• 국제물리치료학회지
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• 제12권2호
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• pp.2308-2313
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• 2021

Background: Although the scapular posterior tilt movement could facilitate the lower trapezius (LT) muscle activity, no study identified the effects of the scapular posterior tilt movement on the selective activation of the LT muscle during prone shoulder extension. Objectives: To examine the influences of additional scapular posterior tilt on electromyography (EMG) of the upper trapezius (UT) and the LT muscles during prone shoulder extension. Design: Cross-sectional study. Methods: There were 15 asymptomatic male participants in this study who performed prone shoulder extension with and without scapular posterior tilt movements. For the scapular posterior tilt movements, participants performed visual biofeedback training for scapular movement using motion sensor. During the exercises, the EMG activity of the UT and LT was recorded using surface EMG system. Results: The EMG activity of the LT significantly increased during prone shoulder extension with scapular posterior tilt compared to that of general prone shoulder extension, whereas that of the UT was not significantly different between the two exercises. Moreover, scapular posterior tilt application significantly decreased UT/LT muscle activity ratio. Conclusion: Scapular posterior tilt movement may be emphasized during exercise when facilitating LT muscle activation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.979-984
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• 2005

In this study, we suggest a tilt rotor aircraft and attempt to apply a nonlinear model matching control method for its maneuver. The proposed method is very simple and useful to construct the control law for the complicated nonlinear system such as aircraft motion.

• 항공우주시스템공학회지
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• 제2권3호
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• pp.1-6
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• 2008

The tilt rotor aircraft has the flight characteristics which takes off vertically like a helicopter and flies forward like an airplane. Especially, the transition process from a helicopter to an airplane mode requires not only the mixing of control inputs but also the stability and controllability augmentation system(SCAS) in order to keep the safe flight because there are compound flight dynamic characteristics of a helicopter and an airplane including non-linearity, uncertainty. This paper describes the design of SCAS in a lateral motion for the tilt rotor aircraft based on the $H_{\infty}$ control method, which was performed from mathematical model with weighting matrix based on the relationship between the $H_{\infty}$ norm and the sensitivity function. Through simulation analysis for the controller designed on the $H_{\infty}$ control theory, it was shown that this method may be applied to the control design of the tilt rotor aircraft.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.378-380
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• 2002

There has been lower the tilt margin by the increase of coma aberration due to the reduction of wave-length and the increase of numerical aperture for high density recording. The RF signal degradation is increased as the decrease of tilt margin. To compensate the tilt margin, the optical pick-up actuator for high-speed CD/DVD re-writable system should be able to drive the radial-tilt motion. We announce that the 3-axis drive actuator for high-speed CD/DVD rewritable system. And what was more, the DC/AC sensitivities of this actuator are suitable fur the low-speed playability, the high-speed readability and the high-speed rewritability.

• 방사성폐기물학회지
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• 제2권3호
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• pp.189-199
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• 2004

기계식 마스터-슬레이브 매니퓰레이터의 결점인 접근 지역의 제한을 극복하기 위해 차세대관리 공정장치 원격 유지보수용 천정이동 서보 매니퓰레이터(Bridge Transported Servo Manipulator, BTSM) 시스템을 개발하고 있다. 서보 매니퓰레이터는 핫셀 내 천정이동 브릿지(bridge)에 부착되는 슬레이브 매니퓰레이터와 핫셀 밖 운전지 역에 설치되는 마스터 매니퓰레이터로 구성된다. 각각의 매니퓰레이터는 몸체 회전, 상부 팔 틸트(tilt), 하부 팔 틸트, 하부 팔 회전, 손목 팬/틸트(pan & tilt) 및 잡는 운동(grasp motion)의 7 자유도를 갖는다. 하부 팔 회전, 손목 팬/틸트 및 잡는 운동은 매니퓰레이터의 무게에 비해 취급 용량을 크게 하고, 마찰을 작게 하기 위하여 와이어 구동 메카니즘을 채택하였다. 그러나, 와이어 구동 메카니즘은 한 축이 움직일 때 다른 축도 영향을 받을 수 있는 단점이 있다. 본 논문에서는 이와 같은 단점을 극복하기 위해 와이어 구동 링크(link) 사이의 전달 특성을 수식화 하였다. 와이어구동 링크들간의 전달특성 분석 및 실험을 통해서 이들의 기대하지 않은 동작 특성을 확인하였다. 또한, 제안한 보상식을 통해서 기대하지 않은 동작을 크게 줄일 수 있음을 확인하였다.

