• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2076-2078
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• 2002

This paper presents an Intelligent Balance Beam Controller(IBBC) which can estimate the inertia of load automatically. Balance Beam controller is a kind of construction tool which can control the attitude of the load hanging in the air such as a beam carried by crane. In our previous work, Balance Beam had been built to control the object in air using a mechanical gyro system having a position controllable gimbal structure. In field application the load inertia for operation is not easy to figure out because the weight and shape which determines the inertia, varies depending on the object to be carried. Therefore it is difficult for a worker to operate a Balance Beam and an accident could be caused occasionally. We designed an automatic load estimator to measure the inertia of arbitrary load by using an angular velocity sensor that is installed on the Balance Beam. Simulation results and current status for implementation are presented.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.1
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• pp.38-44
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• 2003

In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.

• Physical Therapy Rehabilitation Science
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• v.4 no.2
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• pp.87-93
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• 2015

Objective: Balance is a preceding task for functional activities in daily activities as well as community-dwelling activities. To learn skilled and functional activities, it is also necessary to imagine an appropriate and effective movement representation used to plan and execute the functional activities. The purpose of this study was to evaluate the effects of balance imagery of semi-tandem stance on a flat floor and balance beam on balance abilities for elderly and young adults. Design: Cross-sectional study. Methods: Fifteen elderly and thirty-four young adults were enrolled in this study. In order to determine whether there is a change in postural control ability according to the different imagery training methods used, standing static balance measurements were performed. According to the therapist's instructions, participants were to stand in a semi-tandem position on the Good Balance System for 1 minute while imagining that they were standing on a balance beam, and while the postural control abilities was assessed. Results: Postural control was significantly different in balance ability of semi-tandem stance on a flat floor compared to on a balance beam in both geriatrics and young adults. Postural sway was more significantly decreased in young adults than older adults during balance imagery of semi-tandem stance on a flat floor as well as on balance beam (p<0.05). Conclusions: The results of this study suggest that the ability to mentally represent their actions was similar in older adults compared to young adults, although older adults showed a drop in efficiency of postural control more than young adults.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2227-2229
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• 2003

Using the gyro effect, Balance Beam Controller is developed with Samsung Corporation. Balance Beam Controller is possible to control the position of an object in air by controlling the attitude of inner gimbal. But in the unknown load inertia case, even a skilled worker it is not easy to operate a Balance Beam. That is caused by the difficulty to estimate the load inertia. If the amount of the gimbal operation is set excessively with a wrong load estimation, it can often cause accidents. To solve this problem, the control function which is revolving with velocity of the revolution has to be added to developed equipment. In this research, we analyze the characteristics of a Balance Beam(the smaller load inertia, the bigger force of restitution) using the angular velocity sensor, and present constant velocity revolving controller with estimating value of the load using this moving characteristics.

• Korean Journal of Applied Biomechanics
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• v.32 no.1
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• pp.24-30
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• 2022

Objective: The purpose of this study was to determine the factors of successful and unsuccessful movements through the analysis of kinematics and muscle activity of the Free Aerial Cartwheel on the balance beam. Method: Subjects (Age: 22.8 ± 2.4 yrs., Height: 158.7 ± 5.0 cm, Body mass: 54.1 ± 6.4 kg, Career: 13 ± 2.4 yrs.) who were currently active as female gymnasts participated in the study. They had no history of surgical treatment within 3 months. Subject criteria included more than 10 years of professional experience in college and professional level of gymnastics and the ability to conduct the Free Aerial Cartwheel on the Balance Beam. Each subject performed 10 times of Free Aerial Cartwheel on the balance beam. One successful trial and one unsuccessful trial (failure) among 10 trials were selected for the comparison. Results: It was found that longer time required in case of unsuccessful trial when performing the Free Aerial Cartwheel on the balance beam compared with successful trial. It is expected to be the result of movement in the last landing section (i.e. phase 5). In addition, it was found that the center of gravity of the body descends at a high speed to perform the jump (i.e. phase 2) in order to obtain a sufficient jumping height when the movement is successful while the knee joint is rapidly extended to perform a jump when movement fails. In the single landing section after the jump (i.e. phase 4), if the ankle joint rapidly dorsiflexed after take-off and the hip joint rapidly flexed, so landing was not successful. Conversely, in a successful landing movement, muscle activity of the biceps femoris was greatly activated resulting no shaking in the last landing section (i.e. phase 5). Conclusion: In order to succeed in this movement, it is necessary to perform a strong jump after rapidly descending the center of gravity of the body using the force of the biceps femoris muscle. Further improvement of the skills on the balance beam requires the analysis of the game-like situation with continuous research on kinematic and kinematic analysis of various techniques, jumps, turns, etc.

