• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.552-556
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• 2016

Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.

• The Journal of Korean Physical Therapy
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• v.32 no.2
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• pp.65-69
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• 2020

Purpose: This study examined the effects of action-observation training using the Y-Balance on the balance ability of young adults. Methods: Thirty-four healthy adults were randomized into an action-observation group (n=17) or a control group (n=17). All subjects performed the Y-Balance test before and after watching the video. The action observation group watched a video of someone performing a Y-Balance test, and the control group watched a video of scenery unrelated to the training. The subjects were measured through a Y-Balance test for both the length of the legs extended in three directions and the Y-balance composite score. Results: A significant difference in the Y-balance composite score was observed between the two groups. A part of the direction of the extended leg in the action observation group was increased significantly (posteromedial direction of the right leg, posterolateral direction of the right leg, posteromedial direction of left leg) compared to the control group. Conclusion: These results suggest that action observation training only could help improve balance.

• The Journal of the Korea Contents Association
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• v.10 no.9
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• pp.285-292
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• 2010

The purpose of this study is to investigate the effect of 8 direction incline and rotation exercise on pain and dynamic balance in the patients with chronic low back pain(CLBP). 20 patients who were diagnosed with CLBP were included for the study. 10 patients(experimental group) were treated by modality{Hot Pack(H/P), Transcutaneous Electric Nerve Stimulation(TENS), Ultra Sound(U/S)} and then performed 8 direction incline and rotation exercise. The other 10 patients(control group) were only treated by modality. The therapeutic intervention was taken three times a week for 6 weeks. Dynamic balance was assessed by Star Excursion Balance Test(SEBT) and pain was assessed by Visual Analog Scale(VAS). VAS scores of both groups were decreased. However, the experimental group was more significantly decreased than the control group. The dynamic balance of both groups was significantly increased in anterior, posterior, medial, lateral direction. But experimental group was more significantly increased than the control group. In conclusion, 8 direction incline and rotation exercise was effective on pain and dynamic balance in CLPB.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.296-301
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• 2005

This paper describes the kinematics, dynamics and control of a 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. In this shaking table, the bell crank mechanism is used to reduce the amount of space needed to install the shaking table and create horizontal displacement of the platform. In kinematics, joint design is performed using $Gr{\ddot{u}}bler's$ formula. The inverse kinematics of the shaking table is discussed. The derivation of the Jacobian matrix is presented to evaluate singularity conditions. Considering the maximum stroke of the hydraulic actuator, collision between links and singularity, workspace is computed. In dynamics, computations are based on the Newton-Euler formulation. To derive parallel algorithms, each of the contact forces is decomposed into one acting in the direction of the leg and the other acting in the plane orthogonal to the direction of the leg. Applying the Newton-Euler approach, the solution of inverse dynamics is almost completely parallel. Only one of the steps-the application of the Newton-Euler equations to the platform-must be performed on one single processor. Finally, the efficient control scheme is proposed for the tracking control of the motion platform.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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• pp.809-812
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• 1999

This research analyzed the factors for crack generation and proposed the recommended construction methods for the efficient crack control of underground RC box structures under the roadway. The selected main factors were: details of contraction joints, ratio of crack control rebars in longitudinla direction, and placement of flyash concrete. These factors were tested on the actual structures and the significance of each factor was analyzed, The results show that the flyash concrete placement and the inducting minor cracks in a certain direction by adopting contraction joints are practical and efficient methods to control cracks. The significance of crack generating factors increases as the sectional loss of contraction joint spacing increase. It was recommeded that the sectional loss should be higher than 20 percent to maximize the crack generating effects. It was not possible to verify the effect of crack control rebar spacing, but it was estimated that the ratio of crack control rebar should be increased to minimize cracks.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.204-208
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• 2001

Position control of the electro-hydraulic servo indexing system in a flexible forging machine was investigated Flexible forging machine forges an axial type workpiece in the radial direction as well as in the axial direction. The role of the indexing system is to rotate a workpiece fast and accurately to a desired position for continuous shaping. Since the inertia of a workpiece changes during each forging step, a control technique which is robust to inertia variation should be adopted to the position control of the workpiece. In this study, time delayed control technique is applied to the servo system. Time delayed control method does not depend on estimation of specific parameters. Rather, it depends on the direct estimation of a function representing the effect of uncertainties. Direct estimation is accomplished using time delay and the gathered information is used to cancel the unknown dynamics is accomplished using disturbances simultaneously. Experimental result show that the time delayed controller is robust to inertia variation of the load, and satisfactory performance on the sposition accuracy is obtained compared to the contentional feedback control.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.229-234
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• 2001

A practical and effective semi-active on-off control law is developed for vibration attenuation of a natural, multi-degree-of-freedom suspension system, when its operational response mode is available. It does not need the accurate system parameters and dynamics of semi-active actuator. It reduces the total vibratory energy of the system including the work done by external disturbances and the maximum energy dissipation direction of the semi-active control device is tuned to the operational response mode of the structure. The effectiveness of the control law is illustrated with a three degree-of-freedom excavator cabin model.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.845-847
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• 2015

A suspending force control based on fuzzy logic control is proposed to apply on a novel hybrid bearingless switched reluctance motor(BLSRM) which has separated torque and suspending force pole. Due to the unique structure, the suspending force control system can be easily decoupled from torque control system. In this paper, two fuzzy controller targeted at x-axis direction and y-axis direction are adopted to maintain the shaft at center position, which is very necessary for stable operation of BLSRM. By replacing the traditional PI block with modified fuzzy logic controller, the suspending system can behave a good performance, and the proposed scheme can be verified by simulation results.

• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.305-308
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• 2004

The constant flow control valve is used to control the flow rate of heating water in the large apartment complex and buildings. It is important to have similar heating flow rate in the apartments, even though the apartment is top or bottom floors. To achieve those purposes, the constant flow control valve was developed. The performance of this control valve is effected by hole area and discharge coefficients of the cartridge holes. The discharge coefficients of orifice hole in the cartridge were testes with various sizes of holes and various flow direction in the holes. The discharge coefficients decreased as the hole size increased due to the collision at the cartridge wall of water jet. The effects of the flow direction at the hole were not significant on the discharge coefficients.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.11
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• pp.1733-1740
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• 2004

In the transverse flux linear induction motor(TFLIM) with the general secondary composed of conductor and back-yoke, there exists a magnetized force into the normal direction or the air-gap direction of the thrust motion as well as the thrust force. Therefore, the various methodologies have been tried to use the normal force by the two independent control variables of the multi-phase input. But, as the force depends inevitably and strongly on the thrust force, it is essential to decouple both forces for two control index. In this paper, we suggest a novel approach capable of compensating the couple between both forces and the control index by using the DC-biased multi-phase input, and then realizing the independent control of TFLIM.