• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.80-83
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• 2002

정밀한 서보기술에 바탕을 두고 있는 산업용 로봇 팔은 기계적인 강성도와 서보기구들로 인하여 정확한 제어가 가능하다 그러나 로봇팔은 동작중비 관성모멘트의 변화와 기하학적인 구조로 인하여 비선형적인 시스템이다. 특히 관성모멘트의 변화는 로봇팔의 회전속도와 로봇팔이 이동시키는 대상물의 무게 등에 따라 관성모멘트는 변할 수 있다. 이로 인하여 관성모멘트의 변화에 따라 로봇팔의 정확한 위치제어가 힘들어진다. 따라서 본 논문에서는 관성모멘트의 변화에도 불구하고 강인한 응답특성을 나타내는 제어기의 설계가 요구된다. 일반적으로 PID .제어기는 설계의 용이성으로 산업현장에서 널리 사용된다. 그러나 PIB 제어기의 각 계수값을 설정하는데 많은 어려움이 발생한다. 따라서 본 논문에서는 PID 제어기의 각 계수 값을 퍼지알고리즘을 이용하여 자동으로 설계할 수 있는 자기동조 PID 제어기를 설계한다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.418-424
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• 2019

The present study investigated the effects of the moment arm length on balance and walking when carrying a backpack. In total, 30 normal adults without orthopedic and neurological injuries were assessed. For each subject, balance and gait were measured under three conditions: 1) the no backpack condition, 2) the general backpack condition, and 3) the decreased length of moment arm backpack condition. There were significant differences in the center of the pressure area and velocity between the three conditions, whereas there was no significant difference in the center of the pressure area and velocity according to the moment arm length. There were significant differences in double limb support time and walking velocity under the three conditions, and there was a significant difference only in double limb support time according to the moment arm length. The results of the present study showed that a change in the length of the moment arm can be helpful for walking when carrying a backpack.

• Journal of the Korea Convergence Society
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• v.10 no.11
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• pp.225-232
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• 2019

This study aims to compare muscle activities of trunk and lower extremities according to wearing/not-wearing and forms of backpack. Twenti-six healthy adults were participated in the study. In the backpack with 10% body weight, trunk and lower extremities were measured during carrying the no backpack state(NBs), general backpack state(GBs), a decrease moment arm backpack state(DMBs). The muscle activity in a fore muscles(Obilique, Quadriceps, Tibialis anterior, Gastrocnemius) were analyzed with using wireless electromyogram measuring system. DMBs showed significant improvemet in obilique, quadriceps and gastrocnemius muscle RVC.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.847-850
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• 2008

In simply supported concrete beams with concentrated load, there is arch action that the internal lever arm length varies through shear span. Recently shear analysis model considering this effect has been developed, but the analysis algorithm is so complicated. Moreover, the variation of internal lever arm length is not considered on the shear compatibility condition. In this study, the shear analysis model is developed more simply and the variation of internal lever arm length is considered on the shear compatibility condition. From these modifications, an actual shear behavior of RC beams subjected to concentrated load could be expected from the results of the proposed analysis model.

• Journal of Navigation and Port Research
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• v.41 no.6
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• pp.389-394
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• 2017

In this paper, the captive model test of a submarine using the RA test was carried out in a square basin. The target model submarine consisted of four types varying according to the position of conning tower and control planes. Hydrodynamic derivatives were acquired by multi-regression analysis. As a result, horizontal dynamic stability indexes of the four types presented positive values and satisfied dynamic stability requirements. In addition, the stability index of type 1 and type 4 - each with the same cruciform configuration of the aft planes - scored within the acceptable range of motion stability.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.5
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• pp.494-499
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• 2011

