• The Journal of Korean Physical Therapy
• /
• v.35 no.1
• /
• pp.8-12
• /
• 2023

Purpose: Recently, many studies on robotic rehabilitation have been conducted, but such studies on patients with ankle sprains are lacking. This study aimed to investigate the effects of robot-assisted rehabilitation on the range of motion of the ankle and balance in patients with ankle sprain. METHODS: This study used the A-B-A' design and was conducted for a total of fifteen days. The subjects performed general physical therapy for five days each, during the baseline A and A' periods. In period B, robot rehabilitation was performed for five days, along with general physical therapy. The subjects were evaluated based on weight-bearing lunge test (WBLT), single leg stance (SLS), and functional reach test (FRT). RESULTS: The WBLT, STS, and FRT showed significant improvement in periods B and A' compared to period A, but there was no significant improvement in period A' compared to period B. Conclusion: This study confirmed that robot-assisted rehabilitation was an effective intervention for improving the function of patients with ankle sprain. In the future, a study with a control group comparison should be performed.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.127-134
• /
• 2023

Recently, various input shapers have been introduced to reduce residual vibrations of flexible robots. However, there have been no studies on the design of an input shaper that can suppress residual vibration at an arbitrarily specified duration. In this paper, a novel input shaper called an SD (specified-duration) shaper is proposed for an undamped or underdamped system, which can suppress residual vibration at an arbitrarily given specified duration. If the specified duration is larger than a half period, a positive SD shaper composed of all positive impulses is designed, and if the specified duration is smaller than a half period, a negative SD shaper including a negative impulse is designed. As the specified duration is increased every half period after a half period, the number of impulses of the positive SD shaper is increased one by one, and the robustness of the SD shaper to modeling errors is increased. The performance of the SD shaper is analyzed through simulation studies for an undamped and underdamped second-order systems. The validity of the SD shapers is demonstrated experimentally using an experimental device that can generate container transport motions.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1951-1956
• /
• 2003

It is known that HIV (Human Immunodeficiency Virus) infection, which causes AIDS after some latent period, is a dynamic process that can be modeled mathematically. Effects of available anti-viral drugs, which prevent HIV from infecting healthy cells, can also be included in the model. In this paper we illustrate control theory can be applied to a model of HIV infection. In particular, the drug dose is regarded as control input and the goal is to excite an immune response so that the symptom of infected patient should not be developed into AIDS. Finite horizon optimal control is employed to obtain the optimal schedule of drug dose since the model is highly nonlinear and we want maximum performance for enhancing the immune response. From the simulation studies, we find that gradual reduction of drug dose is important for the optimality. We also demonstrate the obtained open-loop optimal control is vulnerable to parameter variation of the model and measurement noise. To overcome this difficulty, we finally present nonlinear receding horizon control to incorporate feedback in the drug treatment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1130-1136
• /
• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• Korean Journal of Health Education and Promotion
• /
• v.33 no.4
• /
• pp.11-19
• /
• 2016

Objectives: FCTC is the first international convention in public health field. Global progress report is about the implementations of the FCTC that are conducted with comparison and analysis for recent trend of tobacco control policies and convention performances on the global level. Methods: By conducting literature review related to tobacco control, expecially through reviewing Implementation of the WHO FCTC GPR(2014), this report compared and analyzed Korea's status of tobacco control based on tobacco control policy in every member state. Results: As a result of the comparison of FCTC to Korea's tobacco control policy, for the first, the most outstanding article that has been peformed continuously is Article 8, 12, 14. Secondly, the policy that has been partially renovated and reinforced is Article 6, 9, 10, 11, and for the last, the policy that has no progress and needs improvement is Article 13. Conclusions: For improvement in Korea's tobacco control policy in the future, first, betterment in policies on categories about advertisements, promotions, sponsorships on tobacco products that passed FCTC commitment period is required along with the modifications of FCTC related laws and reinforcement of the policies, and development of national core competence for an effective implementation of the convention.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.10
• /
• pp.912-920
• /
• 2012

In this paper, we propose a new and cost-effective RCP (Rapid Control Prototyping) system based on Matlab/Simulink and a DAQ (Data Acquisition) unit with the high speed USB communication interface. The proposed RCP system has a feature that a computer on which Simulink is running acts as a realtime controller and a DAQ unit performs data acquisition, transmission of the data to and from a computer, and the application of control data received from the computer. For its implementation, we develop 10 communication blocks each of which is constructed by using S-function. In order to increase the data communication speed and thus to reduce the sampling period of the overall control system, we propose to use a batch transfer strategy through the USB interface. The proposed RCP system has several advantages over existing methods such as good maintainability, portability due to the USB interface, low cost, and no necessity for C-code generation even though it can only be applied to control systems with moderate sampling rates. It is expected that the proposed RCP system can be useful in teaching control-related topics to undergraduate and graduate students.

• Journal of information and communication convergence engineering
• /
• v.11 no.1
• /
• pp.30-44
• /
• 2013

Traffic congestion has become a serious problem with the recent exponential increase in the number of vehicles. In urban areas, almost all traffic congestion occurs at intersections. One of the ways to solve this problem is road expansion, but it is difficult to realize in urban areas because of the high cost and long construction period. In such cases, traffic signal control is a reasonable method for reducing traffic jams. In an actual situation, the traffic flow changes randomly and its randomness makes the control of traffic signals difficult. A prediction of traffic jams is, therefore, necessary and effective for reducing traffic jams. In addition, an autonomous distributed (stand-alone) point control of each traffic light individually is better than the wide and/or line control of traffic lights from the perspective of real-time control. This paper describes a stochastic optimum control of crossroads and multi-way traffic signals. First, a stochastic model of traffic flows and traffic jams is constructed by using a Bayesian network. Secondly, the probabilistic distributions of the traffic flows are estimated by using a cellular automaton, and then the probabilistic distributions of traffic jams are predicted. Thirdly, optimum traffic signals of crossroads and multi-way intersection are searched by using a modified particle swarm optimization algorithm to realize real-time traffic control. Finally, simulations are carried out to confirm the effectiveness of the real-time stochastic optimum control of traffic signals.

