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This paper describes the formulation of the obstacle avoidance method to work in three-dimensional workspaces. We assume a spherical and omni-directional robot. The obstacle information is given in the form of points, which is the usual form in which sensor data is given. Obstacle avoidance methods are based on a real-time control process. Sensors collect(More)
In this research a computer simulation for implementing attitude controller of wheeled inverted pendulum is carried out. The wheeled inverted pendulum is a kind of an inverted pendulum that has two equivalent points. In order to keep the naturally unstable equivalent point, it should be controlling the wheels persistently. Dynamic equations of the wheeled(More)
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller (IDC). However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on(More)
[Purpose] The purpose of this study was to investigate the influence of fingertip light touch on the postural control in poststroke patients. [Subjects] In the study, the subjects were recruited through a rehabilitation hospital, and 21 patients were screened from among 30 volunteers. [Methods] The subjects participated in an experiment that measured(More)
During the last decades, the automation for constructing a steel structure has been extensively studied. However, the bolting process is still remained as a manual work, and the human workers climbs the vertical steel beams on top of the high-rise steel structure in many construction fields. The manual bolting process is extremely dangerous and inefficient.(More)
In this research, dynamic equations a WIP (Wheeled Inverted Pendulum) changing center of gravity when some load or equipment on the WIP are changing. The WIP becomes a popular platform for mobile robots which should be equipping various load and apparatus on it. The WIP generally has two equilibrium points which are stable and unstable. The WIP should be(More)
We developed surface grid-based solvation free energy density (Surface-SFED) models for 36 commonly used polar solvents. The parametrization was performed with a large and diverse set of experimental solvation free energies mainly consisting of combinations of polar solvent and multipolar solute. Therefore, the contribution of hydrogen bonds was dominant in(More)
The previously proved method of Ames test was followed to measure the mutagenic activity. We used Salmonella typhimurium which has special gene mutation site with a single compound characteristic and histidine operon, and measured at the four (Gumi, Gangjung, Gachang, Hyunpung) branch points of Nakdong river for one year. We used Standard Methods for(More)