• Journal of Advanced Marine Engineering and Technology
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• v.21 no.5
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• pp.571-578
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• 1997

This paper presents a method for designing a control system to stand upright inverted triangle. A linearized model is obtained form the nonlinear system by Taylor series expansion and a state controller is designed based on the model. After implementing the control system which is combined control law and estimator with reference input, experiments are carried out to stand upright inverted triangle at any angluar position.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• The korean journal of orthodontics
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• v.26 no.1 s.54
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• pp.43-52
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• 1996

The purpose of this study was to compare and evaluate the upper airway structure between the snorers and asymptomatic control subjects depending on the positional change. Lateral cephalograms in the upright and supine position were taken in 25 female snorers and 20 female asymptomatic control subjects. The length and the area of the soft palate, tongue and airway were measured and evaluated statistically. The results obtained were as follows : 1. The snorers showed longer and higher tongue, narrower and longer airway, inferiorly positioned hyoid bone, longer and broader soft palate and narrower hypopharynx than the control subjects both in the upright and supine position. In addition, the snorers showed broader tongue area and narrower oropharynx area than the control subjects in supine position. 2. Depending on the positional change from upright to supine position, the controls and the snorers showed decreased airway length and superior positioned the hyoid bone. In addition, the snorers showed decreased tongue length and height, airway length and thickness and oropharynx area, but increased tongue area and soft palate area.

• Journal of the Ergonomics Society of Korea
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• v.5 no.1
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• pp.3-9
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• 1986

This research is aimed at examining age-related changes of postural sway when people stand upright, examining external effects which can be exerted upon the postural sway (experiment 1), and also analyzing specific changing characters of posture-control by sudden impacts (experiment 2). The total number of subjects was 115, who are in twenties through seventies and 75 of them were participated in experiment 2. In experimen 1, the subjects were examined for 25 seconds respectively while standing upright with both feet and with eyes opened, standing upright with both feet and with eyes closed, and standing upright with a single foot and with eyes opened. In experiment 2, only while standing upright with both feet and with eyes opened they were examined for 5 seconds. Main findings were as follows: 1. In the single-foot standing position, the growing older exerted more important effects upon the fluctuation length and area of the center of gravity than in the both-foot standing position. 2. The standard deviation was increasing with age in the fluctuation length and the fluctuation area of the center of gravity. 3. There were no significant differences in daily variation, temperature change, and muscle burdening. 4. The recuperation from the postural sway by external impacts was so slow with age. 5. There were little differences in decrease frequencies among the subjects but younger persons.

• Journal of Bio-Environment Control
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• v.17 no.3
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• pp.204-209
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• 2008

This experiment was conducted to analysis the fruit quality according to training method under low plastic film greenhouse cultivation on sweet pepper (Capsicum annuum cv Special) during summer culture. Training treatments were upright training and inclination training, the fruits were examined and analysed with a month interval from June to November on productivity, fiuit weight, flesh thickness, contents of soluble solids, hardness, shape, and locules. Productivity per month was the highest on June, upright training harvested more than inclination training. Fruit weight of inclination training on June was 232 g which was higher than 26 g of upright training, but upright training was heavier than inclination training after July. Flesh thickness of upright training was thicker than inclination training. Soluble solids content increased with the decrease of temperature, upright training was higher than inclination training. The fruit shape of upright training was not significant according to harvesting date. The number of locules of upright training was $3.27\sim3.34$, and it was not significant according to harvesting date.

• Korean Journal of Applied Biomechanics
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• v.24 no.1
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• pp.75-83
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• 2014

The purpose of this study was to investigate the degree of improvement of posture and foot balance between the exercise group and the control group after upright body type exercise program of 12 weeks with 14 female students in B female high school. According to the procedure of this study, following conclusion came out. First, The change of head's posture became near a centerline and a significant decrease from $7.57{\pm}13.95mm$ to $2.71{\pm}5.23mm$ in experimental group and there was a statistically significant difference (p<.002). The change of left foot balance was near the perfect balance (50%) from $48.93{\pm}3.87%$ to $49.74{\pm}2.95%$ and right foot balance was from $51.07{\pm}3.87%$ to $50.26{\pm}2.95%$ in experimental group and there were near the perfect balance (50%). The change of left foot balance of control group fall away the perfect balance (50%) from $49.97{\pm}2.67%$ to $49.08{\pm}1.41%$, right foot balance also fall away the perfect balance (50%) from $50.03{\pm}2.67%$ to $50.92{\pm}1.41%$. As a conclusion, upright body type exercise program considered to effect posture and foot balance in female high school girls. Consequently It was suggested that upright body type exercise program with improvement and prevention for posture's unbalance of female high school girls. This program could be utilized for improvement of youth posture and foot balance.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.77.2-77
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• 2002

Human upright standing posture in the sagittal plane is studied, when it exposed in the antero-posterior vibration. A two link inverted pendulum model is considered and described its functional behavior in terms of ankle and hip joint according to the dominant joints that provides the largest contribution to the corresponding human reactionary motion. The data is analyzed, both in the time domain and the frequency domain. Subjects behave as a non-rigid pendulum with a mass and a spring throughout the whole period of the platform motion. When vision was allowed, each segment of body shows more stabilized.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.