• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.35-41
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• 2006

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2-DOF PID controller. The experimental results jar an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.379-387
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• 2007

In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.132-138
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• 1997

Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.4
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• pp.407-413
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• 2014

PURPOSE: We investigated the influence of heel insole and visual control on body sway index with high-heeled shoes. METHODS: The subjects of this study were 61 healthy students. None of the participants had any orthopedic or neurologic alterations. C90 area, C90 angle, trace length, sway average velocity were measured using a force plate by BT4. The variables were measured both with insole and without insole when wearing high-heeled shoes under the conditions of eyes open and eyes closed. The collected data were analyzed using the Kolmogorov-Smirnov test and paired t-test. RESULTS: When wearing high-heeled shoes with insole under the conditions of eyes open, trace length, C90 area, velocity were significantly more decreased than without insole (p<.01). When wearing high-heeled shoes with insole under the conditions of eyes closed, only C90 area was significantly more decreased than without insole (p<.05). When wearing high-heeled shoes with insole under the conditions of eyes open, trace length, C90 area, velocity were significantly more decreased than under the conditions of eyes closed (p<.01). CONCLUSION: The present study demonstrates that the use of high-heeled shoes with insole supported from heel to midfoot more increased static balance than without insole under the conditions of eyes open.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.505-519
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• 2005

In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.

• Journal of International Academy of Physical Therapy Research
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• v.7 no.2
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• pp.1046-1050
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• 2016

The purpose of this study was to investigate the effects of strengthening and stretching exercises on forward head angle and static dynamic balance ability. 21 adults with the forward head posture were participated in this study. Subjects were randomly assigned to strengthening exercise group I(n=11) and stretching exercise group II (n=10) respectively. Each group were underwent six intervention over the period of 2 weeks, each session lasting 30 minutes. During a preliminary examination, forward head angle and static dynamic balance were measured, and a post examination was conducted that involved same procedure as preliminary examination. There were significant differences in forward head angle after exercise in both groups. In the strengthening group, center of gravity total sway distances was significantly changed under all conditions. In the stretching group, center of gravity total sway distances was significantly changed when subjects had their eyes open while standing on an foam surface. There were significant changes in center of gravity sway velocities in the strengthening group under all conditions, and the same was true in the stretching group only when the subjects had their eyes open while standing on an foam surface. In the comparison between groups, eyes closed while standing on a firm surface was significantly different. There was a significant difference in dynamic balance of the stretching group when the subjects tilted their bodies forward, and there was a statistically significant difference between groups under the same condition. The results of this study suggest that forward head posture can be corrected through therapeutic exercise, and muscle strengthening exercise more effective in improving static balance of forward head posture more than stretching exercise.

• Physical Therapy Korea
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• v.18 no.4
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• pp.1-10
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• 2011

This study compared the stability of the cervical spine according to the presence of neck pain and deep neck flexor performance. Thirty subjects with neck pain, and thirty subjects without neck pain were recruited for this study. The Cranio-cervical flexion (CCF) test was applied using a pressure biofeedback unit to classify the subjects into four subgroups; no cervical pain and good deep neck flexor performance (NG group), no cervical pain and poor deep neck flexor performance (NP group), cervical pain and good deep neck flexor performance (PG group), and cervical pain and poor deep neck flexor performance (PP group). The head sway angle was measured using a three-dimensional motion analysis system. A 3-kg weight was used for external perturbation with the subject sitting in a chair in the resting and erect head positions with voluntary contraction of the deep neck flexors. A one-way analysis of variance (ANOVA) was performed with a Bonferroni post hoc test. The deep neck flexor performance differed significantly among the four groups (p<.05). The NG group had significantly greater deep neck flexor performance than NP and PP groups. The stability of the cervical spine also differed significantly among the four groups in the resting head position (p<.05). The head sway angle was significantly smaller in NG group as compared with the other groups. The PP group had the greatest head sway angle in the resting head position. However, there was no significant difference in the stability of the cervical spine among the groups in the erect head position with voluntary contraction of deep neck flexors (p=.57). The results of this study suggest that the deep neck flexor performance is important for maintaining the stability of cervical spine from external perturbation.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.3 no.1
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• pp.23-28
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• 2000

A numerical investigation was made to examine characteristics of rectangular pontoon type floating breakwaters in oblique waves. Sway and heave wave exciting forces, roll moment acting on the floating breakwater and three motion reponses decrease as the incident wave angle increases for the most of the wave ranges. There exists a minimum wave transmission coefficient which is a function of wave frequency. In short wave range wave transmission coefficient increases as the incident wave angle increases. In long wave range, however, wave transmission coefficient decreases as the wave incident angle increases.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.8
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• pp.1722-1729
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• 2005

In this paper, we used the quadruped walking robot Titan-VIII in order to carry out this simulation of sway compensation trajectory. The attitude angle ${\phi}_r$ and ${\phi}_p$ is obtained from 3-D motion sensor that is attached at the center of robot body and the attitude control carried out at every 10[ms] for stable gait of robot. Duty factor, that is fixed at 0.5. When we change period T into 1.5, 2.0, 3.0[sec] each and moving distance per period is changed into 0.2, 0.3(m), we sim띠ate several walking experiment of robot. and then we analyze the experiment results if there are any difference between the imaginary ZMP and actual ZMP of robot and the stable gait of robot is realized.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1788-1791
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• 1997

In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.