Earticle

In this paper, the goal is to obtain a dynamic model of a particular system. The system is a combination of a wheeled vehicle(chassis) with a turret rotating in azimuth direction and a gun rotating in a elevation direction. At this time, the motion of the gun according to the shaking of the continuous shot is obtained using the coordinate transformation equation in the azimuth and elevation angle. Also, the dynamic model for the swaying of wheeled vehicle is obtained through the Lagrange’s equation. Through this, we analyze the tumbles of the gun, whiat is the major term, and what dynamics are needed for stabilization control.

Throughout the last decade, a large number of electronic driver-assistance systems have been developed in order to improve vehicles' comfort and safety. Up to now, they more or less all rely on odometric data. However in the future, a new form of information is likely to be used: visual sensors, e.g. cameras, can provide additional knowledge on traffic and the vicinity. This paper presents an inertially stabilized camera platform for high precision tracking of points of interest, that has been developed within the project FORBIAS (Research cooperation for biomimetic assistance systems). The inertial stabilization is based on a specially designed sensor system that uses MEMS components in connection with a biologically inspired control algorithm for adaptive enhancement and online calibration of the gaze stabilization system.

Background/Objective: This study aimed to determine the effects of functional stabilization training based on the trunk control on knee pain, dynamic balance, and physical function. Design: Two group pre-post parallel design Methods: Forty women aged 20-30 years with patellofemoral pain syndrome were divided into a functional stabilization training group and a hip and knee around muscle strengthening exercise group according to randomization method. Both groups performed a 20-min stretching and 40-min main exercise program three times a week for six weeks, for a total of 18 sessions per week. Pain, dynamic balance, and physical function were assessed using the visual analog scale, Y-balance test, single-leg triple hop test, stair down test, and lower-extremity function scale. Results: Both groups showed significant differences (p<0.05) in pain, Y-balance test, single-leg triple hop test, stair down, and lower extremity function scale scores after the intervention; however, the functional stabilization training group showed greater improvement. The between-group differences were also significant (p<0.05) for pain, dynamic balance, and the lower extremity function. Conclusions: Functional stabilization training based on interbody control was more effective than non-weight-bearing hip and knee peripheral muscle strengthening exercises in women aged 20-30 years with patellofemoral pain syndrome.

Objective: The purpose of this study was to evaluate the effect of virtual reality (VR)-based core stabilization exercise on upper extremity function, postural control, and depression among persons with stroke with hemiplegia. Design: Randomized controlled trial. Methods: This study was conducted with the inclusion of 24 participants and were randomly assigned to either the VR-based trunk stability exercise group (n=12) or control group (n=12). The VR-based trunk stability exercise group performed core stabilization exercises in a VR environment for 30 minutes. Meanwhile, the control group conducted general core stabilization exercises for 30 minutes. The participants trained 3 times a week for 4 weeks. The manual functional test (MFT), Box and Block Test (BBT), Berg Balance Scale (BBS), Trunk Impairment Scale (TIS), the Geriatric Depression Scale (GDS) were used to assess all participants before and after the intervention. Results: The VR-based core stabilization exercise group had a significant improvement in upper extremity function (MFT, BBT) and postural control (BBS) compared with the control group (p<0.05). The VR-based core stabilization exercise showed a significant difference after intervention in the TIS and GDS scores (p<0.05), but they did not significantly differ between the two groups. Conclusions: The result showed that VR-based core stabilization exercise can be effective in improving upper extremity function and postural control among patients with stroke more than the sole application of general physical therapy.

In this paper, the gain-scheduled control design proposed in the previous paper has been applied to a target tracking system. In such system, it is needed to attenuate disturbance effectively as long as control input satisfies the given constraint on its magnitude. The scheduled gains are derived in the framework of linear matrix inequality(LMI) optimization by means of the MatLab toolbox. Its effectiveness is verified along with the simulation results compared with the conventional optimum constant gain and the scheduled gain control with constant Q matrix cases.