• 수산해양기술연구
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• 제53권4호
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• pp.337-348
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• 2017

The tension of warp from trawler and sea-floor contact can generate tilt and wake turbulence around otter boards. Preliminary measurements of otter board tilt and 3-D flow velocity during bottom trawl operations were taken using a vector instrument to investigate the effects of wake turbulence at the trailing edge of the otter board. Tilt data (i.e., yaw, pitch, and roll) at 1 Hz and flow data (velocities in the towing, lateral, and vertical directions) at 16 Hz were analyzed to determine their periods and amplitudes using global wavelet and peak event analyses. The mean period (${\pm}standard$ deviation) of the tilt from the peak event analysis ($5{\pm}2s$) was longer or double than that of flow velocity ($3{\pm}2s$). The two periods also had a significant linear relationship. The turbulence rate of flow was 30-50% at the trailing edge and was closely related to roll deviation. The frequency of phase difference ratios (i.e., peak time differences between tilts and flow periods) was significantly different from random occurrence in two trials, possibly due to side tidal effects. However, in the other trials, flow peaks were random, as shown by the even peak times between tilts and flows. Future studies should focus on reducing tilt variation, wake turbulence, and bottom contact to stabilize otter board motion.

• 대한전자공학회논문지SP
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• 제45권3호
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• pp.55-63
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• 2008

본 논문은 전 방향을 감시할 수 있는 Pan-Tilt-Zoom(PTZ) 카메라를 이용한 파노라마 배경 생성과 객체 추적 방법을 제안한다. 제안된 방법은 연속되는 두 영상의 외곽 영역에서 미리 정한 지역만 위상정합(phase correlation)을 하여 카메라의 지역 움직임을 빠르게 추정하고 벡터 양자화를 통하여 움직임 추정 오차를 최소화 한다. 추정된 움직임 값을 이용하여 겹침 영역이 존재하는 영상들을 획득하여 실린더에 투영시키고 영상을 재 정렬함으로써 파노라마 배경 영상을 생성할 수 있다. 객체 추적은 미리 생성된 파노라마 배경과 입력 영상의 차분 방법을 이용하여 배경과 객체를 분리하고 객체의 움직임을 추적한다. 제안된 객체 추적 방법은 PTZ 카메라를 이용하여 빠르고 안정적인 배경 생성이 가능하고, 전방향의 객체를 지속적으로 추적하는 것이 가능하다. 제안된 방법은 실시간 처리가 가능하며 넓은 감시 지역에서 객체의 형태를 추적하거나 얼굴인식과 같은 분야에서 이용될 수 있을 것이다.

• 대한물리치료과학회지
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• 제8권1호
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• pp.893-906
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• 2001

