• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.87-93
• /
• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.10 no.2
• /
• pp.392-397
• /
• 2006

This paper proposed yaw moment control scheme using braking and active rear wheel steering for improving driving stability especially in high speed driving. Its characteristics the unified chassis control system of two equipment that 4WS(4 Wheel Steering) and ESP(Electronic Stability Program). in this study the performance of the vehicle was compared each equipment. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• Structural Engineering and Mechanics
• /
• v.30 no.6
• /
• pp.763-785
• /
• 2008

In this study, a flexibility-based finite element method considering geometric and material nonlinearities is developed for analyzing steel-concrete frame structures. The stability functions obtained from the exact buckling solution of the beam-column subjected to end moments are used to accurately capture the second-order effects. The proposed method uses the force interpolation functions, including a moment magnification due to the axial force and lateral displacement. Thus, only one element per a physical member can account for the interaction between the bending moment and the axial force in a rational way. The proposed method applies the Newton method based on the load control and uses the secant stiffness method, which is computationally both efficient and stable. According to the evaluation result of this study, the proposed method consistently well predicts the nonlinear inelastic behavior of steel-concrete composite frames and gives good efficiency.

• The Journal of Korean Physical Therapy
• /
• v.32 no.3
• /
• pp.163-167
• /
• 2020

Purpose: Unilateral strength training effects on contralateral sides have been demonstrated in previous studies for lower extremity exercise, upper extremity exercise, and unilateral surface electrical stimulation. This study was performed to investigate the effects of unilateral ankle training on muscle strength and the balance of contralateral lower extremity in healthy adults. Methods: Thirty healthy subjects were randomized equally to a training or a control group. Those in the training group received unilateral ankle isokinetic strengthening training of the dominant leg (right side) for 4 weeks. Contralateral single-limb balance, including Anterio-Posterior Stability Index (APSI), Medio-Lateral Stability Index (MLSI) and Overall Stability Index (OSI), was assessed before and after intervention. Results: Comparison of pre- and post-test data revealed significant improvements in ipsi- and contralateral ankle strengths, and significant improvement in contralateral single limb balance. Conclusion: These results have practical implications because they demonstrate that unilateral ankle isokinetic exercise improves ankle muscle strength and balance ability of contralateral lower extremity.

• International Journal of Aeronautical and Space Sciences
• /
• v.18 no.2
• /
• pp.175-185
• /
• 2017

This paper presents new differential methods for computing the combined and single dynamic stability derivatives of flight vehicle. Based on rigid dynamic mesh technique, the combined dynamic stability derivative can be achieved by imposing the aircraft pitching to the same angle of attack with two different pitching angular velocities and also translating it to the same additional angle of attack with two different rates of angle of attack. As a result, the acceleration derivative is identified. Moreover, the rotating reference frame is adopted to calculate the rotary derivatives when simulating the steady pull-up with different pitching angular velocities. Two configurations, the Hyper Ballistic Shape (HBS) and Finner missile model, are considered as evaluations and results of all the cases agree well with reference or experiment data. Compared to traditional ones, the new differential methods are of high efficiency and accuracy, and potential to be extended to the simulation of combined and single stability derivatives of directional and lateral.

• Journal of Drive and Control
• /
• v.18 no.4
• /
• pp.35-42
• /
• 2021

A personal mobility withstanding function for the disabled and vulnerable groups with difficulties in mobility was developed and structural and dynamics analysis was conducted. Personal mobility devices are a very helpful means of transportation for the disabled and vulnerable groups. In addition, the standing function allows individuals to perform a difficult task in while seated and offers a medical advantage to the user. In this study, a personal mobility device was designed and developed to help vulnerable groups and disabled people overcome limited mobility, and communicate with the general people at eye level through standing functions. Through structural and dynamic analysis, the structural safety, optimal speed during rotation, and lateral acceleration of the personal mobility device was analyzed. The analysis results are expected to contribute to the improvement of the users' convenience and stability of personal mobility.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.625-630
• /
• 2004

