stride phase, whereas the body weights were driven to the front foot during the swing phase. 95% of the body weights were placed on the front foot at impact.