• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.62-66
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the learning control field was learning in robots doing repetitive tasks such as an assembly line works. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown for the iterative precision of each link.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.92-98
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• 2005

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.

• Journal of the Korean Society of Physical Medicine
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• v.3 no.2
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• pp.75-80
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• 2008

Purpose : The purpose of this study was to evaluate the effects of local vibration on quadriceps femoris on vertical jump Method : The subjects(40) were divided into man control group(10) woman control group(10) and man vibration group(10), woman vibration group(10). Vibration group was given vibration on quadriceps femoris for 15 minutes and control group was given resting for 15 minutes. All subjects of each group were tested on vertical jump then pre and post test. Results : 1. Man control group and woman control group vertical jump didn't have statistically difference pre and post test(p>0.05). 2. In the woman vibration group vertical jump didn't have significant difference pre and post test(p>0.05), but had significant difference in the man vibration group(p<0.05) Conclusion : Vibration on quadriceps femoris have an effect on vertical jump. Therefore, the vibration will be effective in treatment of muscle strength.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.11 no.4
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• pp.22-30
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• 2001

In this paper, active control of vibrational intensity at a reference point in an infinite, elastic plate was discussed. The plate is excised harmonically by a vibrating source, which has a vertical point force. The optimal condition of controller was investigated to minimize the vibrational intensity being transmitted from the vibrating source to a reference point. Hence the method of feedforward control was employed for the control strategy and then the cost function was evaluated to find the optimal control force. Three types of control force (Vertical force, Moment, and Coupling force (a set of vertical force and moment) ) and controller's positions were examined to define the optimal condition of the controller. The vibrational intensity at a reference point was found to be reduced down to a zero level, compared with the uncontrolled case. Especially maximum reduction of vibrational intensity was achieved when the controller was collinearly positioned between a vibrating source and a reference point.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.245-256
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• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• 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 information and communication convergence engineering
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• v.9 no.6
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• pp.743-746
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• 2011

An implementation for surface EMG network analysis and vertical control system of robotic arm is presented in this paper. The transmembranes are simulated by equivalent circuit and cable equation for propagation to be converted to circuit networks. The implementation is realized to be derived from the detecting EMG signal from 3 electrodes, and EMG transmembrane signals of human arm muscles are detected by several surface electrodes, high performance amplifier and filtering, converting analog to digital data and driving a servomotor for spontaneous robotic arm. The system is experimented by monitoring multiple steps vertical control angles corresponding to biceps muscle movement. The experimental results are that the vertical moving control level is measured to around 2 degrees and mean error ranges are lower 5%.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.64-72
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• 2004

An extension of interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances is presented. The teaming control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of loaming control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot moving on the vertical plane with the controller for each link acting independently. The basic result of the paper is to show that stability and iterative precision of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized teaming in the coupled system, provided that the sample time in the digital teaming controller is sufficiently short. The methods of teaming system are shown up for the iterative precision of each link.