• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1148-1153
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• 2004

This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.

• Journal of Aerospace System Engineering
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• v.7 no.2
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• pp.23-28
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• 2013

This is a research on the method of how to improve lateral stability for the small general aviation airplane to meet the FAR part 23 requirements. This research is based on the experience of certification flight tests of KC-100 airplane for Korea first type certification. KAS/FAR Part 23.177 is the static lateral and directional stability requirement. And, 23.177(b) requires to show the tendency to raise the low wing in steady heading side slip maneuver. However, it is very difficult for the low wing to be raised at the low speed during the steady heading side slip maneuver. So, the requirement allows not be negative at the $1.2V_{S1}$ speed and takeoff configuration. (static stability requirement requires low wing picked up at any speed except $1.2V_{S1}$ speed and takeoff configuration) In this paper, the static lateral stability requirements and the lessons & learned of KC-100 airplane certification flight test results are shown.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.1
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• pp.51-58
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• 2011

Purpose : This study was designed to identify the effects of carrying bag positions (None, left hand, right hand, left shoulder, right shoulder) on static balance. Methods : Fourteen healthy adult females participated in the this study. The exclusion criteria were orthopedic or neurologic disease, predominant left side. Measurements were performed initial effects. Results were evaluated by OSI, APSI, and MLSI in the biodex stability system. Results : There are among the three assessments (overall stability index(OSI), antero-posterior stability index (APSI), medio-lateral stability index(MLSI) significants difference for the carrying bags positions (None bag, left hand, right hand, left shoulder, right shoulder)(p<.05). The post-hoc test revealed a significant difference between none bag and both left hand and left shoulder in the OSI, APSI, MLSI (p<.05). Also, comparing the carrying positions significant difference between right hand and both left hand and left shoulder in the MLSI (p<.05). Conclusion : The results suggest that none dominant side with carrying bag improve more imbalance than none bag and right hand of dominant with carrying bag improve more balance than non dominant side. When comparing the four carrying bag conditions, right hand was more effective than another conditions in static balance.

• Journal of Biosystems Engineering
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• v.42 no.3
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• pp.127-135
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• 2017

Purpose: Purpose: The usability of a mathematical model modified for analysis of the static stability of an asymmetric tractor-harvester system was investigated. Method: The modified asynchronous mathematical model was validated through empirical experiments, and the effects of movements of the center of gravity (CG) coordinates on the stability against lateral overturning were analyzed through simulations. Results: Changes in the lateral overturning angle of the system were investigated when the coordinates of the CG of the system were moved within the variable range. The errors between simulation results and empirical experiments were compared, and the results were -4.7% at the left side overturning and -0.1% at the right side overturning. The asymmetric system was characterized in such a way that the right side overturning had an increase in overturning angle in the (+) variable range, while it had a decrease in overturning angle in the (-) variable range. In addition, the left side overturning showed an opposite result to that of the right side. At the declination angle (296<${\gamma}$<76), the right side overturning had an increase in the maximum overturning angle of 3.6%, in the minimum overturning angle of 20.3%, and in the mean overturning angle of 15.9%. Furthermore, at the declination angle (284<${\gamma}$<64), the left side overturning had a decrease in the maximum overturning angle of 29.2%, in the minimum overturning angle of 44%, and in a mean overturning angle of 39.7%. Conclusion: The modified mathematical model was useful for predicting the overturning angle of the asymmetric tractor-harvester system, and verified that a movement of the CG coordinates had a critical effect on its stability. In particular, the left side overturning was the most vulnerable to stability, regardless of the direction of declination angle.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.621-630
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• 2006

The T-50 advanced trainer aircraft combines advanced aerodynamic features and a fly-by-wire flight control system in order to produce a stability and highly maneuverability. The flight control system both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 employs the RSS concept in order to improve the aerodynamic performance in longitudinal axis and the longitudinal control laws employ the dynamic inversion with proportional-plus-integral control method. And, lateral-directional control laws employ the blended roll system both beta-betadot feedback and simple roll rate feedback with proportional control method in order to guarantee aircraft stability. This paper details the design process of developing lateral-directional control laws, utilizing the requirement of MIL-F-8785C and MIL-F-9490D. And, this paper propose the analysis of aircraft characteristics such as dutch-roll mode, roll mode, spiral mode, gain and phase margin about gains for lateral-directional inner loop feedback.

