• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.819-824
• /
• 1997

This paper presents a cell-based motion control strategy for soccer playing mobile robots. In the central robot motion planner, the planar ground is divided into rectangular cells with variable sizes and motion indices to which direction the mobile robot should move. At every time the multiple objects-the goal gate, ball, and robots-detected, integer values of motion indices are assigned to the cells occupied by mobile robots. Once the indices being calculated, the most desirable state-action pair is chosen from the state and action sets to achieve successful soccer game strategy. The proposed strategy is computationally simple enough to be used for fast robotic soccer system.

• Journal of the Korean Society of Physical Medicine
• /
• v.12 no.4
• /
• pp.19-28
• /
• 2017

PURPOSE: The purpose of this study was to describe the Proprioceptive Neuromuscular Facilitation (PNF) Intervention strategy applied International Classification of Functioning, Disability and Health (ICF) Tool about strength, range of motion, scapular stability, pain and function of shoulder for patients with adhesive capsulitis. METHODS: The data was collected by patient with adhesive capsulitis. The patient was a 50-year-old male diagnosed with right shoulder with adhesive capsulitis. We applied the PNF Intervention strategy applied ICF Tool to patient with adhesive capsulitis. PNF interventions were consisting of such as combination of isotonic and stabilizing reversal technique and various positions. PNF interventions were applied, such as those aiming at decreasing pain and disability and increasing range of motion and function for the four weeks. Parameters of result were collected for strength, range of motion, scapular stability, pain and function of shoulder using the hand held dynamometer, goniometer, lateral scapula slide test, and shoulder pain and disability index, respectively. RESULTS: Clinical benefits were observed the patient with adhesive capsulitis for strength, range of motion, scapular stability, pain, and function of shoulder. The patient with adhesive capsulitis improved strength, range of motion, scapular stability, pain, and function of shoulder. CONCLUSION: Patient reported improved strength, range of motion, scapular stability, pain, and function of shoulder after intervention.

• Journal of Ocean Engineering and Technology
• /
• v.14 no.4
• /
• pp.35-42
• /
• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Journal of Mechanical Science and Technology
• /
• v.18 no.4
• /
• pp.649-663
• /
• 2004

While a great number of studies on human motor control have provided a wide variety of viewpoints concerning the strategy of the central nervous system (CNS) in controlling limb movement, none were able to reveal the exact methods how the movement command from CNS is mapped onto the neuromuscular activity. As a preliminary study of human-machine interface design, the characteristics of human leg motion and its underlying motor control scheme are studied through experiments and simulations in this paper. The findings in this study suggest a simple open-loop motor control scheme in leg motion. As a possible candidate, an equilibrium point control model appears consistent in recreating the experimental data in numerical simulations. Based on the general leg motion analysis, the braking motion by the driver's leg is modeled.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.7
• /
• pp.53-64
• /
• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.7
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Cartoon and Animation Studies
• /
• s.28
• /
• pp.125-153
• /
• 2012

This study is regarding what motion modality has influences on aspects of genre and media. Nowadays, motion modality becomes an element which is actively manipulated in live actions as well as animations. And, it has been generally accepted that a strategy on manipulation of motion depends on matters of genre or medium. As respected, can we say the premise is correct? if it is, can we refine the premise more theoretically, without using the words, 'genre' or 'media' which have not been are not been defined on an academic aspect. I intend to discuss on this issue. I will speculate the issue of manipulation of motion modality on theoretical bases. According to McLuhan's hot/cool media theory and Bolter's oscillation theory, the effect of it turns out to be same as manipulation of sentience ratio of media readers, and the ideal result will be examined by an example analysis. In the analysis, I will explore what effects manipulation of motion has on several examples. Then, by examining what kind of correlation these effects has with media/genre positioning, I ultimately will evaluate the genre/medium-based determinism of motion modality, which is represented by a typical premise like "Animation is most realistic when it has the most animation-like movement." Conclusively I suggest a refined premise like the following. Modality of motion is a strategy depending on issues of genre, with no regard to issues of medium, and the issue of genre is a category which is positioned considering mixture ratio of sentience. With this reason, A strategy of modality of motion depends to sentience a certain sequence needs. So, motion modality becomes a strategy which has to be approached in functionality of genre rather than economic values which spring from technical devices like a motion capture.

• Structural Engineering and Mechanics
• /
• v.54 no.2
• /
• pp.239-256
• /
• 2015

An adaptive-scale damage detection strategy based on a wavelet finite element model (WFEM) for thin plate structures is established in this study. Equations of motion and corresponding lifting schemes for thin plate structures are derived with the tensor products of cubic Hermite multi-wavelets as the elemental interpolation functions. Sub-element damages are localized by using of the change ratio of modal strain energy. Subsequently, such damages are adaptively quantified by a damage quantification equation deduced from differential equations of plate structure motion. WFEM scales vary spatially and change dynamically according to actual needs. Numerical examples clearly demonstrate that the proposed strategy can progressively locate and quantify plate damages. The strategy can operate efficiently in terms of the degrees-of-freedom in WFEM and sensors in the vibration test.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.8
• /
• pp.1014-1021
• /
• 1999

PID controllers with constant gains have been widely used in various control systems. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a variable PID controller for robot manipulators. We divide total workspace of manipulators into several subspaces. PID controllers in each subspace are optimized using evolution strategy which is a kind of global search algorithm. In real operation, the desired trajectories may cross several subspaces and we select the corresponding gains in each subspace. The gains may have large difference on the boundary of subspaces, which may cause oscillatory motion. So we use artificial neural network to have continuous smooth gain curves to reduce the oscillatory motion. From the experimental results, although the proposed variable PID controller for robots should pay for some computational burden, we have found that the controller is more superior to the conventional constant gain PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1404-1409
• /
• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.