• The Journal of Korea Robotics Society
• /
• v.19 no.2
• /
• pp.139-148
• /
• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• Journal of Auto-vehicle Safety Association
• /
• v.16 no.1
• /
• pp.6-11
• /
• 2024

This paper presents a motion planning algorithm of autonomous racing vehicles for mimicking the characteristics of a human driver. Time optimal maneuver of a race car has been actively studied as a major research area over the past decades. Although the time optimization problem yields a single time series solution of minimum time maneuver inputs for the vehicle, human drivers achieve similar lap times while taking various racing lines and velocity profiles. In order to model the characteristics of a specific driver and reproduce the motion, a stochastic motion planning framework based on kernelized motion primitive is introduced. The proposed framework imitates the behavior of the generated reference motion, which is based on a small number of human demonstration laps along the racetrack using Gaussian mixture model and Gaussian mixture regression. The mean and covariance of the racing line and velocity profile mimicking the driver are obtained by accumulating the outputs tested at equidistantly sampled input points. The results confirmed that the obtained lateral and longitudinal motion simulates the driver's driving characteristics, which are feasible for actual vehicle test environments.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.2
• /
• pp.151-160
• /
• 2014

The purpose of this study was to investigate the GRF(ground reaction force) parameters according to the shoes's heel heights and ground landing distances during downward stairs on bus. Participants selected as subject were consisted of young and healthy women(n=9, mean age: $21.30{\pm}0.48$ yrs, mean height: $164.00{\pm}3.05cm$, mean body mass: $55.04{\pm}4.41kg$, mean BMI: $20.47{\pm}1.76kg/m^2$, mean foot length: $238.00{\pm}5.37mm$). They were divided into 2-types of shoe's heel heights(0 cm/bare foot, 9 cm) and also were divides into downward stairs with 3 types of landing distance(20 cm, 35 cm, 50 cm). A one force-plate was used to collect the GRF(AMTI, USA) data from the sampling rate of 1000 Hz. The GRF parameters analyzed were consisted of the medial-lateral GRF, anterior-posterior GRF, vertical GRF, loading rate, Center of Pressure(${\Delta}COPx$, ${\Delta}COPy$, COP area) and Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) during downward stairs on bus. Medial-lateral GRF and vertical GRF didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 9 cm shoes heel showed higher vertical GRF than that of 0 cm bare foot in landing distance of 50 cm. Also anterior-posterior GRF didn't show significant difference statistically according to the shoe's heel heights, but landing distance of 20 cm showed higher than that of landing distances of 35 cm and 50 cm in anterior-posterior GRF. Loading rate didn't show significant difference statistically according to the landing distance, but 9 cm shoe's heel showed higher than that of 0 cm bare foot during downward stairs. The ${\Delta}COPy$ and COP area didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 0 cm bare foot showed higher than that of 9 cm shoe's heel in ${\Delta}COPx$. Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) didn't show significant differences statistically according to the landing distance, but 9 cm shoe's heel showed decreased value than that of 0 cm bare foot in dynamics balance. Considering the above, parameters of GRF showed different characteristics according to the shoe's heel heights and ground landing distances during downward stairs on bus.

• The Korean Journal of Physiology and Pharmacology
• /
• v.16 no.4
• /
• pp.255-264
• /
• 2012

