• 산업경영시스템학회지
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• 제31권4호
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• pp.146-152
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• 2008

This study was aimed to understand the effects of perturbed floor surface on human postural stability while standing. Ten subjects were asked to stand quietly on the surface with two angles of inclination ($0^{\circ}$ and $5^{\circ}$), two contamination conditions (dry and oil-contaminated), and three commercial floor materials (ceramic tile, coated wood, and vinyl tile). During each trial, a force plate with data acquisition systems was used to collect subject's center of pressure (COP) position. Measured COPs were then converted into the length of postural sway path in both subject's anterior-posterior (AP) and medio-lateral (ML) axis. Results showed that the length of sway path in ML axis was significantly affected by the angle of inclination and the type of floor material. The sway length was increased significantly at the inclination angle of $5^{\circ}$ and on the vinyl tile, respectively. The contamination condition, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that a proper treatment of floor surface and material is critical to preserving postural balance while standing.

• 대한물리치료과학회지
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• 제11권2호
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• pp.5-17
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• 2004

The purpose of this study was to investigate the relationship between normal adults' resting calcaneal stance position(RCSP) and postural sway. Subjects were 70 normal adults(34 men and 36 women) in their twenties who attend S. University. Postural sway during a single limb stance was measured using the CMS 10 Measuring System when subjects positioned on the balance trainer in their bare foot. RCSP while subjects were standing on the glass plate was measured using the angle tinder after subjects were positioned in prone to divide equally lower leg and calcaneus using the goniometer. The result was as follows. There were significant weak positive correlations between RCSP and postural sway(r=0.362, p<0.01), the leg of the small RCSP within a subject has the small postural sway index($X^2=43.758$, p<0.001). There was no significant difference between groups of rearfoot valgus(RCSp<$2^{\circ}$) and those of rearfoot varus (RCSp>$2^{\circ}$) in the postural sway. In conclusion, there is a weak relationship between increasing the absolute value of RCSP and increasing postural sway.

• 한국전문물리치료학회지
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• 제13권4호
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• pp.47-55
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• 2006

The purpose of this study was to compare the static balance of standing position between adolescent idiopathic scoliosis (AIS) and a normal group that were aged-matched. There were forty subjects included in this study. Twenty-seven healthy subjects (age, $13.9{\pm}1.2$ yrs; height, $161.9{\pm}7.5$ cm; weight, $52.2{\pm}7.7$ kg) and thirteen AIS subjects (age, $14.2{\pm}2.2$ yrs; height, $161.5{\pm}8.7$ cm; weight, $48.1{\pm}8.1$ kg) were participated in the study. The thirteen subjects in the AIS group had a major Cobb angle between $20.1^{\circ}$ and $49^{\circ}$. Each group was tested with the Balance Performance Monitor (BPM). The parameters for static balance were sway area, sway path, max velocity, mean balance, anterior-posterior angle, and left-right angle of each group with their eyes opened and again with their eyes closed. Both sides of the forward reach test and the lateral reach test were also performed on each group. Results from the BPM tested showed significantly increases in all parameters of static balance with those patients with AIS under the conditions where eyes were opened and closed. In the right and left forward reach test, there was no significant difference between normal and AIS groups. However, in the lateral reach test with right and left direction, there were significant differences between normal and AIS groups. For the normal subjects, there were significant differences in the parameters with sway path and anterior-posterior sway angle between the eyes opened and closed. However, there were no significant differences in the all parameters between eyes opened and closed for the AIS subjects. These results suggest that, balance programs could be used in the rehabilitation setting for intervention of AIS and evaluation of AIS. Further study is needed to measure many patients with AIS and other functional balance scales for clinical application.

• 한국해양공학회지
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• 제36권2호
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• pp.91-100
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• 2022

