• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.1
• /
• pp.47-59
• /
• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.3
• /
• pp.217-224
• /
• 2020

The use of a high gain flight control system to achieve high bandwidth performance increase the instability of a helicopter. To investigate these phenomena numerically, high fidelity EC155B1 helicopter model and simplified flight control system that include actuator, digital processor and noise rejection filter was developed. A study conducts an analytical investigation of roll axis stability of the helicopter model as feedback gain increases. And this study analyzes roll-rate and roll-attitude feedback gains limited by rotor flap mode. The results indicate that the phase delays caused by the filter can severely limit the usable values of the roll-rate and roll-attitude feedback gains.

• Journal of Digital Convergence
• /
• v.14 no.11
• /
• pp.357-367
• /
• 2016

In this study, we examined the impact on balance ability and jump performance of soccer players with functional ankle instability using virtual reality based neuromuscular posture control fusion training. Soccer players were divided into 15 people of virtual reality-based neuromuscular posture control fusion training group and 15 people of common treadmill training group and performed for 30 minutes three times a week for 8 weeks. In order to evaluate the balance of ability, using biorescue, it measured surface area, whole path length, limit of stability. In order to measure jump performance, it measured counter movement jump with arm swing and standing long jump. The results showed the statistically significant difference in the balance comparison of surface area, whole path length, limited of stability and the jump performance comparison of counter movement jump with arm swing, standing long jump. As a result, virtual reality-based neuromuscular posture control fusion training was found to be more effective to improve its balance ability and jump performance than common treadmill training.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.49 no.2
• /
• pp.129-138
• /
• 2021

Due to the active progress in space programs for various types of ground and space missions, the high agile spacecraft maneuverability is also required. To meet the requirement of the given space missions, the Control Moment Gyros (CMG) for the alternatives of the classical reaction wheels can release the attitude maneuverability restrictions. In addition, the angular rates of the spacecraft is constrained due to the limited actuator characteristics. In this paper, a sliding mode control technique for the attitude control of the spacecraft equipped with the pyramid type of CSCMG(Constant Speed CMG) is designed, and the stability of the control system is guaranteed by using the Lyapunov stability theory. Finally, the control law proposed is analyized by numertical simulations.

• The Journal of Korean Physical Therapy
• /
• v.11 no.3
• /
• pp.71-79
• /
• 1999

본 연구의 목적은 균형 훈련이 중추신경계 손상자들의 자세 조절 및 중추감각신경전도로에 미치는 영향을 규명하는데 있다. 연구대상자는 중추신경계 손상자로써 실험군 10명, 통제군 10명 등 총 20명을 선정하였으며, 실험군은 본 연구의 훈련 프로그램에 따라 12주간 force platform을 이용하여 균형훈련을 실시토록하였다. 자세조절 변인의 측정은 운동처치 전, 처치 후 8주 및 12주 후에 대상자들의 동적 및 정적 자세에서의 흔들림을 Dynamic Balance System을 이용하여 측정하였고, 체성감각 유발전위의 말초신경 근위부 유발전위$(N_9)$ 잠복기, 척수 유발전위$(N_{13})$ 잠복기, 뇌 유발전위 $(N_{20})$ 잠복기는 Neurotec을 이용하여 측정 분석한 결과 다음과 같은 결론을 얻었다. 1. 정적 자세 조절 요인의 경우, 좌우 흔들림과 전후 흔들림은 실험군에서 8주 후부터 유의하게 (p<.05) 감소하였고, 실험군이 통제군에 비해 운동처치 8주 및 12주 후에 각각 유의하게(P<.05, P<.01) 흔들림이 감소하였다. 2. 전후 이동면과 전후 기울기면에서 동적 자세 조절의 변화는 전후 이동면에서 좌우 흔들림과 전후 흔들림은 실험군에서 8주 후부터 유의하게 (P<.05) 감소하였으며, 실험군이 통제군에 비해 운동처치 8주 및 12주 후에 각각 유의하게 (P<.05, p<.01) 흔들림이 감소하였다. 3. 체성감각 유발전위의 잠복기 변화는 실험군과 통제군에 있어서 말초신경 근위부 유발전위$(N_9)$ 잠복기와 척수 유발전위$(N_{13})$ 잠복기가 다소 증가하였으나 유의한 차이는 나타나지 않았으며, 실험군에 있어서 뇌 유발전위 $(N_{20})$ 잠복기는 8주 후부터 유의하게 (P<.05) 증가하였다. 이상의 결과를 종합해 볼 때, 12주의 균형 훈련은 자세 조절에 있어서 전후와 좌우의 흔들림을 감소시킴으로써 정적인 상태나 동적인 상태에서의 자세 안정성을 증가시킬 수 있음을 시사하고 있다. 이는 자세 조절에 필요한 항중력근의 긴장성 수축을 유발시킬 뿐만 아니라 근육 긴장분포를 조절할 수 있다는 것으로 신경근 조절 기능의 향상을 의미하는 것으로 사료된다. 또한 뇌 유발전위 $(N_{20})$ 잠복기의 증가는 중추신경계의 감각기능의 신경학적 회복을 의미하는 것으로 중추신경계의 감각 운동통합에도 영향을 미쳐 운동기능의 향상을 기대할 수 이을 것으로 사료된다.