The structures of the intact synaptosomal plasma membrane vesicles (SPMVs) isolated from bovine cerebral cortexs, and the outer and the inner monolayer separately, were evaluated with 1,6-diphenyl-1,3,5-hexatriene (DPH) and 1,3-di(1-pyrenyl)propane (Py-3-Py) as fluorescent reporters and trinitrophenyl groups as quenching agents. The methanol increased bulk rotational and lateral mobilities of SPMVs lipid bilayers. The methanol increased the rotational and lateral mobilities of the outer monolayers more than of the inner monolayers. n-(9-Anthroyloxy)stearic acid (n-AS) were used to evaluate the effect of the methanol on the rotational mobility at the 16, 12, 9, 6, and 2 position of aliphatic chains present in phospholipids of the SPMVs outer monolayers. The methanol decreased the anisotropy of the 16-(9-anthroyloxy)palmitic acid (16-AP), 12-(9-anthroyloxy)stearic acid (12-AS), 9-(9-anthroyloxy)stearic acid (9-AS), and 6-(9-anthroyloxy)stearic acid (6-AS) in the SPMVs outer monolayer but it increased the anisotropy of 2-(9-anthroyloxy)stearic acid (2-AS) in the monolayers. The magnitude of the increased rotational mobility by the methanol was in the order at the position of 16, 12, 9, and 6 of aliphatic chains in phospholipids of the outer monolayers. Furthermore, the methanol increased annular lipid fluidity and also caused membrane proteins to cluster. The important finding is that was far greater increase by methanol in annular lipid fluidity than increase in lateral and rotational mobilities by the methanol. Methanol alters the stereo or dynamics of the proteins in the lipid bilayers by combining with lipids, especially with the annular lipids. In conclusion, the present data suggest that methanol, in additions to its direct interaction with proteins, concurrently interacts with membrane lipids, fluidizing the membrane, and thus inducing conformational changes of proteins known to be intimately associated with membranes lipids.

• Biomedical Science Letters
• /
• v.13 no.4
• /
• pp.251-261
• /
• 2007

A myofiber of skeletal muscle is composed of myofibrils, sarcolemma (plasma membrane), and constameres, which anchor the myofibrils to the sarcolemma. Achvillin is a recently identified F-actin binding muscle protein, co-isolates with dystrophin and caveolin-3 in low-density sarcolemma of striated muscle, and colocalizes with dystrophin at costameres, the specialized adhesion sites in muscle. Archvillin also binds to nebulin and localizes at myofibrillar Z-discs, the lateral boundaries of the sarcomere in muscle. However other roles of archvillin on the dynamics of myofibrillogenesis remain to be defined. The goal of this study is, by using siRNA-mediated gene silencing technique, to investigate the effect of archvillin on the dynamics of myofibrillogenesis in cell culture of a mouse skeletal myogenic cell line (C2C12), where presumptive myoblasts withdraw from the cell cycle, fuse, undergo de novo myofibrillogenesis, and differentiate into mature myotubes. The roles of archvillin in the assembly and maintenance of myofibril and during the progression of myofibrillogenesis induced in skeletal myoblast following gene silencing in the cell culture were investigated. Fluorescence microscopy demonstrated that the distribution of archvillin was changed along the course of myofibril assembly with nebulin, vinculin and F-actin and then located at Z-lines with nebulin. Fluorescence microscopy demonstrated that knockdown of mouse archvillin expression led to an impaired assembly of new myofibrillar clusters and delayed fusion and myofibrillogenesis although the mouse archvillin siRNA did not affect those expressions of archvillin binding proteins, such as nebulin and F-actin. This result is corresponded with that of RT-PCR and western blots. When the perturbed archvillin was rescued by co-transfection with GFP or Red tagged human archvillin construct, the inhibited cell fusion and myotube formation was recovered. By using siRNA technique, archvillin was found to be involved in early stage of myofibrillogenesis. Therefore, the current data suggest the idea that archvillin plays critical roles on cell fusion and dynamic myofibril assembly.

• Journal of Biomedical Engineering Research
• /
• v.21 no.3 s.61
• /
• pp.261-271
• /
• 2000

