• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.39-43
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• 1997

Posturography stands or quantitative assessment of body postural stability analysis. The present study developed a balance plate system to monitor patient's center of pressure (COP) movement and to analyze its stability. An equilateral triangular shaped plate was made of duralumin and forces were measured on the three vertices of the plate using industrial load cells. Specially designed electronic circuit picked up force signals ed into data acquisition system to calculate the cartesian coordinates of COP. COP calculation error was less than 2%. The force signals enabled to compute stability measures, which consisted of a variety of clinical parameters related to postural stability. Clinical experiments were carefully designed and performed on 40 normal subjects. The results were that 1) postural stability decreased with age and 2) the best parameters were those of posture deviation measures. A customized PC-based software package was developed to apply the present technique with a great convenience to monitoring and analyzing postural stability in an accurate and quantitative way.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.386-397
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• 2012

The stability and structure of bluff-body stabilized hydrogen flames were investigated numerically and experimentally. The velocity of coflowing air was varied from subsonic velocity to a supersonic velocity of Mach 1.8. OH PLIF images and Schlieren images were used for analysis. Flame regimes were used to classify the characteristic flame modes according to the variation of the fuel-air velocity ratio, into jet-like flame, central-jet-dominated flame, and recirculation zone flame. Stability curves were drawn to find the blowout regimes and to show the improvement in flame stability with increasing lip thickness of the fuel tube, which acts as a bluff-body. These curves collapse to a single line when the blowout curves are normalized by the size of the bluff-body. The variation of flame length with the increase in air flow rate was also investigated. In the subsonic coflow condition, the flame length decreased significantly, but in the supersonic coflow condition, the flame length increased slowly and finally reached a near-constant value. This phenomenon is attributed to the air-entrainment of subsonic flow and the compressibility effect of supersonic flow. The closed-tip recirculation zone flames in supersonic coflow had a reacting core in the partially premixed zone, where the fuel jet lost its momentum due to the high-pressure zone and followed the recirculation zone; this behavior resulted in the long characteristic time for the fuel-air mixing.

• The Journal of Korean Physical Therapy
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• v.26 no.3
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• pp.156-162
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• 2014

Purpose: The purpose of this study was to investigate muscle activation related to postural stability depending on different head positions with whole body vibration (WBV) in standing. Methods: Eighteen healthy subjects voluntarily participated in this single-group, repeated-measures study in which the surface electromyography (EMG) data from upper trapezius, rectus abdominis, external oblique abdominis, erector spinae, gluteus maximus, rectus femoris, semitendinosus, medial gastrocnemius were collected over 3 different frequencies (0-10-20Hz) and 4 different head positions (neutral, flexion, extension, chin tuck) for each subject on WBV while standing. Results: The results of this study demonstrated that the EMG activity of all recorded muscles shows significant difference between three different frequencies and four head positions of WBV while standing (p<0.05). In the multiple comparison, significant differences could be observed for most of different frequency conditions except 0-10Hz of RA, 10-20Hz of ST. In contrast, no significant difference showed the comparison of the EMG activity depending on different head positions (p<0.05). Conclusion: These findings suggest that different head positions on WBV do not activate muscles related to postural stability. However, higher frequency on WBV is highly effective to activate whole body muscles included postural muscles regardless of different head positions.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.142-150
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• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• Geomechanics and Engineering
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• v.13 no.5
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• pp.881-892
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• 2017

Design and management of concrete slabs in concrete-faced rock-fill dams are crucial issues for stability and overall dam safety since cracks in the concrete face induced by stress, shrinkage, and deterioration can cause severe leakage from the reservoir into the dam. Especially, the increase of dam height to a certain level to enhance the storage capacity and to improve hydraulic stability can lead to undesirable deformation behavior and stress distribution in the existing dam body and in the concrete slabs. In such conditions, simulation of a concrete slab with a numerical method should involve the use of an interface element because the behavior of the concrete slab does not follow the behavior of the dam body when the dam body settles due to the increase of dam height. However, the interfacial properties between the dam body and the concrete slab have yet to be clearly defined. In this study, construction sequence of a 125 m high CFRD in South Korea is simulated with commercial FDM software. The proper interfacial properties of the concrete slab are estimated based on a comparison to monitored vertical displacement history obtained from the concrete slab. Possibility of shear strength failure under the critical condition is investigated based on the simplified model. Results present the significance of the interfacial properties of the concrete slab.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.1033-1047
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• 1989

A finite element method for the analysis of magnetic fields with hysteresis characteristics is proposed. The method employs Preisach model to describe hysteresis of magnetic material, so that even multi-branch or minor-loop characteristics can be taken into account. The problem can be considered as the analysis of a nonlinear equation where magnetization depends not only on the present value of the magnetic field but also on the past values, and the problem can be solved by the iteration method. Measurements were carried out on soft ferrite EI core for the comparison with computer solution, and good agreements were obtained. is investigated. A theoretical approach to gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects fo the stride length on static stability are analyzed and the relations between static stability and initial body configurations are examined. It is shown that the moving velocity can be increased to some extent without affecting stability margins for a given initial body configuration. Computer simulations are performed to verify the analysis.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.4
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• pp.296-303
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• 2012

The captive model test of submerged body using CPMC(Computerized Planar Motion Carriage) was carried out at the Ocean Basin of KORDI/MOERI. The target model is a submarine with general hullform. The forces and moments acting on the submerged body were measured by 6-axis waterproof gage. The oblique motion test and turning test were carried out in horizontal and vertical planes of the model. Maneuvering coefficients and derivatives were obtained from the test results. The stability indices in horizontal and vertical planes were obtained by using maneuvering derivatives. In this paper the introduction of test equipment and test results are presented.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.51-55
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• 2002

This paper presents a systematic methodology and formulation for determining optimal strategies of multi-body dynamic systems, which is based on multi-body dynamics, design sensitivity, and optimization techniques, and is applicable to a wide variety of mechanical systems. The particular application discussed in this paper considers a vehicle model with four-wheel steeling capability, and the presented methodology determines an optimal steering angle ratio strategy for the vehicle. It is shown that such a strategy can improve the ride stability of the vehicle, during a variety of maneuvers, when compared against similar strategies obtained from linear and simplified vehicle models.