• The Journal of Korean Physical Therapy
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• 제27권1호
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• pp.7-11
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• 2015

Purpose: This study was conducted in order to determine the effects of knee malalignment including genu varum, valgum, and recurvatum on static and dynamic postural stability. Methods: A total of 80 subjects were enrolled in this study. Subjects who showed over 3 cm in the distance between the knees were classified as the genu varum group, and subjects who showed over 3 cm in the distance between the ankles were classified as the genu valgum group. Subjects who showed over 1 cm in the distance between the patella and a table in prone position were classified as the genu recurvatum group. Static and dynamic stability were measured as overall, anterioposterior, and mediolateral balance index using a Biodex Balance System. Results: This study showed that knee alignment affected static and dynamic postural stability. In particular, there were significant differences in the mediolateral stability index among genu varum, valgum group, and the other groups, but no differences in overall and anteriolateral stability index. Significant differences in the anterioposterior stability index were observed between genu recurvatum and the other groups, however, there were no differences in overall and mediolateral stability index. Conclusion: The findings were that knee malalignment affects postural stability toward a specific direction. Treatment to improve postural stability for treatment of knee malalignment or to prevent falling or injuries is needed and postural stability toward a specific direction according to the knee alignment conditions should be considered.

• The Journal of Korean Physical Therapy
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• 제24권6호
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• pp.419-422
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• 2012

Purpose: Malalignment of the lower limbs may increases the difficulty of maintaining equilibrium. The purpose of this study was to study the effects of genu varum and poor posture in the sagittal plane on postural stability. Methods: We had 27 subjects with varus and 27 normal subjects participate in this study. Subjects for whom the distance between the medial epicondyles in the knee joint was more than 3 cm were classified as varus group, and subjects for whom the distance was less than 3 cm were classified as normal group. The measurements of static and dynamic stability were used overall stability index (OSI), anterioposterior stability index (APSI), and mediolateral stability index (MLSI) using a Biodex balance system. Results: When measuring the static stability index, there were significant differences in the mediolateral stability index between the varus and control groups. When measuring the dynamic stability index, there were significant differences in the overall, anteriorposterior, and mediolateral stability index between the varus and control groups. These results demonstrated that genu varum affects mediolateral movement in static stability, and overall, anterioposterior and mediolateral movements in dynamic stability. Conclusion: As genu varum affects static and dynamic stability in young adults, it increases the risk of injuries or falls. Exercise and surgery are required for realigning the genu varum. Future studies about postural stability in young children and elderly people who have a risk of falls due to lower postural control ability, are needed, as well as in young adults.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.779-782
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• 1996

Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..

• 한국전문물리치료학회지
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• 제15권1호
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• pp.30-37
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• 2008

This study was designed to examine the effects of temporary immobilization of the ankle and knee joints on standing in healthy young adults with the use of a postural control mechanism. The subjects were twenty-four college students (12 males and 12 females, aged between 20 and 28). A Biodex balance system SD 950-302 and its software were used to measure indirect balance parameters in standing. Each subject underwent postural stability tests in 4-different joint conditions: free joints, ankle immobilization only, knee immobilization only, and ankle and knee immobilization. In addition, the postural stability test was conducted once with the subject's eyes open and once with the eyes closed conditions. For data analysis of the postural stability tests, the overall stability index, antero-posterior stability index, and medio-lateral stability index were recorded. The overall stability index (p=.000) and medial-lateral index (p=.003) were significantly greater different conditions with eyes closed in postural stability. Therefore, the eyes closed condition is expected to be used as an effective postural stability training for treatment planning in patients with unstable postures. In addition, training based on the dynamic multi-segment model can improve postural stability and is available to therapeutic programs, helping people with unstable balance to reduce their risk of falling.

• 대한기계학회논문집
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• 제18권9호
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.

• Wind and Structures
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• 제38권6호
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• pp.427-443
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• 2024

By using a computational program of three-dimensional aerostatic and aerodynamic stability analysis of long-span bridges under skew wind, the dynamic characteristics and structural stability(including the aerostatic and aerodynamic stability) of a three-tower cable-stayed-suspension hybrid bridge with main span of 1 400 meters are investigated numerically under skew wind, and the skew wind and aerostatic effects on the aerostatic and aerodynamic stability of three-tower cable-stayedsuspension hybrid bridge are ascertained. The results show that the three-tower cable-stayed-suspension hybrid bridge is a longspan structure with greater flexibility, and it is more susceptible to the wind action. The aerostatic instability of three-tower cable-stayed-suspension hybrid bridges is characterized by the coupling of vertical bending and torsion of the girder, and the skew wind does not affect the aerostatic instability mode. The skew wind has positive or negative effects on the aerostatic stability of the bridge, the influence is between -5.38% and 4.64%, and in most cases, it reduces the aerostatic stability of the bridge. With the increase of wind yaw angle, the critical wind speed of aerostatic instability does not vary as the cosine rule as proposed by the skew wind decomposition method, the skew wind decomposition method may overestimate the aerostatic stability, and the maximum overestimation is 16.7%. The flutter critical wind speed fluctuates with the increase of wind yaw angle, and it may reach to the minimum value under the skew wind. The skew wind has limited effect on the aerodynamic stability of three-tower cable-stayed-suspension hybrid bridge, however the aerostatic effect significantly reduces the aerodynamic stability of the bridge under skew wind, the reduction is between 3.66% and 21.86%, with an overall average drop of 11.59%. The combined effect of skew and static winds further reduces the critical flutter wind speed, the decrease is between 7.91% and 19.37%, with an overall average decrease of 11.85%. Therefore, the effects of skew and static winds must be comprehensively considered in the aerostatic and aerodynamic stability analysis of three-tower cable-stayed-suspension hybrid bridges.

• 벤처혁신연구
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• 제3권1호
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• pp.67-85
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• 2020

본 연구에서는 노인 일자리의 고용 안정성과 노인의 전반적인 삶의 질이 어떠한 관계를 가지는지 살펴보고 나아가 고령층의 고용 안정성과 전반적인 삶의 질 사이에서 임금 만족도, 근무 환경 만족도, 전반적인 직무 만족도의 변인으로 이루어진 고용 조건 만족도의 매개 효과를 분석하였다. 이를 위하여 7차 고령화연구조사패널(KLoSA) 조사 데이터에서 임금 근로자만을 추출하여 변인들 사이의 상관관계와 매개효과를 분석하였다. 분석 결과, 고용 안정성과 고용 조건 만족도는 정적관계를 가진 반면, 고용 안정성과 고용 조건 만족도 모두 전반적인 삶의 질과는 부적관계를 가지는 것으로 나타났다. 이를 통하여 고용 안정성이 향상될수록 고용 조건에 대한 만족도는 올라가지만, 전반적인 삶의 질은 하락한다는 것을 알 수 있다. 본 연구는 고령층을 대상으로 한 연구를 진행할 경우 다른 연령층과는 다른 시각으로 접근해야 한다는 점과 노인 일자리의 질적 측면을 통하여 고령층의 삶의 질을 분석하려고 했다는 점에서 기존의 연구들과의 차별성 및 시사점을 가진다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1148-1153
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• 2004

This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.768-776
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• 2000

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.580-590
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• 2005

In this paper, we propose a new stability criterion and a controller design method for switched linear systems. The proposed stability criterion is applicable to each subsystem independently without the need to consider the overall system. The controller can be easily designed through geometric relations between eigenvalues of each subsystem matrix. The proposed methods provide a systematic and simple pole assignment approach for switched linear systems. Illustrative examples are given.