This paper presents the biomechanical analysis and evaluation technology of musculoskeletal system by multi-body human dynamic model and 3-D motion capture data. First, medical image based geometric model and material properties of tissue were used to develop the human dynamic model and 3-D motion capture data based motion analysis techniques were develop to quantify the in-vivo joint kinematics, joint moment, joint force, and muscle force. Walking and push-up motion was investigated using the developed model. The present model and technologies would be useful to apply the biomechanical analysis and evaluation of human activities.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.181-184
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• 2008

In the case of RC beams simply supported, there is arch action that the length of internal lever arm varies through span. Recently the shear analysis model which considers this arch action has been developed, but this analysis model is only applicable to RC beams subjected to concentrated load. In this study, therefore, the fundamental relationship between internal lever arm length and applied moment is developed with considering general load such as uniformly distributed load. The shear compatibility condition is also derived, which is also applicable to RC beams subjected to uniformly distributed load. From the analysis results of RC beams, the variation of shear strains through span could be expected by the proposed analysis model. The magnitude of shear strains expected from analysis is so relatively small that the effect of shear force due to arch action should be considered on analysis.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.311-325
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• 2003

A relation between the movement range of arms and arising moment has been studied to find out efficient movement range to minimize impact concerning arm landing in sports aerobics. Four male athletes who won top three in national-level sports aerobics competition were chosen for the experiment. They were allowed to jump in between two force platform so that the right hand and the right leg could land onto the front and rear force platform, respectively. The sampling frequency was 200 Hz. The main conclusions based on the analysis of the angle and joint moment parameters of wrist, elbow, and shoulder are as follows: 1. The wrist moment was small when its angle was small, indicating that the dorsi-flexion of the wrist joint offered a positive influence to reduce wrist moment. 2. The elbow angle increased as wrist angle decreased and vice versa. This means that the movement range of the wrist joint affects that of the elbow joint. The darsi-flexion of the wrist is the position to absorb the impact of the elbow effectively rather than to absorb the impact of the wrist itself. The impact is absorbed by the flexion of wrist joint rather than the wrist. 3. The degree of moment transfer of the shoulder joint, having absorbed the impact from the elbow and elbow joint, became dependent on the efficiency of the fore-joints impact absorption.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1801-1809
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• 2000

A study on the topology optimization of Hard-Disk-Driver(HDD) actuator arm in free vibration is presented. The purpose of this research is to increasse the natural frequency of the first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of high speed actuator am. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, the smoothly-varying density field is obtained without checker-board patterns incurred. As a result of the study an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode or the suggested design is subsequently increased over the existing one.

• The korean journal of orthodontics
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• v.31 no.3 s.86
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• pp.325-333
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• 2001

Optimal orthodontic treatment could be possible when a orthodontist can predict and control tooth movement by applying a planned force system to the dentition. The moment to force(M/F) ratio at the bracket, has been shown to be a primary determinate of the pattern of tooth movement. As various n/F ratios are applied to the bracket on the tooth crown, strain distribution in periodontium can be changed, and the center of rotation in tooth movement can be determined. It is, therefore, so important in clinicalorthodontics to know the strain distribution in a force system of a M/F ratio. The purpose of this study was to analyze the strain distribution in orthodontic force system by strain gauge attached to tooth root, and to evaluate the usage of the method. For this study, an experimental upper anterior arch model was constructed, where upper central incisors, on the root surface of which, 8 strain gauges were attached, were implanted In the photoelastic resin, as in the case of 4mm midline diastema. Three types of closing of upper midline diastema closure were compared : 1. with elastomeric chain(100g force) in no arch wire, 2. elastomeric chain in .016“ round steel wire, 3. elastomeric chain in .016”x.022“ rectangular steel wire. The results were as follows. 1. Strain distributions on labial, lingual, mesial and distal root surface of tooth were able to be evaluated with the strain gauge method, and the patterns of tooth rotation were understood by presuming the location of moment arm. 2. Extrusion and tipping movement of tooth was seen in closing in no arch wire, and intrusion and bodily movement was seen with steel arch wire inserted.