The purposes of this study were to compare pelvic tilt. range of motion(ROM) of hip rotation, and leg length difference before and after manipulation and to investigate correlation between changes of each variables after manipulation of sacroiliac pint in 31 low back pain patients(11 males, 20 females) with sacroiliac pint dysfunction. The sacroiliac pint of patients was manipulated on the side of anterior pelvic tilt, using the technique described by Stoddard(1962) and Greenmann (1996). I used this technique because it usually eliminated sacroiliac Pint dysfunction in one treatment session. SPSS for window computer system was used to analyze the data. Also t-test was performed for comparison of the variables before and after manipulation, and Pearson product-moment correlation analysis and regression analysis were performed for changes of each variables after manipulation. The result were as follows: 1. The pelvic tilt after manipulation was significantly decreased(mean=$2.79^{\circ}$) compared with the pelvic tilt before manipulation(p=.001). 2. The PROM of hip internal rotation ipsilateral to anterior pelvic tilt after manipulation significantly decreased (mean = $1.88^{\circ}$) compared with hip internal rotation before manipulation (p=.008). The PROM of hip internal rotation ipsilateral to posterior pelvic tilt after manipulation significantly increased(mean = $1.29^{\circ}$) compared with hip internal rotation before manipulation (p=.029). 3. The PROM of hip external rotation ipsilateral to anterior pelvic tilt after manipulation significantly increased(mean=$2.42^{\circ}$) compared with the hip external rotation before manipulation(p=$2.42^{\circ}$) compared with the hip external rotation ipsilateral to posterior pelvic tilt after manipulation significantly decreased(mean = $1.84^{\circ}$) compared with the hip external rotation before manipulation (p=.008). 4. Leg length difference after manipulation significantly decreased(mean=2.15 mm) compared with leg length difference before manipulation (p=.008). Regression analysis revealed that a fair correlation was found between change in leg length difference and change in anterior pelvic tilt after manipulation(p=.009). 5. Pearson product-moment correlation coefficient was used to assess differences of the variables after manipulation. A fair correlation was found between change in leg length difference and change in anterior pelvic tilt after manipulation(r=.462, p<.01). A fair correlation was found between change in anterior pelvic tilt and change in hip internal rotation ipsilateral to anterior pelvic tilt(r=.397, p<.05) and between change in anterior pelvic tilt and change in hip external rotation ipsilateral to anterior pelvic tilt(r=.516, p<.01). A fair correlation was found between change in posterior pelvic tilt and changes in hip internal rotation ipsilateral to posterior pelvic tilt (r=.441, p<.05) and between change in posterior pelvic tilt and change in hip external rotation ipsilateral to posterior pelvic tilt(r=.361, p<.05). A fair correlation was found between change in hip internal rotation ipsilateral to anterior pelvic tilt and change in hip external rotation ipsilateral to posterior pelvic tilt(r=.388, p<.05) and between change in hip internal rotation ipsilateral to posterior pelvic tilt and change in hip internal rotation ipsilateral to anterior pelvic tilt(r=.426. p<.05).

• 한국산학기술학회논문지
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• 제6권4호
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• pp.349-354
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• 2005

컴퓨터 비전에 관한 연구는 인간의 시각 능력을 대신할 시스템을 구축하고자 하는 것으로 특히 이동 객체추적 시스템은 최근 중요한 연구 분야로 대두되고 있다. 본 연구에서는 움직임 추정에 기반 한 단일 이동객체를 추적할 수 있는 시스템을 제안하였다. 추적 시스템은 차영상 기법을 이용하여 객체의 움직임을 추정하곤 카메라의 Pan/Tilt를 제어함으로서 이동 객체를 추적할 수 있도록 하였다. 구현된 시스템은 영상획득 및 전처리 단계, 움직임 추정 단계, 객체 추적 단계로 구성하였다. 실시간 추적 실험을 실시한 결과 이동 객체의 움직임을 추정할 수 있었고, 추적 과정에서도 객체를 일어버리지 앉고 정상적으로 추적할 수 있었다.

• 한국정밀공학회지
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• 제27권9호
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• pp.43-51
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• 2010

Speed, accuracy and smoothness are the important properties of pan-tilt camera. In the case of a high ratio zoom lens system, low vibration characteristic is a crucial point in driving pan-tilt mechanism. In this paper, a novel micro-stepping controller with a function of reducing vibration was designed using field programmable gate arrays (FPGA) technology for high zoom ratio pan-tilt camera. The proposed variable reference current (VRC) control scheme reduces vibration decently and optimizing coil current in order to prevent the step motor from occurring missing steps. By employing VRC control scheme, the vibration in low speed could be significantly minimized. The proposed controller can also make very high speed of 378kpps micro-step driving, and increase maximum acceleration in motion profiles.