• Journal of Advanced Marine Engineering and Technology
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• 제21권5호
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• pp.571-578
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• 1997

This paper presents a method for designing a control system to stand upright inverted triangle. A linearized model is obtained form the nonlinear system by Taylor series expansion and a state controller is designed based on the model. After implementing the control system which is combined control law and estimator with reference input, experiments are carried out to stand upright inverted triangle at any angluar position.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• 대한치과교정학회지
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• 제26권1호
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• pp.43-52
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• 1996

Snorer와 정상인의 상기도 부위 연조직의 차이를 비교하며, 자세의 변화에 따른 snorer와 정상인의 상기도 부위 연조직 크기의 변화를 알아보고자 여성에서 snorer군 25명과 정상군 20명을 대상으로 직립위와 앙와위에서 측모 두부방사선 계측 사진을 촬영한 후 연구개, 혀 및 상기도에 관한 거리와 면적을 계측하고 통계학적으로 분석하여 다음과 같은 곁과를 얻었다. 1. 직립위와 앙와위에서 snorer군은 정상군에 비해 혀의 길이가 길고 높이가 높았으며 기도가 좁고 길며 설골은 하방에 위치하였고 넓은 연구개와 좁은hypopharynx를 가졌다. 앙와위에서 snorer군은 이와 더불어 정상군보다 더 넓은 혀와 더 좁은 oropharynx를 가졌다. 2. 직립위에서 앙와위로 자세의 변화에 따라 정상군과 snorer군 모두에서 기도의 길이가 감소하였고 설골이 더 상방위치 되었다. snorer군에서는 이와 더불어 혀의 길이와 높이, 기도의 두께와 oropharynx 면적은 감소하였으며 혀와 연구개 면적은 증가하였다.

• 대한인간공학회지
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• 제5권1호
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• pp.3-9
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• 1986

This research is aimed at examining age-related changes of postural sway when people stand upright, examining external effects which can be exerted upon the postural sway (experiment 1), and also analyzing specific changing characters of posture-control by sudden impacts (experiment 2). The total number of subjects was 115, who are in twenties through seventies and 75 of them were participated in experiment 2. In experimen 1, the subjects were examined for 25 seconds respectively while standing upright with both feet and with eyes opened, standing upright with both feet and with eyes closed, and standing upright with a single foot and with eyes opened. In experiment 2, only while standing upright with both feet and with eyes opened they were examined for 5 seconds. Main findings were as follows: 1. In the single-foot standing position, the growing older exerted more important effects upon the fluctuation length and area of the center of gravity than in the both-foot standing position. 2. The standard deviation was increasing with age in the fluctuation length and the fluctuation area of the center of gravity. 3. There were no significant differences in daily variation, temperature change, and muscle burdening. 4. The recuperation from the postural sway by external impacts was so slow with age. 5. There were little differences in decrease frequencies among the subjects but younger persons.

• 생물환경조절학회지
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• 제17권3호
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• pp.204-209
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• 2008

본 실험은 여름작형 착색단고추의 낮은 플라스틱연동하우스 재배시 유인방법 에 따른 수량 및 품질을 비교하고자 실시하였다. 유인방법은 직립과 경사유인이었고, 과실은 6월부터 11월까지 한달 간격으로 수량, 평균과중, 과육두께, 당도, 경도, 과형, 심실수 등을 조사하였다. 상품수량은 6월에 가장 많았으며, 직립유인이 경사유인보다 더 많았다. 6월의 평균과중은 경사유인이 232g으로 직립유인보다 26g 더 무거웠으나, 7월 이후 직립유인이 경사유인보다 더 무거웠다. 과육두께는 직립유인이 경사유인보다 두꺼웠다. 당도는 온도가 낮아질수록 높아졌으며, 직립유인이 경사유인보다 더 높았다. 직립유인의 과형은 수확시기에 따른 차이를 보이지 않았다. 직립유인의 심실수는 $3.27\sim3.34$개로 수확기에 따른 차이를 보이지 않았다.

• 한국운동역학회지
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• 제24권1호
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• pp.75-83
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• 2014

The purpose of this study was to investigate the degree of improvement of posture and foot balance between the exercise group and the control group after upright body type exercise program of 12 weeks with 14 female students in B female high school. According to the procedure of this study, following conclusion came out. First, The change of head's posture became near a centerline and a significant decrease from $7.57{\pm}13.95mm$ to $2.71{\pm}5.23mm$ in experimental group and there was a statistically significant difference (p<.002). The change of left foot balance was near the perfect balance (50%) from $48.93{\pm}3.87%$ to $49.74{\pm}2.95%$ and right foot balance was from $51.07{\pm}3.87%$ to $50.26{\pm}2.95%$ in experimental group and there were near the perfect balance (50%). The change of left foot balance of control group fall away the perfect balance (50%) from $49.97{\pm}2.67%$ to $49.08{\pm}1.41%$, right foot balance also fall away the perfect balance (50%) from $50.03{\pm}2.67%$ to $50.92{\pm}1.41%$. As a conclusion, upright body type exercise program considered to effect posture and foot balance in female high school girls. Consequently It was suggested that upright body type exercise program with improvement and prevention for posture's unbalance of female high school girls. This program could be utilized for improvement of youth posture and foot balance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• Journal of information and communication convergence engineering
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• 제17권4호
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.77.2-77
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• 2002

Human upright standing posture in the sagittal plane is studied, when it exposed in the antero-posterior vibration. A two link inverted pendulum model is considered and described its functional behavior in terms of ankle and hip joint according to the dominant joints that provides the largest contribution to the corresponding human reactionary motion. The data is analyzed, both in the time domain and the frequency domain. Subjects behave as a non-rigid pendulum with a mass and a spring throughout the whole period of the platform motion. When vision was allowed, each segment of body shows more stabilized.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.