• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1130-1136
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• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• Structural Engineering and Mechanics
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• v.44 no.5
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• pp.663-680
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• 2012

Previous major earthquakes revealed that most damage of the buried segmented pipelines occurs at the joints of the pipelines. It has been proven that the differential motions between the pipe segments are one of the primary reasons that results in the damage (Zerva et al. 1986, O'Roueke and Liu 1999). This paper studies the combined influences of ground motion spatial variations and local soil conditions on the seismic responses of buried segmented pipelines. The heterogeneous soil deposits surrounding the pipelines are assumed resting on an elastic half-space (base rock). The spatially varying base rock motions are modelled by the filtered Tajimi-Kanai power spectral density function and an empirical coherency loss function. Local site amplification effect is derived based on the one-dimensional wave propagation theory by assuming the base rock motions consist of out-of-plane SH wave or combined in-plane P and SV waves propagating into the site with an assumed incident angle. The differential axial and lateral displacements between the pipeline segments are stochastically formulated in the frequency domain. The influences of ground motion spatial variations, local soil conditions, wave incident angle and stiffness of the joint are investigated in detail. Numerical results show that ground motion spatial variations and local soil conditions can significantly influence the differential displacements between the pipeline segments.

• Speech Sciences
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• v.12 no.2
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• pp.89-99
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• 2005

The purpose of the present study were (1) to assess differences in tongue performances and speech intelligibility between normal and dysarthric speakers; and (2) to analyze the possible interrelationships between tongue strength, range of motion, and speech intelligibility in dysarthric patients. In order to measure maximum strength of anterior and lateral tongue strength, a force transducer has been designed. And a ruler was used for guaging range of motion. 'Word intelligibility test' was administered to each group. The results were analyzed by a quantitative statistical method(t test, Pearson product- moment correlation, and one-way ANOVA). The results were as follows; (1) dysarthric speakers showed significantly poorer performance than the normal in the tongue strength, range of motion, and speech intelligibility tasks; (2) the correlation between speech intelligibility and instrumental tongue performance was high in the dysarthric group; and (3) instrumental assessment was coincide with perceptual judgement of dysarthric tongue performance. The present investigation demonstrated that tongue weakness is causally related to articulation deficits in dysarthric. The clinical use of the force transducer would help a speech pathologist to quantify the degree of tongue weakness.

• Journal of the Korean Society of Visualization
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• v.3 no.1
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• pp.3-19
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• 2005

Novel optical techniques are presented for three-dimensional tracking of nanoparticles; Optical Serial Sectioning Microscopy (OSSM) and Ratiometric Total Internal Reflection Fluorescent Microscopy (R-TIRFM). OSSM measures optically diffracted particle images, the so-called Point Spread Function (PSF), and dotermines the defocusing or line-of-sight location of the imaged particle measured from the focal plane. The line-of-sight Brownian motion detection using the OSSM technique is proposed in lieu of the more cumbersome two-dimensional Brownian motion tracking on the imaging plane as a potentially more effective tool to nonintrusively map the temperature fields for nanoparticle suspension fluids. On the other hand, R-TIRFM is presented to experimentally examine the classic theory on the near-wall hindered Brownian diffusive motion. An evanescent wave field from the total internal reflection of a 488-nm bandwidth of an argon-ion laser is used to provide a thin illumination field of an order of a few hundred nanometers from the wall. The experimental results show good agreement with the lateral hindrance theory, but show discrepancies from the normal hindrance theory. It is conjectured that the discrepancies can be attributed to the additional hindering effects, including electrostatic and electro-osmotic interactions between the negatively charged tracer particles and the glass surface.