• Journal of Drive and Control
• /
• v.16 no.3
• /
• pp.67-74
• /
• 2019

The automotive market has recently been investing much time and costs in improving existing technologies such as ABS (Anti-lock Braking System) and TCS (Traction Control System) and developing new technologies. Additionally, various methods have been applied and developed to reduce this. Among them, the development method using the simulation has been mainly used and developed. In this paper, we have studied a method to develop SILS (Software In the Loop Simulation) for TCS which can test various environment variables under the same conditions. We modeled hardware (vehicle engine and ABS module) and software (control logic) of TCS using MATLAB/Simulink and Carsim. Simulation was performed on the climate, road surface, driving course, etc. to verify the TCS logic. By using SILS to develop TCS control logic and controller, it is possible to verify before production and reduce the development period, manpower and investment costs.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.26 no.1
• /
• pp.76-90
• /
• 1993

To clarify the relations between photoperiodism and x-organ of eyestalks to the control of gonadal maturation in a freshwater prawn, Macrobrachium nipponense, the present investigation was performed with following examinations: 1) the influence of water temperature and daylength on the control of gonadal maturation, 2) the effect of eyestalk ablation on the gonadal maturation, 3) the seasonal variation of histology of MEX-organ (medulla externa X-organ) in the eyestalk. In previtellogenesis period (December${\sim}$March) and vitellogenesis period (April${\sim}$May), gonadal maturation was considerablely influnced by water temperature. In these periods, GSI increased and gonads were matured with water temperature rising without regard to photoperiod conditions (12L/12D and 15L/9D). In spawning period (June${\sim}$August), however, gonadal maturation was influenced by photoperiod condition. While high value of GSI was kept at long photoperiod regime (15L/9D), GSI was decreased at short photoperiod regime (12L/12D). In resting period (September${\sim}$November), no rematuration was occurred at all the experimental regimes combinated with water temperatures ($16^{\circ}C,\;22^{\circ}C,\;28^{\circ}C$) and photoperiod (12L/12D, 15L/9D). Effect of X-organ which inhibite the gonadal maturation was stronger in resting period than that in previtellogenesis and ealy spawning periods by observations on the effectiveness of eyestalk ablation on the gonadal maturation. In MEX-organ of eyestalk, the number of neurosecretory cells of which size was over $20{\mu}m$ in diameter varied according to the reproductive cycle. The number of cells increased $77{\pm}12$ in resting period, and decreased $55{\pm}7$ in vitellogenesis period. Volume of Bellonci's organ, however, increased in vitellogenesis period in comparison with that in resting period.

• Korean Journal of Health Education and Promotion
• /
• v.15 no.2
• /
• pp.119-142
• /
• 1998

The purpose of this article is to provide a method of losing weight and early managing risky factors of geriatric diseases by having male and female obese middle school students' participate in behavioral modification and aerobic exercise, foster their own desirable behavioral habit and confidence in solving obesity and continue their living pattern all their life. In order to do this, 64, subjects over 20% obese degree obtained using the standard weight, belonging within 50% range of weight percentage per height(male:32, female:32) were grouped to 4 categories of aerobic exercise therapy, behavioral modification therapy, both therapies combinedly applied and control ones by 8 male and female students allocated to each group respectively, and they were practiced to each program for 12 weeks, and the findings between group were obtained as follows. 1. The male and female middle school students' cholesterol amount of blood fat reduced most in the combinedly performed group of aerobic exercise and behavioral modification therapy. It indicated a statistically significant difference between groups (F(3,56) =9.50, p=.000) and the measurements according to the application period of program as well (F(3,168)=554.94, p=.000). The cholesterol amount per measurement period reduced most between 8 and 12 weeks. 2. The male and female middle school students' high density fat amount increased most in the combinedly performed group of aerobic exercise therapy and behavioral therapy, its descending order of next highest rate was aerobic exercise therapy, behavioral modification therapy and control group. It indicated a statistically significant difference between the distinction of male and female sexes (F(1.56)=13.82. p=.000) and the measurements according to the application period of program (F(3,168) =55.58, p=.000). The high density fatty Quality per measurement period increased most between 8 and 12 weeks. 3. The male and female middle school students' low density fat amount reduced most in the combinedly performed group of aerobic exercise therapy and behavioral modification therapy. It indicated a statistically significant difference between groups (F(3,56)=17.35, p=.000) and the measurements according to the application period of program (F(3,168)=891.14, p=.000. The low density fat amount reduced most between 8 and 12 weeks. 4. The male and female middle school students' neutral fat amount reduced most in the combinedly performed group of aerobic exercise therapy and behavioral modification therapy. It indicated a statistically significant difference between the distinction of sexes (F(1,56)=9.54, p=.003) and groups (F(3,56) =25.57, p=.000) and the measurements according to the application period of program (F(3,168) =566.03, p=.000). The male students indicated the most reduction between 4 and 8 weeks. while the female students between 8 and 12 weeks.