• 월간 기계설비
• /
• s.35
• /
• pp.97-103
• /
• 1993

아파트의 주거환경을 집단거주지로 편리성 및 안정성, 쾌적한 환경 등의 주거목적을 추구하고 있다. 사용자 위주의 편리성을 추구하는 시공이 되어야 하며, 시공업무에 종사하는 사람 모두가 본연의 임무를 소중하게 여기고 사용자의 편안함과 쾌적함을 고려하는 정성이 모아진 시공이어야 한다. 아파트 시공은 여러가지 자재와 여러공종이 시기적절하게 투입되므로 종합관리가 필요한 복잡한 공정들의 만남이다. 공정표는 비교적 정확히 작성되어야 하고 작성된 공정표는 지키겠다는 의지가 필요하다. 또한 시공자는 시작과 끝을 명확히 하고 과정을 중요시하며 수많은 과정을 확인하는 꼼꼼한 자세도 빠져서는 안된다. 본 시공지침서는 현장에서 시공할 때 도움을 주고자 설비시공의 기본골격을 언급하였다. 본 시공지침서는 시간의 흐름에 따라 공법개선 또는 여러 여건에 따라 변할 수도 있음을 감안하여 참고하기 바란다.

• Journal of the Korea Society of Computer and Information
• /
• v.19 no.3
• /
• pp.11-16
• /
• 2014

In this paper, the two-wheels robot using a predictive controller to maintain the balance of the posture control in real time have been examined. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. The objective of this research was to design and implement a self-balancing algorithm using the dsPIC30F4013 embedded processor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcome the predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines the simulation was performed. Also, the robust characteristic for realizing the goal of designing a loop filter too robust controller is designed so that satisfactory stability of the control system to improve stability of the system to minimize degradation of performance was confirmed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2009.05a
• /
• pp.180-185
• /
• 2009

Actuator-induced disturbance is one of the crucial factors of spacecraft attitude pointing and stability in fine attitude control problems. The control moment gyros (CMGs) are known as very attractive actuators from the point of high power and low weight. In order to develop a CMG as an actuator for fine controls, CMG-induced disturbances should be analyzed. Therefore, this paper aims to develop an analytic model and predict the effect of disturbances of CMGs by assuming static and dynamic imbalances. The proposed model is induced by the Lagrangian method on the basis of the small signal assumption. In this research, mechanical system of the CMG is designed and the main components of CMG are producted.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.5 no.1
• /
• pp.47-52
• /
• 2011

The functional loot orthoses, when wearing shoes, are in the direct contact with bottom of foots to improve and recover the correctness of abnormal lower limb musculoskeletal imbalance and the primary role of foot and also, it can act to keep the balance and weight of body and support the weakened region, so that it is very helpful to keep body balance for the standing position. In this paper, it was researched that foot orthoses which is accommodable for the function of impact absorption including the gait stability affect on the balanced performances of body in according to the formation and the material of foot part. Taking into account the balanced performances by using the sway velocity, the estimation and comparison of the effects on the balanced performances by each formation and material for foot orthoses was evaluated into significant values(p<0.006) in only the eye-opening posture with Firm state, In this posture, the static process performed by each foot formation reveals in order of normal foot(p<0.010), flat foot(p<0.000) and hollow foot(p<0.003) and then, on the base of each formation of foot part, the result that analyze the effects of the materials of foot orthoses on the balance performance appeared showing that soft materials is more effective on the normal foot and, on the other hand, rigid materials is more effective in balancing on flat foot and hollow foot.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.4
• /
• pp.332-340
• /
• 2011

A missile with a strapdown seeker should properly estimate line-of-sight(LOS) rate using its attitude information and the look angle of the seeker because LOS rate information in an inertial coordinate system, which is used for a proportional navigation(PN) homing guidance, can not be obtained directly. However, an unnecessary feedback loop(Parasite Loop) is formed in the guidance and control loop, and it may cause the guidance performance degradation or even the unstability of the system(Parasite Effect). This paper presents estimation methods for the LOS rate information and effective ways to minimize the parasite effect using Routh-Hurwitz stability criterion. Various numerical simulations are also included to verify the proposed methods.