• The Journal of Korea Robotics Society
• /
• v.16 no.2
• /
• pp.147-154
• /
• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Aerospace Engineering and Technology
• /
• v.12 no.1
• /
• pp.213-220
• /
• 2013

Korean Lunar Explorer is planned to be launched in the 2020s according to national space development strategy. The Lunar Explorer will be developed as two unmanned light weight models: a lunar orbiter and a lunar lander. The Lunar Explorer's structure should be designed to have light weight due to constraints from launcher as well as to provide structural safety against launch load, in-orbit condition and landing condition and to serve accommodation space for mission equipment. Core technology related to structural development of lunar explorer should be developed in advance. Especially, for lunar lander, technology for developing landing gear which enables lander to land safely on lunar surface is required essentially. This paper deals with structural development of lunar lander ground test model including design, manufacturing and test.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.4
• /
• pp.375-383
• /
• 2014

The purpose of this study was to assess the inter-segmental trunk motion during which multi-segmental movements of the spinal column was designed to interpret the effect of segmentation on the total measured spine motion. Also it analyzed the relative motion at three types of the spine models in drop landing. A secondary goal was to determine the intrinsic algorithmic errors of spine motion and the usefulness of such an approach as a tool to assess spinal motions. College students in the soccer team were selected the ten males with no history of spine symptoms or injuries. Each subject was given a fifteen minute adaptation period of drop landing on the 30cm height box. Inter-segmental spine motion were collected Vicon Motion Capture System (250 Hz) and synchronized with GRF data (1000 Hz). The result shows that Model III has a more increased range of motion (ROM) than Model I and Model II. And the Lagrange energy has significant difference of at E3 and E4 (p<.05). This study can be concluded that there are differences in the three models of algorithm during the phase of load absorption. Especially, Model III shows proper spine motion for the inter-segmental joint motion with the interaction effects using the seven segments. Model III shows more proper observed values about dynamic equilibrium than Model I & Model II. The findings have shown that the dynamic stability strategy of Model III toward multi-directional spinal motion supports for better function of the inter-segmental motor-control than the Model I and Model II.

• Strategy21
• /
• s.34
• /
• pp.149-177
• /
• 2014

Today distant oceans around the world are regarded as a major 'global commons' for international trade and transportation. Korea is not an exception, because Korea hugely depends on sea lines of communication (SLOC) for supplying vital commodities such as food and energy resource. As a result, assuring a free and safe use of distant ocean beyond territory is also an important agenda for Korea's maritime security. However there are a number of challenges for Korea to enjoy a free and safe use of distant ocean; dangers of regional maritime conflict in East Asia, naval arms race of China and Japan, and concerns on possible decline of U.S naval presence and power projection capabilities. These factors provide a reasonable basis for Republic of Korea Navy (ROKN) to pursue capabilities for major naval operations at distant ocean in a long-term perspective toward the year 2030. The introduction of aircraft carrier and nuclear-powered submarine is a key requirement for achieving this goal. ROKN needs to acquire a 'multi-role strategic landing platform' type of light aircraft carrier, which takes a role to escort naval task force by providing air superiority at distant ocean. Additionally nuclear-powered submarine will offer ROKN a formidable power to carry out offensive missions effectively at distant ocean.

• The Journal of Industrial Distribution & Business
• /
• v.13 no.12
• /
• pp.9-22
• /
• 2022

Purpose: Establishing a competitive advantage in the aviation market is essential as the competition among domestic airlines intensifies. Therefore, this study examined the management strategies of both large domestic airlines and low-cost airlines. Research design, data, and methodology: This study classified domestic airlines into Full Service Airlines (FSA) and Low Cost Carriers (LCC), examined each airline's current status and characteristics, and conducted case analyses of FSA and LCC based on Porter's generic competitive strategy. Results: The analyses determined that LCC primarily implemented a cost-advantage strategy, and FSA implemented a differentiation strategy. However, as competition intensified, FSA pursued cost-advantage strategies while establishing LCC through subsidiaries. There are various specific cost reduction methods, including service simplicity, scalability, high utilization, low landing fees, low-cost unit, and point-to-point flight strategies. Conclusions: LCCs are focusing on cost advantage strategies that reduce costs; however, the FSA also runs special price events that are as good as LCCs and are comparable to LCCs on some routes. Furthermore, LCC has recently expanded its mid- and long-distance routes, making competition for long-distance routes with major airlines unavoidable.

• Strategy21
• /
• s.37
• /
• pp.5-31
• /
• 2015

The Republic of Korean Navy (ROKN) started from scratch. However, ROKN demonstrated its Blue Navy capabilities successfully to the entire world by conducting "Operation Early Dawn" at the Aden Bay, Yemen in Jan 2011. On the event of the 70th anniversary of the ROKN, I would like to retrospect past gleaning from voyages and challenges we had in the past. At the very inception of the ROKN, Korean government as well as senior military leaders recognized that it had no time to spare to clean up military those were insinuated deeply by communist agents. It was the top priority of the government. The Mongumpo Operation which was not well known, conducted by ROKN was one of the clean-up drive. The Korean War sometimes called as "a fire from land put-off at the sea". The world famous "Incheon Landing" which reversed war situation from the Nakdong Perimeter also done by Sea Power. ROKN conducted various maritime operations including not only Incheon Landing, but amphibious operation at Hungnam, mine sweeping, sea convoy, Wonsan Withdrawal. On the same day of the Korean War started, 25th June 1950, unless the victory of the ROKNS Baekdusan (PC 701) at the Korean Strait, the waning lamp light of Korea could not be rekindled by the participation of the U.N. The ROKN rescued the 17th regiment of Korean Army from the isolation at the Ongjin Peninsular and transported gold and silver bars stored at the Bank of Korea to the Navy supply deposit in Jinhae safely. ROKN special intelligence unit conducted critical HUMINT which led Incheon Landing success. One of important mission ROKN conducted successfully was not only transporting war fighting materials but also U.S. provided grains to starving Koreans. ROKN participated Vietnam campaign from 1960s and conducted numerous maritime transportation operations supplying materials to Vietnam military forces along the long coastal lines. Experienced Naval Officers and enlisted men who discharged and acquired as merchant marine certificate supported most of the U.S. sea lift operations throughout the Vietnam campaign. ROK-US Combined Forces which had been honed and improved its war fighting capabilities through the Korean War and out of Vietnam jungle playing key deterrent against threat from north Korea. However, those threat level will be completely different when north Korea finish its nuclear weapon ambition. In order to stand firm against north Korean nuclear threat, I would like to expect strong political leadership supporting nuclear submarine for ROKN.