In general, the effect of roll motion is not considered in the study on maneuverability in calm water. However, for high-speed twin-screw ships such as the DTMB 5415, the coupling effects of roll and other motions should be considered. Therefore, in this study, the estimation of maneuverability using a 4-degree-of-freedom (DOF; surge, sway, roll, yaw) maneuvering mathematical group (MMG) model was conducted for the DTMB 5415, to improve the estimation accuracy of its maneuverability. Furthermore, a study on the change in turning performance according to the fin angle was conducted. To accurately calculate the lift and drag forces generated by the fins, it is necessary to consider the three-dimensional shape of the wing, submerged depth, and effect of interference with the hull. First, a maneuvering simulation model was developed based on the 4-DOF MMG mathematical model, and the lift force and moment generated by the side fins were considered as external force terms. By employing the CFD model, the lift and drag forces generated from the side fins during ship operation were calculated, and the results were adopted as the external force terms of the 4-DOF MMG mathematical model. A 35° turning simulation was conducted by altering the ship's speed and the angle of the side fins. Accordingly, it was confirmed that the MMG simulation model constructed with the lift force of the fins calculated through CFD can sufficiently estimate maneuverability. It was confirmed that the heel angle changes according to the fin angle during steady turning, and the turning performance changes accordingly. In addition, it was verified that the turning performance could be improved by increasing the heel angle in the outward turning direction using the side fin, and that the sway speed of the ship during turning can affect the turning performance. Hence, it is considered necessary to study the effect of the sway speed on the turning performance of a ship during turning.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.159-165
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• 1998

In this paper the sway-control problem of a container crane is investigated. The control loop is divided into two stages. The first stage is a modified time optimal control for trolley traversing. The velocity command for trolley traversing consists of three components ; a reference velocity and two feedback signals for compensating the deviations of trolley and sway angle from their desired trajectories. For trolley's exact positioning the trolley dynamics is identified via an error equation identifier structure. The second stage is a nonlinear residual sway control that starts at the end of first stage. The control design for the second stage is investigated from the perspective of controling an underactuated system, and the control law combines the feedback linearization and variable structure control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.977-979
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• 1996

This paper presents an algorithm to control the undesirable sway of a suspended load in the crane system that has a trade-off between positioning the load and suppressing the sway of the load. The aim is to transport the load to a specified place with small sway angle as quickly as possible. Dynamic model is based on a simple pendulum driven by a velocity drive that is mostly used for actuating a trolley in industry. Proposed algorithm is composed of two parts : one is a off-line optimal trajectory generator, the other on-line tracking control. The former produces optimal trajectories minimizing energy under the speed constraint of velocity drive. The latter controls outputs to track the generated trajectories. Digital simulations and experiments are performed on a pilot crane to demonstrate the performance of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.54.2-54
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• 2001

In this paper two control strategies, command shaping control and optimal control, which aim to the reduction of the residual vibrations of the payload in a container crane system are investigated. Both control methods are open loop control. Due to unmodeled dynamics of the plant and disturbances like initial sway and wind, some residual sway always exists at the end of trolley movement. Command inputs are designed to achieve the control objectives including minimal residual vibration and robustness in the presence of unmodeled dynamics. Simulation results of various command inputs are compared in terms of arrival time, residual sway angle, robustness, and maximum sway distance during the traveling. Command shaping method provides a more competent tool than optimal control.

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.582-590
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• 2007

천정주행 크레인의 고속 권상작업 및 흔들림 억제 궤적추종을 위한 비선형 적응제어 방법을 제시한다. 천정주행 크레인의 흔들림 운동은 트롤리의 가속도. 권상로프의 길이 및 권상속도와 강하게 결합되어 있다. 이는 비간섭 제어 기반의 흔들림 억제 궤적추종 제어법칙을 설계하는데 있어 장애요인으로 작용한다. 이러한 문제를 해결하기 위해, 트롤리의 가속도와 권상속도의 영향을 최소화하는 방법으로 불확실성이 존재하는 경우에도 흔들림 운동의 궁극적 균일 유계성을 보장하는 퍼지 비선형 적응형 흔들림 억제 궤적추종제어법칙을 제안한다. 특히, 제안한 방법은 파라미터 변화. 외란 등을 포함한 시스템 불확실성을 퍼지 불확실성 관측기를 이용하여 보상한다. 따라서, 퍼지관측기의 근사화 오차가 영으로 수렴할 때 추종오차 및 흔들림 각도의 궁극적 한계치는 영으로 감소한다. 끝으로 제안한 방법의 성능검증을 위한 모의실험 견과를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.813-817
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• 2003

By increasing trades between countries, importance of harbors is becoming serious, including our country. When it comes to Container Crane Operation, the most important matter is how many containers are loaded in a truck or a ship by given time. This can be a crucial matter of harbors in taking care of materials. The present harbors' crane uses a wire-rope conveyance materials are transported in the air and have high free-angle of location. The sway can cause the delay of time, wrong position of Trolley and the damage of materials. In this study, we obtain the optimal PID parameters with GA(Genetic Algorithm) and apply those parameters to the PID Controller. In the result of the experimentation, we can see how effectively the PID controller, applied with the optimal parameters obtained by GA, can control the sway angle.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.