• Journal of Korean Medical classics
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• v.23 no.1
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• pp.101-114
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• 2010

In the perspective of the correspondence of heaven and man[天人相應], people live through Gi of heaven and earth[天地之氣], and the human body which is a small universe[小宇宙] itself receives influence while sympathizing with the Gi and heaven[天氣]. So with unexpected incident of the Eum and Yang, four season[陰陽四時], ups and downs of warmth of cold and chilliness of warm[寒熱溫涼] differs, and the position of Gi of human[人氣] changes, regimen and application of acupuncture, and images[象] of the pulse changes. In "Maekyojeongmiron(脈要精微論)", ups and downs of Eum and Yang changes by four season[四時], and correspondence of ups and downs of pulse law is explained with compass, carpenter's square, the beam of balance and the weight of balance[規矩權衡]. Compass[規] is a measure of instrument that can draw a circle, like regulating the measure and differing the center of the circle and diameter and drawing a circle, compass is a image of Gi of Yang[陽氣] that was staying deep inside the body in winter stretching out by big fault[太過不及] of year and energy[元氣] of human in spring. Carpenter's square[矩] is a instrument that draws direction, which is a image of Gi of Yang flourishing in summer and when it gets highly flourished, again the Gi of Eum[陰氣] comes alive and falls. The beam of balance[衡] is a scale, like a scale that tilts at once when one side is slightly heavy, the beam of balance is a image Gi of yang that is fully flourished in summer and about to descent again, which is just about to fall but not going down yet. The weight of balance [權] is a image of gi of yang which as descent to the bottom and staying in the deepest place. compass, carpenter's square, the beam of balance and the weight of balance is not a direct pulse image[脈象], but standard image of pulse of pulse corresponding to the Gi of human[人氣] that changes by four season, and the explanation includes the pulse image of four season like the taut, full, floating, deeply gather[弦鉤浮營] of "Okgijinjangron(玉機眞藏論)" or taut, full, skip, float, deep [弦鉤代毛石] of "Pyeong-ingisangron(平人氣象論)". So with compass, carpenter's square, the beam of balance and the weight of balance, can judge is human correspond in Eum and Yang, four seasons, this is importantly used in examination of pulse[診脈] with existence and nonexistence, and prognosis of illness.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.524-528
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• 2006

A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commanded by a user. We found that when there was smaller load inertia, a larger restoration displacement occurred. Therefore, the load can be identified by issuing a predefined command to measure the restoration displacement, which enables us to construct a controller that can limit the angular velocity of the load by planning the motion. Experimental results show the performance of the controller with different loads.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.99-116
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• 2003

The purpose of this study was to kinematics factors on during round-off at end of beam-salto backward stretched with step-out to cross on balance beam. Four elite female gymnastics players participated as subject of this study. The methods of this study was analyzed using three dimentional analysis. The results and conclusion of this paper is obtained as follows ; 1. The phase of time was the most short time in board touch down phase and board take-off phase. Also, it was shown a more long time in total time compared to previous study. 2. The horizontal displacement of each phase was shown the most high levels in balance beam landing. The vertical displacement was display a non-linearity increase in board take-of phase, and it was shown the most high levels in vertical displacement during landing of balance beam. 3. The horizontal velocity of each phase was shown the most high levels in board touch down, and it was display a gradually decreased levels because flight during board take-of. The resultant velocity of CG on each phase was shown the most high levels in board touch down and board take-off. 4. The angle of hip joint was shown the most high levels as performed a motion in extension state during board take-off, and the angle of knee joint was display a increased levels because of flight cause body extension in board take-off. Also the angle of ankle joint was shown a increasing levels during board take-off. Considering to this results, it is suggest that the change of kinematics factors in board touch down and board take-off is key role on the effective board control.

• Korean Journal of Applied Biomechanics
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• v.22 no.4
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• pp.395-404
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• 2012

This study was to perform the kinetic analysis of tucked backward salto on the balance beam. Eight women's gymnastics players(age: $15.88{\pm}2.45yrs$, career: $6.38{\pm}0.52yrs$, height: $152.38{\pm}7.35cm$, weight: $44.25{\pm}7.54kg$) of the I-region participated in this study. The kinematic variables were analyzed response time of motion, angle, velocity, acceleration and the kinetic variables were analyzed ground reaction force(GRF) of motion. For measure and analysis of kinematic and kinetic variables of this study, used to synchronized to 6 Eagle camera and 1 force plate, used to the Cortex(Ver. 1.0) for analyzed of variables. The results were as follows; To the kinematic variables of tucked backward salto on the balance beam, a time appeared longer landing than air rotation, changes of angle regulated segment of body smaller moment of inertia when air rotation, larger moment of inertia when releasing and landing. A velocity appeared fast motion when releasing and air rotation of body, but appeared more decelerations from landing and acceleration showed to be tended to velocity. A GRF appears jump more than twice the weight at the moment that showed the power of motion to all subject.

• Journal of The Korean Association For Science Education
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• v.15 no.3
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• pp.263-274
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• 1995

The purpose of this study was to find out effect of problem solving by mental demand of items and chunking level of problem solver on the item. The principal findings of study were as follows ; 1) According to increase of mental demand of items. students' achievement score appeared to decrease and the more mental demand an item needed. the higher or at least the same hierarchical item was. These results showed that mental demand of item was main factor which decided difficulties of problem solving. 2) Though items have the same mental demand. students' achievement score were different between balance beam task and 2nd law task (achievement score of balance beam task < achievement score of 2nd law task). 3) Achievement score of LM group who used chunked knowledge to solve balance beam task were higher than non LM group who used non chunked knowledge. 4) The level of chunked knowledge was different between two tasks when non LM group solved items of two tasks. On the other hand, LM group used the same level of chunked knowledge to solve items of two tasks. 5) Achievement score of non LM group was the same between items of two tasks after treatment due to chunking effect by treatment. But achievement score of LM group didn't change before and after treatment. The chunking effect by treatment had an effect on non LM group, but it was not on LM group.