• The Journal of Korean Physical Therapy
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• 제22권5호
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• pp.25-31
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• 2010

Purpose: The purpose of this study is to provide an efficient and scientific basis for muscle activity (%MVIC) of RA, EO, VL, HS muscles and balance in soccer players through dynamic lumbar stability exercise and static lumbar stability exercise. Methods: This study included 23 soccer players belonging to D University of J province who attended the program for 30 minutes at a time and three times a week for 4 weeks. Of these 13 attended the dynamic lumbar stability exercise (DLSE) program and 10 the static lumbar stability exercise (SLSE) program. The differences between the effects of the dynamic lumbar stability exercise program and static lumbar stability exercise program were analyzed. Results: To increase muscle activity (%MVIC) and balance (WPL), the dynamic lumbar stability exercise program was more effective than was the static lumbar stability exercise program. 1) The %MVIC of trunk muscle (RA &EO) and lower extremitys muscle (VL & HS) increased from before training to after training in the case of the participants who performed the dynamic lumbar stability exercise. 2) The whole path length (WPL) decreased from before the training to after the training. The 2 groups significantly differed in this regard. Conclusion: Dynamic lumbar stability exercise program helps to improve the balancing ability and muscle activity in a soccer players who requires both muscle activity and balance than does any other players.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.552-563
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• 2005

In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of the wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of a mobile robot via the gradient descent (GD) method. In addition, an approach that uses adaptive learning rates for training of the WFNN controller is driven via a Lyapunov stability analysis to guarantee fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control results of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1386-1391
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• 2004

It is known that an aircraft with delta-wings which are attached to the body at a large angle like a kite or a hang glider has a measure of maneuverability and stability. Aircrafts of this kind can fly stably. Even if engine trouble occurs, it will not fall and might be able to land. In this paper, one of the conventional control methods, PID control, is applied to the aircraft with LQ local control block. This is based on an idea that the aircraft flies so stably that the automatic control system might be realized by a simple controller. The proposed PID controller consists of several sub-controllers which are constructed to each system neglecting the interference. In addition, the LQ control is involved as a local loop of the aileron and rudder control in order to increase stability of the attitude when circling. The effectiveness of the proposed method is shown through 3D computer simulations and experiments of the flight path control.

• 한국기계가공학회지
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• 제19권3호
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• pp.63-70
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• 2020

Two rotational motions of the 5-axis machine tool maximize the degree of freedom of the tool axis vector, which improves tool accessibility; however, this lowers feed speed and rigidity, which impairs machining stability. In addition, cutting efficiency is lowered when compared with a flat end mill because typically, the ball-end mill is used when machining by rotational motion. This study increased cutting efficiency by using a corner radius flat end mill during impeller roughing. Furthermore, we proposed a fixed controlled machining of the rotary motion using geometric shape information to improve the feed speed and machining stability. Finally, we proposed a finishing tool path generation method using a vector net to increase the convenience and practicality of tool path generation. To verify its effectiveness, we compared the machining time, shape accuracy, and surface quality of the proposed method and an existing dedicated module.

• 전산구조공학
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• 제9권3호
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• pp.209-216
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• 1996

본 논문의 목적은 단층래티스 돔의 안정해석 기법을 제안하고, 다양한 조건하에서 단층 래티스 돔이 갖는 좌굴특성을 규명하는데 있다. 기하학적 비선형 평형경로의 탐색 및 좌굴점 그리고 분기경로의 방향 등을 수직적으로 계산하기 위하여 호장법(Arc-Length Method)을 이용하였으며, 부재의 좌굴가능성을 판단하기 위하여 에너지밀도함수를 제안하였다. 강절점을 갖는 구조물의 거동 특성을 규명하기 위하여 3종류의 비선형 강성행렬을 유도하여 해석하였으며, semi-rigid절점을 갖는 구조물을 해석하기 위하여 스프링모델을 제안하고, 부재의 세장비, 반개각, 경계조건 및 다양한 하중조건을 파라메터로하여 좌굴특성을 규명하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권1호
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• pp.12-18
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• 2010

This paper proposes an adaptive robust fuzzy control scheme for path tracking of a wheeled mobile robot with uncertainties. The robot dynamics including the actuator dynamics is considered in this work. The presented controller is composed of a fuzzy basis function network (FBFN) to approximate an unknown nonlinear function of the robot complete dynamics, an adaptive robust input to overcome the uncertainties, and a stabilizing control input. Genetic algorithms are employed to optimize the fuzzy rules of FBFN. The stability and the convergence of the tracking errors are guaranteed using the Lyapunov stability theory. When the controller is designed, the different parameters for two actuator models in the dynamic equation are taken into account. The proposed control scheme does not require the accurate parameter values for the actuator parameters as well as the robot parameters. The validity and robustness of the proposed control scheme are demonstrated through computer simulations.

• 산업경영시스템학회지
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• 제31권4호
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• pp.146-152
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• 2008

This study was aimed to understand the effects of perturbed floor surface on human postural stability while standing. Ten subjects were asked to stand quietly on the surface with two angles of inclination ($0^{\circ}$ and $5^{\circ}$), two contamination conditions (dry and oil-contaminated), and three commercial floor materials (ceramic tile, coated wood, and vinyl tile). During each trial, a force plate with data acquisition systems was used to collect subject's center of pressure (COP) position. Measured COPs were then converted into the length of postural sway path in both subject's anterior-posterior (AP) and medio-lateral (ML) axis. Results showed that the length of sway path in ML axis was significantly affected by the angle of inclination and the type of floor material. The sway length was increased significantly at the inclination angle of $5^{\circ}$ and on the vinyl tile, respectively. The contamination condition, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that a proper treatment of floor surface and material is critical to preserving postural balance while standing.

• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• Communications for Statistical Applications and Methods
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• 제18권4호
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• pp.495-505
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• 2011

본 연구에서는 표본의 일부를 단계적으로 증가시켜 가며 반복적으로 추정된 장기모수의 시간경로를 파악하는 방식으로 변수들 간 장기균형관계의 안정성에 대해 통계적으로 검정해 보았다. 안정성 귀무가설이 기각되는 구간에는 더미변수를 사용해 전체 연구기간에 걸쳐 안정성을 회복시키고 타당한 공적분관계를 도출해 보았으며, 오차수정항에 대한 분석결과는 더미변수가 공적분관계의 구조변화를 반영하는 것으로 나타났다.

• 대한전기학회논문지:전력기술부문A
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• 제49권2호
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• pp.78-84
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• 2000

This paper introduces a method of determining the maximum real power transfer limit of interface lines, which connect two areas of a power system, using locally parameterized continuation algorithm. This method traces the path of power flow solutions as interface flow is gradually increased under a certain load demand condition and finds the steady state voltage stability limit, the interface flow limit. Voltage stability index is used to indicate how close the maximum limit is reached. Also, this study presents a procedure to determine the security-constrained interface flow limit using the above method. Contingency ranking index is proposed to identify the severity of contingencies. The case study is performed according to the suggested procedure.