• Journal of the Korea institute for structural maintenance and inspection
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• v.21 no.3
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• pp.60-68
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• 2017

Since the bridge is the main facility of the road that is the core of the civil infrastructure, the bridge is constructed to ensure stability and serviceability during the traffic use. In order to secure the safety of bridges, evaluating the integrity of bridges at present is an important task in the maintenance work of bridges. In general, to evaluate the load carrying capacity of bridges, it is possible to confirm the superimposed behavior and symmetric behavior of bridges by estimating the lateral load distribution factor of the bridges through vehicle loading tests. However, in order to measure the lateral load distribution factor of a commonly used bridge, a static loading test is performed. There is a difficulty in traffic control. Therefore, in this study, the static displacement component of the bridge measured in the dynamic loading test and the ambient vibration test was extracted by using empirical mode decomposition technique. The lateral load distribution was estimated using the extracted static displacement component and compared with the lateral load distribution factor measured in the static loading test.

• Physical Therapy Korea
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• v.28 no.3
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• pp.168-176
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• 2021

Background: The foot is a complex body structure that plays an important role in static and dynamic situations. Previous studies have reported that altered foot posture might affect knee joint strength and postural stability, however their relationship still remains unclear. Objects: The purpose of this study was to identify whether pronated foot posture has an influence on knee isokinetic strength and static and dynamic postural stability. Methods: Forty healthy young males aged 18 to 26 years were included. Foot posture was evaluated using the Foot Posture Index-6 (FPI-6), and the subjects were divided into two groups according to their FPI-6 scores: a neutral foot group (n = 20, FPI-6 score 0 to +5) and a pronated foot group (n = 20, FPI-6 score +6 or more). Biodex Systems 3 isokinetic dynamometer was used to evaluate knee isokinetic strength and hamstring to quadriceps ratio at three angular velocities: 60°/sec, 90°/sec, and 180°/sec. The static and dynamic postural stability in a single-leg stance under the eyes-open and eyes-closed conditions were measured with a Biodex Balance System. Results: There were no significant differences between the groups in knee isokinetic strength and static postural stability (p > 0.05), but there was a significant difference in the medial-lateral stability index (MLSI) for dynamic postural stability under the eyes-closed condition (p = 0.022). The FPI-6 scores correlated significantly only with the dynamic overall stability index (OSI) and the MLSI (OSI: R = 0.344, p = 0.030; MLSI: R = 0.409, p = 0.009) under the eyesclosed condition. Conclusion: Participants with pronated foot had poorer medial-lateral dynamic stability under an eyes-closed condition than those without, and FPI-6 scores were moderately positively correlated with dynamic OSI and dynamic MLSI under the eyes-closed condition. These results suggest that pronated foot posture could induce a change in postural stability, but not in knee isokinetic strength.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.11
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• pp.963-969
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• 2005

An advanced method of Relaxed Static Stability (RSS) is utilized for improving the aerodynamic performance of modem version supersonic jet fighter aircraft. The flight control system utilizes RSS criteria in both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 advanced trainer employs the RSS concept in order to improve the aerodynamic performance and the flight control law in order to guarantee aircraft stability, The T-50 longitudinal control laws employ the dynamic inversion and proportional-plus-integral control method. This paper details the design process of developing longitudinal control laws for the RSS aircraft, utilizing the requirement of MIL-F-8785C. In addition, This paper addresses the analysis of aircraft characteristics such as damping, natural frequency, gain and phase margin about state variables for longitudinal inner loop feedback design.

• Proceedings of the KSR Conference
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• 2001.05a
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• pp.295-302
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• 2001

The lateral stability of curved continuous welded rail (CWR) is studied fur buckling prevention. This study includes the influences of vehicle induced loads on the thermal buckling behavior of straight and curved CWR tracks. quasi-static loads model is assumed to determine the uplift region, which occurs due to the vertical track deformation induced by wheel loads of vehicle. Parametric numerical analyses are performed to calculate the upper and lower critical buckling temperatures of CWR tracks. The parameters include track lateral resistance, track curvature, longitudinal stiffness, tie-ballast friction coefficient, axle load, truck center spacing, and the ratio of lateral to vertical vehicle load. This study provides a guideline for the improvement or stability for dynamic buckling in on tracks.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.1473-1478
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• 2010

For the cassion type of breakwater under the condition of large wave loads, stability about lateral movement of breakwater was investigated by performing centrifuge model experiments. Prototype of breakwater was modelled by scaling down to centrifuge model and the soft ground reinforced with grouting was also reconstructed in the centrifuge model experiments. Sandy ground beneath breakwater was prepared with a soil sampled in field so that identical value of internal friction angle could be obtained. Centrifuge model experiments were carried out to reconstruct the construction sequence in field. Lateral static wave load was applied to the model caisson after the final stage of construction sequence was rebuilt and the measured lateral movement of caisson was compared with allowable value by the code to assess the stability about lateral movement of the breakwater.