• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1322-1326
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confirmed by simulation of the contour tracking task of four joint manipulator.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• Research in Community and Public Health Nursing
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• v.20 no.4
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• pp.403-411
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• 2009

Purpose: The purpose of this study is to explore the effects of a group movement exercise program on psychophysiological variables in the institutionalized elderly. Methods: This research adopted the non-equivalent control group pretest-posttest design. Twenty elders were selected as an experimental group, whereas twenty-two elders were as a control group. The group movement program consisted of 35 minutes of dance and three days a week for eight weeks. Resting systolic blood pressure, diastolic blood pressure and heart rate were measured in a relaxed sitting position. The range of flexion and extension of joint was measured with a gonimeter. Life satisfaction and self-efficacy were measured by self-report. Data were analyzed through $x^2$-test, t-test and ANCOVA using SPSS/WIN program. Results: The results were as follows: Resting systolic blood pressure, diastolic blood pressure and resting heart rate decreased significantly by the group movement training. The range of flexion and extension of the shoulder and hip joints increased significantly. The scores of life satisfaction and self-efficacy increased remarkably by the group movement. Conclusion: The results suggest that group movement training can be an effective intervention to improve psychophysiological variables and the range of motion for the institutionalized elderly.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.434-437
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• 2003

Evaluation or the patterning accuracy of e-beam lithography machines requires a high precision inspection system that is capable of measuring the true xy-locations of fiducial marks generated by the e-beam machine under test. Fiducial marks are fabricated on a single photo mask over the entire working area in the form of equally spaced two-dimensional grids. In performing the evaluation, the principles of self-calibration enable to determine the deviations of fiducial marks from their nominal xy-locations precisely, not being affected by the motion errors of the inspection system itself. It is. however, the fact that only repeatable motion errors can be eliminated, while random motion errors encountered in probing the locations of fiducial marks are not removed. Even worse, a random error occurring from the measurement of a single mark propagates and affects in determining locations of other marks, which phenomenon in fact limits the ultimate calibration accuracy of e-beam machines. In this paper, we describe an uncertainty analysis that has been made to investigate how random errors affect the final result of self-calibration of e-beam machines when one uses an optical inspection system equipped with high-resolution microscope objectives and a precision xy-stages. The guide of uncertainty analysis recommended by the International Organization for Standardization is faithfully followed along with necessary sensitivity analysis. The uncertainty analysis reveals that among the dominant components of the patterning accuracy of e-beam lithography, the rotationally symmetrical component is most significantly affected by random errors, whose propagation becomes more severe in a cascading manner as the number of fiducial marks increases

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.151-159
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• 1999

A self-propulsive polishing robot is proposed as a method which automates a floor polisher. The proposed robot with two rotary brushes does not require any mechanism such as wheels to obtain driving forces. When the robot polishes a floor with its two brushes rotating, friction forces occur between the two brushes and the floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary brushes properly. In this paper, firstly a dynamics model of a brush is presented. It computes the friction force between the brush and the floor. Secondly, the dynamics of the proposed robot is presented by using the bush dynamics. Finally, the inverse dynamics is solved for the basic motions, such as the forward, backward, leftward, rightward motions and the pure rotaion. This paper will contribute to realize a self-propulsive polishing robot as proposed above, In addition, this paper will give basic ideas to automate the concrete floor finishing trowel, because its basic idea for motion is similar to that of the proposed robot.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.28 no.1
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• pp.39-51
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• 2022

Background: The purpose of this study is to investigate the effect of neck and shoulder self-stretching exercise using audiovisual media on neck pain, postural alignment, and joint position error in women with chronic neck pain. Methods: The subjects included 20 women that gave consent to participate in the study voluntarily. They performed the self-stretching exercises using audiovisual media was carried out 20 minutes 5 times a week during 3 weeks. Neck disability index (NDI) and visual analogue scale (VAS) were used to measure the functional disability and pain, A pressure pain threshold was measured using an algometer, and a cervical range of motion (CROM) measurement tool was used to measure the range of motion and error of proprioceptive position sense of the cervical spine. To assess posture alignment, forward head angle (FHA), forward shoulder angle (FSA) were measured using image J software. Results: The neck pain intensity was statistically significantly within group (p<.05). Neck and shoulder functional disability were a statistically significant difference within group (p<.05). Splenius capitis and upper trapezius pressure pain threshold were statistically significant difference in within group (p<.05). The postural alignment was statistically significantly within group (p<.05). The cervical range of motion in neck extension, right and left lateral flexion were statistically significantly within group (p<.05). The joint position error in neck flexion, extension, right and left lateral flexion decreased statistically significantly within group (p<.05). Conclusion: Self-stretching exercise using audiovisual media increased the mobility of the neck, decreased neck pain and joint position error, and improved posture alignment. As a result, there was a positive effect by applying the self-stretching exercise using audiovisual media to people with neck pain. Based on this, it is thought that it can be used as the basis for research related to home training programs for healthy self-management.

• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.4
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• pp.443-450
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• 2014

In this study, we have discussed about the effect of hydrofoil arrangement and longitudinal moment characteristic on longitudinal motion stability of fully-submerged hydrofoil by the experiment of tandem hydrofoil model. First of all, tandem hydrofoil model that has canard wing arrangement has been made and characteristics of lift force and drag force by performing the lift force and drag force measuring experiment has also been estimated. Besides, tandem hydrofoil model's wing arrangement which has the initial stability and self stability of longitudinal motion has also been determined. In longitudinal stability experiment of tandem hydrofoil model, the motion characteristic of pitch and heave and the longitudinal stability of foil borne condition by variation of self stability of longitudinal moment and longitudinal distance are estimated. The result from the experiment and it's important conclusion can be described as below; Increase the self stability for longitudinal moment, the higher self stability for pitch motions in a constant pitch angles. By increasing the self stability for longitudinal moment, the range of fluctuation of pitch motion and heave motion for pitch angle also will change relatively small and longitudinal stability is excellent. Lastly, when the lift force of hydrofoil is remain constants, we can conclude that securing the enough self stability for longitudinal moment is essential for stable foil borne condition of tandem hydrofoil.

• Journal of applied mathematics & informatics
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• v.33 no.1_2
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• pp.203-210
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• 2015

We consider fractional Brownian motion and FARIMA process with Gaussian innovations and show that the suitably scaled distributions of the FARIMA processes converge to fractional Brownian motion in the sense of finite dimensional distributions. We figure out ACF function and estimate the self-similarity parameter H of FARIMA(0, d, 0) by using R/S method. Finally, we display power spectrum density of FARIMA process.

• Journal of Sensor Science and Technology
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• v.31 no.5
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• pp.293-300
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• 2022

Flexible, wearable, and implantable electronic sensors have started to gain popularity in improving the quality of life of sick and healthy people, shifting the future paradigm with high sensitivity. However, conventional technologies with a limited lifespan occasionally limit their continued usage, resulting in a high cost. In addition, traditional battery technologies with a short lifespan frequently limit operation, resulting in a substantial challenge to their growth. Subsequently, utilizing human biomechanical energy is extensively preferred motion for biologically integrated, self-powered, functioning devices. Ideally suited for this purpose are piezoelectric energy harvesters. To convert mechanical energy into electrical energy, devices must be mechanically flexible and stretchable to implant or attach to the highly deformable tissues of the body. A systematic analysis of piezoelectric nanogenerators (PENGs) for personalized healthcare is provided in this article. This article briefly overviews PENGs as self-powered sensor devices for energy harvesting, sensing, physiological motion, and healthcare.

• The Journal of Korean Physical Therapy
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• v.31 no.5
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• pp.286-291
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• 2019

Purpose: This study examined the effects of self-volar gliding combined with a strap and wrist distraction on pain and the active and passive wrist extension range of motion (ROM) in subjects with dorsal wrist pain during partial weight bearing of the hand. Methods: Thirty subjects (14 males and 16 females) with dorsal wrist pain during partial weight bearing through the hand participated in this study. The two different self-volar gliding techniques were performed for each group. Self-volar gliding using a strap (SVGS) and SVGS and wrist distraction (SVGSD) were performed five times for one week for each group. The active and passive ROM of wrist extension and the peak pressure pushed by the hand at pain (PPHP) were measured. An independent t-test was used to compare the improvements of these elements between the two different self-volar gliding techniques. The level of statistical significance was at ${\alpha}=0.05$. Results: The active and passive ROM of wrist extension and PPHP were greater in both self-volar gliding groups after the one week intervention. On the other hand, these parameters were greater in the SVGSD group than in the SVGS group (p<0.05) Conclusion: SVGSD is recommended to improve the active and passive ROM of wrist extension and PPHP in subjects with dorsal wrist pain during partial weight bearing of the hand.