• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Journal of TMJ Balancing Medicine
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• v.2 no.1
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• pp.8-12
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• 2012

Objectives: It has been reported to continue that temporomandibular joint balancing medicine (functional cerebrospinal therapy; FCST) is effective in treating incurable diseases in clinic recently. FCST is based on the results of restricted cervical rotation test, it means that the results of restricted cervical rotation test has a very high reliability on test results. Methods: This study has the aim to understand restricted cervical rotation test method and to use well with high technical skill. So manual muscle test method which was based on the upper limb lifting resistance test method are compared with restricted cervical rotation test method and had been discussed. Results: Results are that restricted cervical rotation test by using the passive motion of arrested persons (patients) have high the reliability and accuracy. Conclusions: It is concluded that restricted cervical rotation test is the new type of manual muscle tests and the results of test are very high the reliability and accuracy so that the acquirement of test method is helpful in clinic practically.

• Journal of TMJ Balancing Medicine
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• v.9 no.1
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• pp.18-23
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• 2019

Objectives: The aim of our study was to report clinical improvement of a patient who suffered from Temporomandibular Disorder (TMD) being treated with Korean Medical treatments and Intraoral Balancing Appliance (IBA). Methods: During the admission period, the patient was treated with acupuncture, cupping, Korean Medicine, Chuna therapy and FCST (Functional Cerebrospinal Therapy) every day. And we observed patient's condition by Numeric Rating Scale (NRS), Pain Disability Index (PDI), EQ-5D-5L (Five-level EuroQol-5 dimensions), and assessment about range of motion(ROM) for temporomandibular joint and cervix. Results: After treated for 4 weeks, the patient's NRS, PDI, EQ-5D-5L and ROM were improved. Conclusions: Korean Medical treatments including FCST are estimated to be effective for patients with TMD. But the case was only one, so more cases and further research is needed to prove the effectiveness of the treatment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.360-365
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• 2003

In this paper, we have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers on a single chip are implemented as a system-on-chip for multi-axis motion control. We also develop a PC GUI for an efficient interface control. Comparing with the commercial motion controller LM 629 it has multi-independent PID controllers so that it has several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, robot finger is controlled. The robot finger has three fingers with 2 joints each. Finger movements show that position tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• Steel and Composite Structures
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• v.39 no.4
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• pp.471-491
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• 2021

In this study, we estimate the ultimate load of rectangular concrete-filled steel tubes (CFST) by developing a novel hybrid predictive model (ANN-BCMO) which is a combination of balancing composite motion optimization (BCMO) - a very new optimization technique and artificial neural network (ANN). For this aim, an experimental database consisting of 422 datasets is used for the development and validation of the ANN-BCMO model. Variables in the database are related with the geometrical characteristics of the structural members, and the mechanical properties of the constituent materials (steel and concrete). Validation of the hybrid ANN-BCMO model is carried out by applying standard statistical criteria such as root mean square error (RMSE), coefficient of determination (R²), and mean absolute error (MAE). In addition, the selection of appropriate values for parameters of the hybrid ANN-BCMO is conducted and its robustness is evaluated and compared with the conventional ANN techniques. The results reveal that the new hybrid ANN-BCMO model is a promising tool for prediction of the ultimate load of rectangular CFST, and prove the effective role of BCMO as a powerful algorithm in optimizing and improving the capability of the ANN predictor.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.