• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.819-824
• /
• 1997

This paper presents a cell-based motion control strategy for soccer playing mobile robots. In the central robot motion planner, the planar ground is divided into rectangular cells with variable sizes and motion indices to which direction the mobile robot should move. At every time the multiple objects-the goal gate, ball, and robots-detected, integer values of motion indices are assigned to the cells occupied by mobile robots. Once the indices being calculated, the most desirable state-action pair is chosen from the state and action sets to achieve successful soccer game strategy. The proposed strategy is computationally simple enough to be used for fast robotic soccer system.

• 대한물리의학회지
• /
• 제12권4호
• /
• pp.19-28
• /
• 2017

PURPOSE: The purpose of this study was to describe the Proprioceptive Neuromuscular Facilitation (PNF) Intervention strategy applied International Classification of Functioning, Disability and Health (ICF) Tool about strength, range of motion, scapular stability, pain and function of shoulder for patients with adhesive capsulitis. METHODS: The data was collected by patient with adhesive capsulitis. The patient was a 50-year-old male diagnosed with right shoulder with adhesive capsulitis. We applied the PNF Intervention strategy applied ICF Tool to patient with adhesive capsulitis. PNF interventions were consisting of such as combination of isotonic and stabilizing reversal technique and various positions. PNF interventions were applied, such as those aiming at decreasing pain and disability and increasing range of motion and function for the four weeks. Parameters of result were collected for strength, range of motion, scapular stability, pain and function of shoulder using the hand held dynamometer, goniometer, lateral scapula slide test, and shoulder pain and disability index, respectively. RESULTS: Clinical benefits were observed the patient with adhesive capsulitis for strength, range of motion, scapular stability, pain, and function of shoulder. The patient with adhesive capsulitis improved strength, range of motion, scapular stability, pain, and function of shoulder. CONCLUSION: Patient reported improved strength, range of motion, scapular stability, pain, and function of shoulder after intervention.

• 한국해양공학회지
• /
• 제14권4호
• /
• pp.35-42
• /
• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Journal of Mechanical Science and Technology
• /
• 제18권4호
• /
• pp.649-663
• /
• 2004

While a great number of studies on human motor control have provided a wide variety of viewpoints concerning the strategy of the central nervous system (CNS) in controlling limb movement, none were able to reveal the exact methods how the movement command from CNS is mapped onto the neuromuscular activity. As a preliminary study of human-machine interface design, the characteristics of human leg motion and its underlying motor control scheme are studied through experiments and simulations in this paper. The findings in this study suggest a simple open-loop motor control scheme in leg motion. As a possible candidate, an equilibrium point control model appears consistent in recreating the experimental data in numerical simulations. Based on the general leg motion analysis, the braking motion by the driver's leg is modeled.

• 한국정밀공학회지
• /
• 제18권7호
• /
• pp.53-64
• /
• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 제어로봇시스템학회논문지
• /
• 제7권7호
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 만화애니메이션 연구
• /
• 통권28호
• /
• pp.125-153
• /
• 2012

본고는 무빙이미지에서 모션의 양태성 전략이 매체나 장르에 어떤 변화를 가져오는지에 관한 연구이다. 오늘날 모션의 양태성은 애니메이션 뿐만 아니라 영화에서도 적극적으로 조작되는 요소이다. 여기서 모션의 양태성 전략은 일반적으로 장르나 매체에 따라 좌우된다고 말해지는데, 과연 그 명제는 옳은 것인가? 옳다면, 본 명제를 학제적으로 규정되어 있지 않은 '장르 매체'라는 용어를 재고함으로써 좀 더 이론적으로 정리할 수는 없는가? 본고는 그러한 문제를 논의하고자 한다. 본고는 모션의 양태성 조작을 이론적 지평 위에서 바라본다. 맥루한의 핫/쿨미디어 이론과 볼터의 진동이론에서 보면, 궁극적으로 모션 양태성 조작의 효과는 수용자의 감각비율 조작과 같은 것으로 귀결되는데, 이러한 이론적 추론은 사례를 통해 검증될 것이다. 사례 분석에서 본 연구자는 이미지의 모션 양태성 조작이 텍스트 내에서 어떤 효과들을 발현하는 지를 분석하고, 이 효과들이 매체 장르 포지셔닝과 어떤 상관성을 갖는 지를 살펴봄으로써, 본고가 문제시 하는 모션 양태성의 장르 매체 결정론을 평가한다. 결론적으로, 모션의 양태성은 매체의 문제와는 상관없이 장르의 문제에서 결정되는 전략인데, 그 장르는 감각자극의 배합으로 포지셔닝되는 범주라고 할 수 있다. 그렇기 때문에 모션의 양태성 전략은 단위 시퀀스가 필요로 하는 감각성에 좌우된다. 모션의 양태성은 단순히 모션캡처 같이 매체적 측면에서 갖는 기술지향적, 경제적 가치보다 장르적 측면에서 기능성으로 접근해야 하는 전략이다.

• Structural Engineering and Mechanics
• /
• 제54권2호
• /
• pp.239-256
• /
• 2015

An adaptive-scale damage detection strategy based on a wavelet finite element model (WFEM) for thin plate structures is established in this study. Equations of motion and corresponding lifting schemes for thin plate structures are derived with the tensor products of cubic Hermite multi-wavelets as the elemental interpolation functions. Sub-element damages are localized by using of the change ratio of modal strain energy. Subsequently, such damages are adaptively quantified by a damage quantification equation deduced from differential equations of plate structure motion. WFEM scales vary spatially and change dynamically according to actual needs. Numerical examples clearly demonstrate that the proposed strategy can progressively locate and quantify plate damages. The strategy can operate efficiently in terms of the degrees-of-freedom in WFEM and sensors in the vibration test.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권8호
• /
• pp.1014-1021
• /
• 1999

PID controllers with constant gains have been widely used in various control systems. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a variable PID controller for robot manipulators. We divide total workspace of manipulators into several subspaces. PID controllers in each subspace are optimized using evolution strategy which is a kind of global search algorithm. In real operation, the desired trajectories may cross several subspaces and we select the corresponding gains in each subspace. The gains may have large difference on the boundary of subspaces, which may cause oscillatory motion. So we use artificial neural network to have continuous smooth gain curves to reduce the oscillatory motion. From the experimental results, although the proposed variable PID controller for robots should pay for some computational burden, we have found that the controller is more superior to the conventional constant gain PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1404-1409
• /
• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.