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

본 연구는 무릎 통증을 가진 중년여성들을 대상으로 DNS운동이 통증조절과 안정화 기능에 어떤 영향을 미치는지 를 알아보기 위해 12주간 주 3회 DNS운동을 실시하였으며, 측정 변인으로는 COP와 통증척도(VAS)를 측정 및 분석하 여 다음과 같은 결과를 얻었다. 12주간의 DNS운동 전과 후에 따른 COP 결과 중 AP, ML, APML 이동거리 및 면적의 결과는 DNS운동군이 대조군보다 모두 유의하게 감소한 것으로 나타났다. 또한 통증척도인 VAS의 결과에서도 DNS운동 군이 대조군보다 유의하게 감소한 것으로 나타났다. 따라서 본 연구의 결과를 분석했을 때, DNS운동중재는 중년여성들 의 동적 신경근 안정화 기능을 향상시키고, 무릎통증은 감소시켜 주는 것으로 나타났다.

In this study, DNS exercise was executed three times a week for 12 weeks to find out how DNS exercise affects pain control and stabilization function in middle-aged women with knee pain, COP and pain scale (VAS) were measured and analyzed as measurement variables to obtain the following results. Among the COP results before and after 12 weeks of DNS exercise, it was found that the DNS exercise group decreased significantly compared to the control group in AP, ML, and APML migration length and area. In addition, the results of VAS of a pain scale showed a significant decrease in the DNS exercise group compared to the control group. Therefore, in this study, it was found that DNS exercise intervention improves the dynamic neuromuscular stabilization function and reduces knee pain in middle-aged women.

만성요통환자를 대상으로 요추의 구조와 기능적 안정성에 미치는 영향을 알아보기 위하여 요부 안정화운동과 근력강화운동을 병행한 운동 프로그램과 요부 근력강화운동만 적용한 운동 프로그램의 다열근 단면적, 정적자세조절, 요부통증에 미치는 영향을 알아보았다. 연구방법은 만성요통환자 28명을 대상으로 각각의 운동그룹으로 나누워 주 3회씩 8주간 운동프로그램을 실시하였다. 본 연구의 자료분석은 t-test를 활용하여 그룹 운동프로그램 적용전과 적용 후, 그리고 각각의 그룹간을 비교하였다. 연구결과 다열근 단면적, 정적자세조절, 요부통증 등 각각의 그룹내 운동프로 그램 적용전과 적용후에 유의한 결과가 나타났으나 (p<.05), 각각의 그룹간에는 요부 안정화운동과 근력강화운동을 병행한 운동 프로그램이 더 효과적인 것으로 나타났다 (p<.05). 결론적으로 요부 안정화운동을 추가적으로 실시한 운 동 프로그램이 다양한 요추의 구조와 기능을 향상시키고, 요부통증을 감소시키는 것으로 나타났다.

This study analyzed the effects of an exercise program that combined lumbar stabilization exercise and muscle strengthening exercise and an exercise program that applied only lumbar muscle strengthening exercise on multifidus muscle cross-sectional area, static posture control ability, and low back pain in patients with CLBP. For the study method, 28 patients with CLBP were divided into two exercise propram groups and exercised three times a week for 8-weeks. The data analysis of this study used the t-test to compare before and after group exercise program application, and between each group (p<.05). As a result of the study, significant results were found before and after application of the exercise program within each group, such as multifidus muscle cross-sectional area, static posture control ability, and low back pain (p<.05). Between each group, the exercise program that combined lumbar stabilization exercise and muscle strengthening exercise was found to be more effective (p<.05). In conclusion, it was found that the exercise program with additional lumbar stabilization exercise improved the structure and function of various lumbar vertebrae and reduced lumbar pain.

