• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2116-2119
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• 2005

Inverted pendulum is a classical example and a famous tool for testing the effectiveness of many control schemes. Owing to their nonlinearity and unstable characteristic, a controller development either for swinging-up or stabilizing its upright position had been a great interest of many researchers. In this paper, the swinging-up control of the inverted pendulum using energy control will be presented. However, the saturation function in its control law could harm the experimental equipments. In addition, this swinging-up method did not consider limited sector of the arm angle to avoid another hazard, for instance, the twisted cable in the apparatus. Therefore, in this paper the position control of the arm angle using simple PD control in accordance with the energy control is proposed. Consequently, the limited arm sector angle can be achieved and the saturation function can also be replaced effectively by the PD control.

• Archives of design research
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• v.14 no.4
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• pp.227-235
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• 2001

At present the educational envelopment of our country was placed in the difficult situation that cannot help but coping with the situation positively and actively against a lot of change and the crisis inside and outside. By employing the UI(university Identity) or CI(College Identity) for the communication method to overcome the above present situation and to take a triangular position again, those are recognized that making an effort to amend or re-generate the present images is important in the management of college. But UI or CI are upright and have strong feeling on the specific character of college which is called as educational organization. And in its application, it shows weak point that cannot scope softly against the changing current of times by lack of adaptability. By congesting the restriction of conveyance of image and upright nature of such operation, and also by developing the Image Mark that can convey variety, affection and polished feeling, and further by conveying the future-oriented images aimed by college to the educational consumers closely and softly, it is to take the roils faithfully for the strengthening of competitive power of college. In addition, in order to convey college image softly and effectively and also utilize as a means of positive propaganda, character was developed together.

• Journal of the korean academy of Pediatric Dentistry
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• v.5 no.1
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• pp.64-75
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• 1978

In order to know cephalometric norms for the preschool children, this roentgeno cephalometric study was undertaken in each 50 Korean male and female children of primary dentition age from 4 to 5 year. The following results were obtained. 1. In the skeletal analysis, there was no significant difference between male and female in angular measurement and the linear measument of the male was generally greater than that of the female. 2. Saddle angle was $122.3^{\circ}$, articular angle was $147.6^{\circ}$, gonial angle was $119.4^{\circ}$ and the sum of each angle was $396.1^{\circ}$ in male and $396.6^{\circ}$ in female. 3. The ratio of mandibular body to anterior cranial base was about 1 : 0.91. 4. In the primary dentition, suggested that the nasion and point A move forward relative to sella turcica in a fashion, pogonion and point B are equal in angular position relative to plan S-N, bony chin and chin button was yet underdeveloped, and the forward growth of mandible was seen rapid than maxilla after 4 years. 5. Suggested that the percentage of anterior facial height to the posterior facial height were 64.4% in male and 64.1% in female. 6. Maxillary primary incisors was more upright than the permanent incisors, mandibular primary incisors was inclined lingually relative to the permanent incisor, and primary incisors was more upright than the permanent incisors. 7. Maxillary primary incisors in female was inclined labially than male. 8. In the the relationship of the upper lip and lower lip to the esthetic line, the upper lip was 2.11mm and the lower lip was 2.33mm front of the esthetic line.

• Annals of Rehabilitation Medicine
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• v.42 no.6
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• pp.833-837
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• 2018

Objective To investigate and demonstrate persistent increase of peak cough flow after mechanical in-exsufflator application, in patients with neuromuscular diseases and pneumonia. Methods A mechanical in-exsufflator was applied with patients in an upright or semi-upright sitting position (pressure setting, +40 and $-40cmH_2O$; in-exsufflation times, 2-3 and 1-2 seconds, respectively). Patients underwent five cycles, with 20-30 second intervals to prevent hyperventilation. Peak cough flow without and with assistive maneuvers, was evaluated before, and 15 and 45 minutes after mechanical in-exsufflator application. Results Peak cough flow was 92.6 L/min at baseline, and 100.4 and 100.7 L/min at 15 and 45 minutes after mechanical in-exsufflator application, respectively. Assisted peak cough flow at baseline, 15 minutes, and 45 minutes after mechanical in-exsufflator application was 170.7, 179.3, and 184.1 L/min, respectively. While peak cough flow and assisted peak cough flow increased significantly at 15 minutes after mechanical in-exsufflator application compared with baseline (p=0.030 and p=0.016), no statistical difference was observed between 15 and 45 minutes. Conclusion Increased peak cough flow after mechanical in-exsufflator application persists for at least 45 minutes.