An advanced method of Relaxed Static Stability (RSS) is utilized for improving the aerodynamic performance of modern version supersonic jet fighter aircraft. The laws of flight control system utilize RSS criteria in both longitudinal and lateral-directional axes to achieve performance enhancements. Particularly, the design of longitudinal control laws for utilizing RSS methods greatly affects the performance of the aircraft in Air-to-Air Tracking and Air-to-Ground modes, which improves weapon delivery. In the area of Airto- Air Tracking, the development of longitudinal control laws aids in the fine tracking and gross acquisition of other aircraft. This paper proposes that Air-to-Air fine tracking can be improved via RSS control law design methods without effecting Air-to-Air gross acquisition.

• Maxillofacial Plastic and Reconstructive Surgery
• /
• v.38
• /
• pp.9.1-9.9
• /
• 2016

Background: As dental implants receive masticatory stress, the distribution of stress is very important to peri-implant bone homeostasis and implant survival. In this report, we created a saddle-type implant and analyzed its stability and ability to distribute stress to the surrounding bone. Methods: The implants were designed as a saddle-type implant (SI) that wrapped around the alveolar bone, and the sizes of the saddles were 2.5, 3.5, 4.5, and 5.5 mm. The X and Y displacement were compared to clarify the effects of the saddle structures. The control group consisted of dental implants without the saddle design (CI). Using finite element modeling (FEM), the stress distribution around the dental implants was analyzed. Results: With saddle-type implants, saddles longer than 4.5 mm were more effective for stress distribution than CI. Regarding lateral displacement, a SI of 2.5 mm was effective for stress distribution compared to lateral displacement. ASI that was 5.6 mm in length was more effective for stress distribution than a CI that was 10 mm in length. Conclusions: The saddle-type implant could have a bone-gaining effect. Because it has stress-distributing effects, it might protect the newly formed bone under the implant.

• Computers and Concrete
• /
• v.19 no.5
• /
• pp.509-514
• /
• 2017

Concrete retaining walls are the most common types of geotechnical structures for controlling instable slopes resulting from lateral pressure. In analytical stability, calculation of the concrete retaining walls is regarded as a rigid mass when its safety is required. When cracks in these structures are created, the stability may be enforced and causes to defeat. Therefore, identification, creation and propagation of cracks are among the important steps in control of lacks and stabilization. Using the numerical methods for simulation of crack propagation in concrete retaining walls bodies are among the new aspects of geotechnical analysis. Among the considered analytical methods in geotechnical appraisal, the boundary element method (BEM) for simulation of crack propagation in concrete retaining walls is very convenient. Considered concrete retaining wall of this paper is Pars Power Plant structured in south side in Assalouyeh, SW of Iran. This wall's type is RW6 with 11 m height and 440 m length and endurance of refinery construction lateral forces. To evaluate displacement and stress distributions (${\sigma}_{1,max}/{\sigma}_{3,min}$), the surrounding, especially in tip and its opening crack BEM, is considered an appropriate method. By considering the result of this study, with accurate simulation of crack propagation, it is possible to determine the final status of progressive failure in concrete retaining walls and anticipate the suitable stabilization method.

• International Journal of Precision Engineering and Manufacturing
• /
• v.4 no.3
• /
• pp.28-35
• /
• 2003

The objective of the Vehicle Dynamics Control (VDC) system is to maintain vehicle stability under critical lateral motions, It has a good potential of becoming one of the chassis control necessities since the system can be realized with little additional cost on top of the ABS/TCS system, Developed in this research is a hardware-in-the-loop simulator for VDC with a valve control system that modulates the brake pressures at four wheels: Two VDC control logics, a simple control logic and an LQR control logic, have been developed and incorporated in the HILS system. Their performance under various driving conditions was tested in the HILS system and the results are presented.