목적 : 이 연구에서는 단일 뇌졸중환자를 대상으로 체간안정화 훈련 프로그램 적용하여 자세조절과 일상생활 동작에 미치는 영향을 알아보고 분석함으로써 뇌졸중환자의 효과적인 임상적 중재 방안을 제시하고자 한다. 연구방법 : 경북 경주시에 소재한 C병원에 입원중인 75세 여성 뇌졸중 환자 1명을 대상으로 하였다. 연구 설계는 단일사례연구(single subject design)로써 ABA반전설계를 사용하였고, 연구기간은 2014년 4월 21 일부터 5월 23일까지 총 5주 동안 진행되었다. 실험 과정은 기초선(A) 3회, 중재 기간(B) 9회 유지(A’) 3 회로 총 15회 진행하였고 중재기간 동안 체간안정화 프로그램을 적용하였다. 연구 참여자의 자세조절과 일상생활동작의 평가를 위해 Postural Assessment Scale for Stroke(PASS)와 Modified Barthel Index(MBI) 를 사용하였다. 수집된 자료는 마이크로 소프트 오피스 Excel 2013 을 사용하여 그래프로 나타내는 시각 적 분석(visual analysis)을 사용하였다. 결과 : 자세조절 검사에서 평균 점수는 기초선 구간 11.7점, 중재 구간 14.8점, 유지 구간 15.3점으로 향상 되었고, 일상생활동작 평가에서 기초선 기간 66점으로 보통의 의존을 보였지만 중재 후와 유지 구간에서 는 80점으로 향상되어 가벼운 의존을 나타냈다 결론 : 체간안정화 훈련 프로그램이 뇌졸중 환자의 신체의 자세조절이나 정렬에 효과를 나타내고 나아가 일 상생활활동의 수행에도 유익한 향상을 보이는 것으로 확인되었다.

Objective : This study intends to suggest an effective clinical intervention method for stroke patients by applying a trunk stabilization training program to a single stroke patient and investigating and analyzing the effects of the program on postural control and activities of daily living. Methods : The subject of this study was a 75 year-old female stroke patient hospitalized in C Hospital located in Gyeongju, Gyeongsangbuk-do. As for the research design, A-B-A reversal design was used with a single subject design; and the research period was a total of five weeks from April 21, 2014 to May 23, 2014. As for the research process, a total of 15 sessions were carried out including three sessions of baseline(A), nine sessions of an intervention period(B), and three sessions of maintenance(A'); and the trunk stabilization program was applied during the intervention period. To evaluate the participant’s postural control and activities of living life, the Postural Assessment Scale for Stroke(PASS) and the modified Barthel Index(MBI) were used. Visual analysis was used in which collected data were plotted on a graph, using Microsoft Office Excel 2013. Results : In the postural control test, the mean scores improved from 11.7 in the baseline phase to 14.8 in the intervention phase and 15.3 in the maintenance phase. In the evaluation of activities of daily living, the score improved from 66(medium dependence) during the baseline period to 80(low dependence) after intervention and at the maintenance phase. Conclusion : It was found that the trunk stabilization training program showed effects on the stroke patient’s postural control or alignment, and furthermore a beneficial improvement in the patient’s performing the activities of daily living, as well.

As the wheeled mobile robot is widely used in various fields, requirements of control accuracy for wheeled mobile robot are also increasing. Vision sensors get more and more attention because they are information capacity, high efficiency, non-contact measurement. The servo control problem of robot visual has also become a research hot spot. Dividing from the number of vision sensors, visual servo system can be divided into monocular visual servo system, binocular visual servo system and multi-purpose visual servo system.

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can’t define the object position location exactly that means when the object moves, the system can’t track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

A model predictive control method is proposed for the point stabilization of wheeled mobile robots (WMRs) subject to nonholonomic constraints. The problem is simplified by considering only the steering system and neglecting the vehicle dynamics. A linearized error model is then formulated by transforming the robot position into polar frame. The feedback control policy is obtained by minimizing a quadratic cost function which penalizes the predicted errors and control variables in each sampling time over a finite horizon. The proposed control law is proven to guarantee the exponential stability of the robot system by considering additive inequality constraints in the optimization process. The performance of the stabilization algorithm is verified through computer simulations showing that the proposed method has a good regulation performance and convergence.

This paper presents the transient stability enhancement of power transmission system with Static Var Compensator (SVC) by adopting immersion and invariant (I&I) methodology in designing SVC adaptive controller. The controlled system is a single machine infinite bus (SMIB) system with uncertain parameters: damping coefficient, mechanical power, generator rotor angle and line impedance. In the proposed SVC controller, a deduced-order target system is first defined and the dynamics of the controlled system will be “immersed” into it based on I&I stabilization. The proposed SVC controller is then made adaptive by designing adaptive update laws based on adaptive sliding-mode observer to identify the uncertain parameters. The simulation results demonstrate the effectiveness of the proposed SVC adaptive controller.