• The Journal of Korean Physical Therapy
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• v.35 no.5
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• pp.156-161
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• 2023

Purpose: This study examined the effects of subjective visual vertical perception and head orientation on static balance control. Methods: The subjects were 25 young and healthy adults. The vertical perception was measured using a subjective visual vertical (SVV), and the Center of pressure (COP) parameter was analyzed by continuously measuring the movement of the COP to determine the changes in static postural control. The group was divided based on a deviation of 3° in SVV (11 of SVV≥3°, 14 of SVV<3°) and measured with different head orientations: front, up, down, left, and right in the upright and tandem positions, respectively. Results: In the upright position, the SVV≥3° group had significantly larger values for all COP parameters (Sway length, Surface, Delta X, Delta Y, and Average speed) compared to the SVV<3° group (p<0.05). In the tandem stance, only the Ellipse Surface value was significantly larger among the COP parameters in the group with SVV≥3° compared to the group with SVV<3°(p<0.05). In contrast, the other COP parameters were not significantly different (p>0.05). The effects of static balance control on the head orientation were not statistically significant (p>0.05), and the interactions between the subjective vertical perception and head orientation were not significant (p>0.05). Conclusion: These results suggest that pathological deviations in SVV are associated with impaired static balance performance. This study can provide a therapeutic rationale for using visuospatial cognitive feedback training to improve the static balance.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.127-134
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• 2016

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.50-50
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• 2000

In this paper, a new measuring system is :proposed which can measure the fine 6-DOF displacement of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45$^{\circ}$ to its bottom surface. We call this mirror 3-facet mirror. The 3-facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors(PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation tying parallel to the reference plane. The sensitive areas of three PSDs are oriented toward the center point of the triangular formation. The object whose 6-DOF displacement is to be measured is situated at the center with the 3-facet mirror on its top surface. A laser beam is emitted from the laser source located at the upright position and vertically incident on the top of the 3-fatcet mirror. Since each reflective facet faces toward each PSD, the laser beam is reflected at the 3-facet mirror and splits into three sub-beams, each of which is reflected from the three facets and finally arrives at three PSDs, respectively. Since each PSD is a 2-dimensional sensor, we can acquire the information on the 6-DOF displacement of the 3-facet mirror. From this principle, we can get 6-DOF displacement of any object simply by mounting the 3-facet mirror on the object. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. And, a series of simulations are performed to demonstrate the effectiveness of the proposed method. The simulation results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects.

• Sleep Medicine and Psychophysiology
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• v.21 no.2
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• pp.69-73
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• 2014

Objectives: This study was designed to assess the change of heart rate variability (HRV) at resting, upright, and psychological stress in anxiety disorder patients. Methods: HRV was measured at resting, upright, and psychological stress states in 60 anxiety disorder patients. We used visual analogue scale (VAS) score to assess tension and stress severity. Beck depression inventory (BDI) and state trait anxiety inventories I and II (STAI-I and II) were used to assess depression and anxiety severity. Differences between HRV indices were evaluated using paired t-tests. Gender difference analysis was accomplished with ANCOVA. Results: SDNN (Standard deviation of normal RR intervals) and low frequency/high frequency (LF/HF) were significantly increased, while NN50, pNN50, and normalized HF (nHF) were significantly decreased in the upright position compared to resting state (p < 0.01). SDNN, root mean square of the differences of successive normal to normal intervals, and LF/HF were significantly increased, while nHF was significantly decreased in the psychological stress state compared to resting state (p < 0.01). SDNN, NN50, pNN50 were significantly lower in upright position compared to psychological stress and nVLF, nLF, nHF, and LF/HF showed no significant differences between them. Conclusion: The LF/HF ratio was significantly increased after both physical and psychological stress in anxiety disorder, but did not show a significant difference between these two stresses. Significant differences of SDNN, NN50, and pNN50 without any differences of nVLF, nLF, nHF, and LF/HF between two stresses might suggest that frequency domain analysis is more specific than time domain analysis.

• Journal of Oral Medicine and Pain
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• v.14 no.1
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• pp.35-42
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• 1989

악구강계의 질환을 진단하고 치료후의 예후를 판정하기 위하여 maximal clenching시에 측정된 tooth contacts의 수와 분포가 이용되어 왔다. 그러나 maximal clenching시 반복된 tooth contacts의 측정은 저작근 피로등 문제점을 가지고 있다. 본연구는 건강한 성인 15명을 대상으로 maximal clenching 및 habitual clenching시 T-Scan system을 이용하여 치아접촉 수와 접촉시간을 측정, 비교 검토하여 habitual clenching을 이용한 방법이 Tooth contacts의 연구에 이용될 수 있는지를 확인 하는데 목적이 있으며, 연구결과는 다음과 같다. 1. Habitual clenching시 upright, semisupine position에서의 전측두근의 근활성은 maximal clenching시의 64.5%, 61.9% 및 73.3%로 나타났다. 2. Maximal clenching시 치아접촉 수와 접촉시간은 16.82개 및 0.429초로 나타났으며 habitual clenching시에는 11.65개 및 0.177초로 나타났다. 3. 치아접촉수와 접촉시간은 체위에 따라 크게 변화되지 않았다. 4. 치아접촉수와 접촉시간의 측정시에 habitual clenching을 이용하는 방법이 maximal clenching을 이용하는 방법보다 재현성이 더 높은 것으로 나타났다. 5. Tooth contacts의 연구시 habitual clenching을 기준으로 사용할 수 있다.

• Journal of Chest Surgery
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• v.20 no.1
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• pp.199-201
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• 1987

We have recently experienced a rare case of abdominal aortic injury caused by deceleration force during fall in upright position. The patient was 43-year-old brick-layer fell from 12 meter height and sustained compression fracture of the spine and both legs. The aortic injury was unnoticed at that time. About 2 years later, marked stenosis of the distal abdominal aorta was found together with clinical manifestations of ischemia of both legs. Aorto-femoral bypass on both sides has completely relieved the symptoms, Similar type of abdominal aortic injuries could not be found in the literatures.