• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.4
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• Journal of The Korean Society of Integrative Medicine
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• v.2 no.3
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• pp.49-55
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• 2014

Purpose : The purpose of this study was to investigate the effect of cross bag weight and carrying bag position type on vastus medialis oblique and vastus lateralis muscle activity ratio during step up. Method : Twenty healthy subjects participated in this study. subjects randomized performed step up with bag weight less than 15%, more than 15% of totalbody weight and without bag and carrying bag position ipsilateral and contralateral. muscle activity was measured with surface electromyography. One-way analysis of variance with repeated measures was used with a significance level of 0.05 Result : The results of this study were as follows: 1. The muscle activity ratio decreased significantly ipsilateral bag position more than 15% of body weight(p<.05). Also, the muscle activity ratio increased significantly contra lateral bag position more than 15% of body weight(p<.05). Conclusion : In conclusion, it was found that applied carrying bag position with weight on VMO,VL muscle activity ratio during step up down. Therefore carrying bag position can be used to selective activate vastus medialis oblique muscle in subjects with patellofemoral pain syndrome.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• PNF and Movement
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• v.17 no.3
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• pp.401-409
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• 2019

Purpose: This study investigated the muscular activity of abdominal muscles during a variety of plank exercises following changes in the leg and head positions. Methods: Thirty healthy individuals participated in this study. They performed six variations of plank exercises, including three changes in head position and two changes in leg position. Each plank was defined as head neutral-leg neutral, head up-leg neutral, head down-leg neutral, head neutral-leg wide, head up-leg wide, and head down-leg wide. During the plank excises, the muscle activities of the rectus abdominis, internal oblique, erector spinae, and upper trapezius were measured. Results: The head down position significantly increased the rectus abdominis activity compared to other head positions (p<0.05). On the other hand, the upper trapezius muscle activity was significantly higher with the head up position compared to other head positions (p<0.05). Regardless of head positions, both the rectus abdominis and internal oblique muscles were significantly activated with leg wide position compared to the leg neutral position (p<0.05). Conclusion: Head and leg positions could change the muscular activities of abdominal muscles during plank exercises. For example, the head down position is effective for activating the rectus abdominis while the leg wide position could be advantageous for enhancing the internal oblique and rectus abdominis.

• Design & Manufacturing
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• v.15 no.1
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• pp.1-7
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• 2021

The position of the gate is one of the important factors for optimal injection molding. This is because inappropriate gate positions cannot fill the cavity uniformly, which can lead to defects such as contraction. In this study, CAE was performed on hot runner injection molding of the washing machine base and plasticity was compared by changing gate position from existing gate position. A total of two alternatives have been applied to compare the plasticity of the washing machine base according to its optimal gate position. The gate position of the improved molds and the gate position of the current mold is analyzed by injection molding analysis. The results of the fill time, the pressure at V/P switchover, clamping force, and deflection were compared. In washing machine base injection molding, the deflection was reduced by about 3.76% in the improved mold 2. In improved mold 1, the fill time during injection molding was reduced by 3.32% to enable uniform charging, and the clamping force was reduced by 31.24%. We have confirmed that the position of the gate can change the charging pressure and the clamping force and affect the quality and cost savings of the molded product.

• Phonetics and Speech Sciences
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• v.8 no.1
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• pp.19-24
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• 2016

The Korean high back vowels /o/ and /u/ have been reported to be in a state of near-merger especially among young female speakers. Along with cross-generational changes, the vowel position within a word has been reported to render different phonetic realization. The current study examines native English speakers' ability to attend to the phonetic cues that distinguish the two merging vowels and the positional effects (word-initial vs. word-final) on the identification accuracy. 28 two-syllable words containing /o/ or /u/ in either initial or final position were produced by native female Korean speakers. The CV part of each target word were excised and presented to six native English speakers. The results showed that although the identification accuracy was the lowest for /o/ in word- final position (41%), it increased up to 80% in word-initial position. The acoustic analyses of the target vowels showed that /o/ and /u/ were differentiated on the height dimension only in word-initial position, suggesting that English speakers may have perceived the distinctive F1 difference retained in the prominent position.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.7
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• pp.473-482
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• 2004

In this paper, a detection technique of initial rotor position at a standstill in Toroidal Switched Reluctance Motor(TSRM) with built-in interior central pole search coil is proposed. In case search coils are used as a position sensor, it has many advantages like low cost, decrease in the volume, high robust characteristics and wide applications. However, the initial rotor position detection is very difficult because the search coil's EMF is not exist at a standstill. In this paper, a new detection method of initial rotor position is suggested using interior central pole search coil. The simulation and experiment for the proposed method and their results support the validity of the proposed scheme by verifying the operation of a 6/4 TSRM using search coils.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.485-493
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• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.750-753
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• 2005

This paper presents a method of detecting rotor position for single phase Switched Reluctance Motors(SRMs) using searchs coil. In the single phase SRM, mainly Hall effect sensors or photo interrupters have been used to detect the rotor position. But these sensors cause high cost and increase the volume of the motor, Furthermore when the motor is used in very hostile environment like high temperature or pressure, its reliability goes down. In this paper, low cost and robust characteristics of rotor position detection method are focused in order to compensate for disadvantage of existing sensors. Search coils wound around the stator pole are used for detection of the rotor position in single phase SRM. Rotor position detection is achieved through electromotive force patterns induced by time-varying flux linkage in the search coil. The validity of the method is verified by experimental results.

• The Transactions of the Korean Institute of Power Electronics
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• v.24 no.6
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• pp.389-395
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• 2019

This paper presents the sensorless position control of an auxiliary scaffolding step system for vehicles using DC motors. The designed auxiliary scaffolding step has a mechanical protector at the stop position. At this position, the scaffolding is forcibly stopped by the mechanical protector, and the motor current is dramatically increased to the stall current of the DC motor, thereby increasing the electrical damage. In this study, the estimated back EMF- and current model-based observers are proposed to estimate the motor speed and stop position. A simple V/F acceleration voltage pattern is used to operate the auxiliary scaffolding system. The estimated moving position is adopted to determine the stop position of the DC motor with the load current state. The operating current of the DC motor can be reduced by the estimated moving position and V/F acceleration pattern. At the stop position, the proposed sensorless position controller can smoothly stop the DC motor with the estimated moving position and reduced load current without any mechanical and electrical stress from the stall current from the mechanical protector. The proposed control scheme is verified by the comparison of simulations and experiments.