• Journal of Acupuncture Research
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• v.31 no.1
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• pp.61-73
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• 2014

Objectives : The purpose of this study is to estimate the test-retest reliability and the intratest repeatability in measuring the lumbar range of motion of healthy volunteers with wireless microelectromechanical system inertial measurement unit(MEMS-IMU) system and to discuss the feasibility of this system in the clinical setting to evaluate the lumbar spine movement. Methods : 19 healthy male volunteers were participated, who got under 21 points at oswestry disability index(ODI) were adopted. Their lumbar motion were measured with IMU twice in consecutive an hour for the test-retest reliability study. Intratest repeatability was calculated in the two tests separately. The calculated intraclass correlation coefficients(ICC) were discussed and compared with the those of the previous studies. Results : Lumbar range of motion of flexion $41.45^{\circ}$, extension $16.34^{\circ}$, right lateral bending $16.41^{\circ}$ left lateral bending $13.63^{\circ}$ right rotation $-2.47^{\circ}$, left rotation $-0.61^{\circ}$. ICCs were 0.96~1.00(intratest repeatability) and 0.61~0.92(test-retest reliability). Conclusion : This study shows that MEMS-IMU system demonstrates a high test-retest reliability and intratest repeatability by calculated intraclass correlation coefficients. The results of this study represents that wireless inertial sensor measurement system has portable and economical efficiency. By MEMS-IMU system, we can measures lumbar range of motion and analyze lumbar motion effectively.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.328-341
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• 2010

The authors adopt the Unmanned Undersea Vehicle(UUV), which has taken the shape of manta(Sohn et al. 2006). They call here it Manta-type Unmanned Undersea Test Vehicle(MUUTV). MUUTV is designed with the similar concept of UUV called Manta Test Vehicle(MTV), which was originally built by the Naval Undersea Warfare Center, USA(Lisiewicz and French 2000, Sirmalis et al. 2001, U.S. Navy 2004). The present study deals with evaluation of extreme motion of MUUTV at large attack angles. Extreme motion contains, for example, rising and depth change due to operation of hovering thrusters attached to MUUTV, lateral motion due to ocean current applied to MUUTV at low advance velocity, and so on. Numerical simulation technique has been utilized. The previous mathematical model on manoeuvring motion of MUUTV(Bae et al. 2009a) is basically adopted. Based on the results of present model experiment on extreme motion, the mathematical model is revised and supplemented in order to describe extreme motion. The hydrodynamic derivatives related to extreme motion are obtained from present model experiment and the other derivatives are referred to previous work(Bae et al. 2009a).

• Earthquakes and Structures
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• v.1 no.4
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• pp.327-344
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• 2010

This paper summarizes results of a comprehensive analytical study aimed at evaluating the influence of strong ground motion duration on residual displacement demands of single-degree-of-freedom (SDOF) and multi-degree-of-freedom (MDOF) systems. For that purpose, two sets of 20 earthquake ground motions representative of short-duration and long-duration records were considered in this investigation. While the influence of strong ground motion duration was evaluated through constant-strength residual displacement ratios, $C_r$, computed from the nonlinear response of elastoplastic SDOF systems, its effect on the amplitude and height-wise distribution of residual drift demands in MDOF systems was studied from the response of three one-bay two-dimensional generic frame models. In this investigation, an inelastic ground motion intensity measure was employed to scale each record, which allowed reducing the record-to-record variability in the estimation of residual drift demands. From the results obtained in this study, it was found that long strong-motion duration records might trigger larger median $C_r$ ratios for SDOF systems having short-to-medium period of vibration than short strong-motion duration records. However, taking into account the large record-to-record variability of $C_r$, it was found that strong motion duration might not be statistically significant for most of the combinations of period of vibration and levels of lateral strength considered in this study. In addition, strong motion duration does not have a significant influence on the amplitude of peak residual drift demands in MDOF systems, but records having long strong-motion duration tend to increase residual drift demands in the upper stories of long-period generic frames.