This paper proposes a novel sliding mode control (SMC) scheme to stabilize a class of fractional-order chaotic systems. Through constructing two sliding mode variables, the control problem of n-dimensional system can be transformed to the equivalent stabilizing problem of a reduced-order system. Subsequently, on the basis of second-order sliding mode (SOSM) technique, a robust control law is designed, which strongly attenuates the chattering phenomenon inherent in traditional sliding mode controller, and guarantees the existence of sliding motion in a finite time. The stability of two sliding mode variables to the origin is proved by conventional and fractional Lyapunov theories, respectively. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed approach.

This study investigated the effects of cervical stabilization and breathing retraining exercises to improve respiratory function in elderly stroke patients.Forty-five subjects were randomly allocated to three groups (each group, n=15). The exercise was performed five times a week for 6 weeks after general characteristics were confirmed. Experimental group1 performed cervical stabilization and respiratory breathing retraining exercises for 30minute in addition to conventional exercises. Experimental group2 performed respiratory breathing retraining exercises in addition to conventional exercises, and the control group performed self-respiration exercises for 30 min. An experienced physiotherapist provided a demonstration before the patients were assessed, and then the subjects were instructed to breathe only with their mouth in a sitting position with their pelvic joints and knee joints naturally flexed. Forced vital capacity (FVC) was measured to check for restrictive lung disease, and forced expiratory volume at one second (FEC1) was measured to check for obstructive lung disease. In a comparison of groups, there were significant differences in FVC not only between experimental group 1 and the control group but also between experimental group 2 and the control group. The cervical stabilization and respiratory breathing retraining exercises were more effective for FVC than the self-respiration exercises.This result may represent improvement in overall respiratory function and show that cervical stabilization and respiratory breathing retraining exercises are helpful for improving activities of daily living and motor function by increasing respiratory function in stroke patients.

Background: The purpose of this study was to find out the effect of trunk stabilization training on the self posture control efficacy, physical self-description and perception stress in high school students. Methods: 92 voluntary students (73 females, 19 males) participated in this study. They received trunk stabilization training for 40 minutes per day and a time per week during 6 weeks period. Trunk stabilization training was an approach of education in proper posture and coordination of movement. In the evaluation, the self posture control efficacy scale (SPCES) was used to measure the posture control efficacy, the physical self-description questionnaire (PSDQ) was used to measure the physical self description and the perception stress scale (PSS) was used to measure the stress. All measurement of each subject were measured before and after stabilization training. Results: The SPCES were significantly different before and after (p<.05). The PSDQ and PSS were no significantly different before and after (p>.05) but the means were increased slightly. Conclusion: Conclusionally these results suggest that the trunk stabilization training increased the self posture control efficacy and would give help to control Students themselves

An optimal Stabilization technique for a bilinear in duction model is introduced. This technique includes to o parts; the one is an stabilization control using Lyap unov Function which has the form of a sum of linear and quadratic function of the state variables, and the other is an optimal control using the performance index which depends on the choice of the elements of the Ly apunov matrices concerning both the state variables and the input variables. Therefore, induction motor is drived with the shorter transient time of the state variables and with the smaller overshoot of the ones, simulation results are obtained from a digital computer. Experimental ones are obtained from implementation of the optimizing controller using 8086 microprocessor kits and analog circuits are compared.

This paper presents a decentralized adaptive backstepping controller to dampen oscillations and improve the transient stability to parametric uncertainties in multimachine power systems. The proposed design on the $i^{th}$synchronous generator uses only local information and operates without the need for remote signals from the other generators. The design of the nonlinear controller is based on a modified fourth-order nonlinear model of a synchronous generator, and the automatic voltage regulator model is considered so as to decrease the steady state voltage error. The construction of both the control law and the associated Lyapunov function is systematically designed within the design methodology. A 3-machine power system is used to demonstrate the effectiveness of the proposed controller over two other controllers, namely a conventional damping controller (power system stabilizer) and one designed using the feedback linearization techniques.

In this paper, we propose a control method to improve control performance for a Quad-rotor Unmanned Aerial Vehicle's stabilization. The proposed method is the Fuzzy+I control that contains a fuzzy controller which processes signals from the error and the change of error, and generates the control signal by summing up fuzzy output signal and integral signal. We simulated and experimented on the fuzzy+I control method by implementing Quad-rotor UAV that is able to hovering, for the purpose of verifying the effectiveness of the proposed fuzzy+I control method in comparison with general PID control, and we found out that fuzzy+I controller improved control performance of the system.