The present study investigated flow dynamics of a two-dimensional abdominal aortic bifurcation model under sinusoidal flow conditions considering wall motion. impedance phase angle(time delay between pressure and flow waveforms), and non-Newtonian fluid using computational fluid dynamics. The wall shear stress showed large variations in the bifurcated region and the wall motion reduced amplitude of wall shear stress significantly. As the impedance phase angle was changed to more negative values, the mean wall shear stress (time-averaged) decreased while the amplitude (oscillatory) of wall shear stress increased. At the curvature site on the outer wall where the mean wall shear stress approached zero. influence of the phase angle was relatively large. The mean wall shear stress decreased by $50\%$ in the $-90^{\circ}$ phase angle (flow wave advanced pressure wave by a quarter period) compared to the $0^{\circ}$ phase angle while the amplitude of wall shear stress increased by $15\%$. Therefore, hypertensive patients who tend to have large negative phase angles become more vulnerable to atherosclerosis according to the low and oscillatory shear stress theory because of the reduced mean and the increased oscillatory wall shear stresses. Non-Newtonian characteristics of fluid substantially increased the mean wall shear stress resulting in a less vulnerable state to atherosclerosis.

• Journal of the Ergonomics Society of Korea
• /
• v.31 no.2
• /
• pp.345-352
• /
• 2012

Objective: The aim of this study is to evaluate the accuracy and reliability of Spine-Pelvis Monitor(SPM) that was developed to measure 3-dimensional motion of spine and pelvis using tilt sensor and gyro sensor. Background: The main cause of low back pain is very much associated with the task using the low back and pelvis, but no measurement technique can quantify the both spine and pelvis. Method: For testing the SPM, 125 angles from three anatomical planes were measured three times in order to evaluate the accuracy and reliability. The accuracy of SPM in measuring dynamic motion was evaluated using digital motion analysis system. The motion pattern captured by two measuring methods was compared with each other. In result, the percentage error and Cronbach coefficient alpha were calculated to evaluate the accuracy and reliability. Results: The percentage error was 0.35% in flexion-extension on sagittal plane, 0.43% in lateral bending on coronal plane, and 0.40% in twisting on transverse plane. The Cronbach coefficient alpha was 1.00, 0.99 and 0.99 in sagittal, coronal and transvers plane, respectively. Conclusion: The SPM showed less than 1% error for static measurement, and showed reasonably similar pattern with the digital motion system. Application: The results of this study showed that the SPM can be the measuring method of spine pelvis motion that enhances the kinematic analysis of low back dynamics.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.537-541
• /
• 2003

In order to control the missiles by aerodynamics, control surfaces sometime called fins are used. Deflection angles of these fins are the right control variables of the aerodynamics, but aerodynamicists prefer to use analytic variables called aileron, elevator and rudder instead of these physical variables, because these three analytic variables dominantly influence on the roll, pitch and yaw channels of the missile maneuver, respectively, and each can be assumed a linear combination of four fin deflection angles. On that basis, roll, pitch and yaw autopilots for controlling the attitudes or lateral acceleration of the missile are designed, and as a consequence outputs of each autopilot are aileron, elevator and rudder commands, respectively. In the existing fin control scheme for the typical tail-fin controlled cruciform missiles, firstly these outputs are distributed to four fin defection commands, and after that four fins are actuated by fin controllers so that their deflections follow the commands. This paper shows that performance of such control schemes can be degraded significantly when fin actuators have certain physical constraints such as slew rate, voltage or current limit, uncertainty of actuator dynamics, and so on, and propose a new control scheme which alleviates such problems. This scheme can be widely applied to various fin actuation systems. But in this paper, for convenience, tail-fin controlled cruciform missile is taken as an example, and it is shown that a proposed control scheme gives better performance than the existing one.

• 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.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.6
• /
• pp.673-679
• /
• 2012

Vehicle rollover is a serious kind of accident, particularly for sport utility vehicles, and its occurrence can be minimized by utilizing active rollover prevention systems. The performance of these protection systems is very sensitive to vehicle inertial parameters such as the vehicle's mass and center of mass. These parameters vary with the number of passengers and in different load situations. In this paper, a unified method for vehicle mass estimation is proposed that takes into account the available driving conditions. Three estimation algorithms are developed based on longitudinal, lateral, and vertical vehicle motion, respectively. Then, the three algorithms are combined to extract information on the vehicle's mass during arbitrary vehicle maneuvering. The performance of the proposed vehicle mass estimation method is demonstrated through real-time experiments.