• Korean Journal of Applied Biomechanics
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• v.15 no.3
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• pp.1-7
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• 2005

Excessive pronation and impact force during running are related to various running injuries. To prevent these injuries, three type of running shoes are used, such as cushioning, stability, and motion control. Although there were may studies about the effect of midsole hardness on impact force, no study to investigate biomechanical effect of motion control running shoes. The purpose of this study was to determine biomechanical difference between cushioning and motion control shoes during treadmill running. Specifically, plantar and rearfoot motion, impact force and loading rate, and insole pressure distribution were quantified and compared. Twenty male healthy runners experienced at treadmill running participated in this study. When they ran on treadmill at 3.83 m/s. Kinematic data were collected using a Motion Analysis eight video camera system at 240 Hz. Impact force and pressure distribution data under the heel of right foot were collected with a Pedar pressure insole system with 26 sensors at 360 Hz. Mean value of ten consecutive steps was calculated for kinematics and kinetics. A dependent paired t-test was used to compare the running shoes effect (p=0.05). For most kinematics, motion control running shoes reduced the range of rearfoot motion compared to cushioning shoes. Runners wearing motion control shoe showed less eversion angle during standing less inversion angle at heel strike, and slower eversion velocity. For kinetics, cushioning shoes has the effect to reduce impact on foot obviously. Runners wearing cushioning shoes showed less impact force and loading rate, and less peak insole pressure. For both shoes, there was greater load on the medial part of heel compared to lateral part. For pressure distribution, runners with cushioning shoes showed lower, especially on the medial heel.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.18 no.1
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• pp.83-86
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• 2012

Background: The research examined the effect of a scapular stabilizing exercise on shoulder pain, active range of motion (AROM) and changes in the position of the shoulder blade of patients with frozen shoulder. Methods: General physical therapy and a scapular stabilizing exercise were applied to a 53-year-old female patient with frozen shoulder three times a week for four weeks. Before and after the therapy, measurements were made on the visual analog scale (VAS) and of the AROM, and a lateral scapular slide test was conducted. Results: Following the therapy, VAS fell from 7 to 3. Before therapy, flexion, abduction, internal rotation, and external rotation recorded $133^{\circ}$, $102^{\circ}$, $45^{\circ}$, and $53^{\circ}$ respectively; after the therapy they increased to $150^{\circ}$, $123^{\circ}$, $55^{\circ}$, and $65^{\circ}$ respectively. The lateral scapular slide test showed sliding distances before therapy of 8.5cm at $0^{\circ}$, 9.2cm at $45^{\circ}$, and 11.3cm at $90^{\circ}$; after therapy, the distances decreased to 6.8 cm at $0^{\circ}$, 8.2 cm at $45^{\circ}$, and 9cm at $90^{\circ}$. Conclusion: The scapular stabilizing exercise was effective in alleviating shoulder pain, increasing AROM, and reducing changes in the position of the shoulder blade of frozen shoulder patients.

• The Journal of Korean Physical Therapy
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• v.13 no.1
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• pp.115-125
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• 2001

The purpose of this study was to determine the relationship between rotation of the humerus and the shoulder movement in the sagital, coronal, and diagonal planes. Thirty normal subjects(15 male. 15 female)were tested using Cybex NORMTM Testing & Rehabilitation System (CYBEX Division of LUMEX, Inc., Ronkinkoma, New York). The subjects performed active shoulder flexion, abduction and PNF patterns. The range of motion(ROM) of the glenohumeral joint was measured three times. In order to assure the statistical significance of the results. the independent t-test. and a pearson's correlation were applied of the .05 and .01 level of significant. The results of this study were as follow ;1. There were statistically significant differences between shoulder flexion with humerus medial rotation and shoulder flexion with humerus lateral rotation(p <.01). 2. There were statistically significant differences between shoulder abduction with humerus medial rotation and shoulder abduction with humerus lateral rotation(p <.01). 3. There were statistically significant differences between PNF pattern(flex-abd-ext rot) with humerus medial rotation and PNF pattern with humerus lateral rotation(p < .01).For effective rehabilitation of the shoulder, physical therapists must have correct knowledge of shoulder movements. Physical therapists should consider these results when the goal of treatment is to increase ROM of the shoulder.