• Journal of National Security and Military Science
• /
• s.3
• /
• pp.121-167
• /
• 2005

The great strategy of China has been changing depending on the time, change of surrounding environment and personality of leaders of the time. However, the process of the change was not the drastic change but has maintained the consistency through the course of modification and development. The great strategy of Mao Ze-dong was to have the objective in 'World Great Nation' with the facilitation of the 'Surpass Strategy' and 'Autonomy, Independence and Alliance strategy' to successfully build up the political great nation, but he entrapped China's politics and economy into the point of no return by excessive war preparation under 'The Principle of Inevitable World War', striving of rapid communism and other policies. The Deng Xiao-ping era also targeted for ‘World Great Nation’ but, unlike Mao Ze-dong, he had the foundation in the 'The Principle of Evitable World War' and undertook the ‘Peace and Development Strategy’ and ‘Peaceful Coexistence' to build up the advantageous surrounding environment for China to focus on the economic construction as the core of the nation by establishing ‘The Reform and Opening Strategy’ and 'Three-step Development Strategy‘ to have the successful soft landing of the Chinese economy with the astonishing economic development. The system of leader's group of China after Deng Xiao-ping succeeded the practical and realistic spirit of Deng Xia-ping, and based on the drastically grown economic strength, the great strategy of China is on the ‘The Great Reinvigoration of Chinese Nation’. This is one step further from the strategy of 'World Great Nation' of the past that it embraces all the minority races in China, Chinese economic sphere, foreign citizens of Chinese origin as well as Chinese residing abroad. China contemplates the time of making 'The Great Reinvigoration of Chinese Nation’ in 2050, 100 anniversary of the birth of new China.

• Physical Therapy Rehabilitation Science
• /
• v.10 no.1
• /
• pp.16-21
• /
• 2021

Objective: To control the rate at which body weight drops, forefoot initiates floor contact with the limb relatively extended at each joint. However, when the knee joints could not extend enough with going down the stairs, the forefoot cannot be contact initially. The purpose of this study was to investigate the differences between forefoot and whole foot in initial contract on soleus and tibialis anterior for health young adults when descending stairs. Design: A cross-sectional observational study design. Methods: Fifteen healthy young adults participated in this study. To compare between forefoot and whole foot in initial contact when going down the stairs, this study measured muscle activation on soleus and tibialis anterior. This study used the paired t-test to analyze the collected data and compare the supporting conditions. Results: After analyzing, the muscle activation of soleus was not statistically significant difference as 25.16% at forefoot initial contact and 24.37% at whole foot initial contact when descending stairs (p>0.05). However, the muscle activation of tibialis anterior muscle was significantly difference was 49.19% at forefoot contact and 71.55% at whole foot contact. Conclusions: The results of this study was that the muscle activation of the tibialis anterior was a higher at whole foot contact than that at fore foot contact when descending stairs. This study suggests that the landing strategy of the initial contact is a beneficial effect at the forefoot contact to maintain the postural balance and the muscle performance effectively when descending stairs in individuals with healthy young adults.

• International journal of advanced smart convergence
• /
• v.9 no.4
• /
• pp.26-33
• /
• 2020

This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

• Strategy21
• /
• s.40
• /
• pp.82-114
• /
• 2016

The purpose of this article is to analyze the progress of North Korea's SLBM threat, and to assess the technological capacity and threat level of its SLBMs. Currently, North Korea has approximately 1000 ballistic missiles, such as the SCUD, Musudan, and Nodong, in stock. This article pays close attention to the background and strategical implication behind North Korea's obsession with developing SLBMs despite possessing sufficient means to launch provocations with its current arsenal of ground based ballistic missiles and conventional weapons. Based on the abovementioned analysis, this article will recommend possible response directions for the ROK Armed Forces to North Korea's SLBM threat. It is highly difficult to detect SLBMs due to its stealthy nature, as it is launched underwater after covert infiltration. North Korea's SLBM is considered a game changer in that even one SLBM can significantly change the strategic balance of North East Asia. North Korea's SLBM test launch in August has made a 500km flight, landing 80km inside the JADIZ (Japan Air Defense Identification Zone), and as such, it is assessed that North Korea already possesses underwater ejection and cold launch capabilities. The most realistic response to North Korea's imminent SLBM threat is bolstering anti-submarine capabilities. ROK Armed Forces need to upgrade its underwater kill-chain by modernizing and introducing new airborne anti-submarine assets and nuclear-powered submarines, among many options. Moreover, we should integrate SM-3 missiles with the Aegis Combat system that possess strong detection capabilities and flexibility, thereby establishing a sea-based Ballistic Missle Defense (BMD) system centered around the Aegis Combat System, as sea-based ballistic missile threats are best countered out in the seas. Finally, the capabilities gap that could arise as a result of budgetary concerns and timing of fielding new assets should be filled by establishing firm ROK-US-Japan combined defense posture.