• Nuclear Engineering and Technology
• /
• v.56 no.7
• /
• pp.2718-2731
• /
• 2024

To ensure the operational safety of nuclear power plants, we present a Quadruped Inspection Robot that can be used for many types of steam generators. Since the Inspection Robot relies on the Holding Modules to grip the tube-sheet, it can be regarded as a hybrid robot with variable configurations, switching between 4-RRR-RR, 3-RRR-RR, and two types of 2-RRR-RR, and the variable configurations bring a great challenge to dimensional synthesis. In this paper, the kinematic model of the Inspection Robot in multiple configurations is established, and the analytical solution is given. The workspace mapping is analyzed by the solution-space, and the workspace of multiple configurations is decomposed into the workspace of 2-RRR to reduce the analysis complexity, and the workspace calculation is simplified by using the envelope rings. The optimization problem of the manipulator is transformed into the calculation of the shortest contraction length of the swing leg. The switching performance of the Inspection Robot is evaluated by stride-length, turning-angle, and workspace overlap-ratio. The performance indexes are classified and transformed based on the proportions and variation trends of dimensional parameters to reduce the number of optimization objective functions, and Pareto optimal solutions are obtained using an intelligent optimization algorithm.

• Korean Journal of Human Ecology
• /
• v.6 no.2
• /
• pp.121-131
• /
• 1997

This study was to design the clean room garment which fits for a body and adjusts well to the action. We examined the body's changes in action through a body measurment and made a sample of the clean room garment to which had adapted the body's changes in action and evaluated the function and the appearance compared with the existing the clean room garment. The followings were summery of the results : 1. Back intersyce breadth decreased, trunk length increased and the other parts were not change. At a posture of raising hands($M_3$) in comparison with an upright posture($M_0$). Back intersyce breadth, hip length and knee length increased and the other parts were a little change. At a bowing posture($M_2$) in comparison with an upright posture($M_0$). Back hip girth, knee length, hip length and leg length increased and the other parts were not change. At a working posture on a chair($M_1$) in comparison with an upright posture($M_0$). 2. The overall clean room garment was made increasing on the changes of part of a body through measuring and body measurement. 3. From the test of the function, it became known that the devised clean room garment was superior to the existing one in the parts of neck, shoulder, armpit and elbow at a working posture on a chair($M_1$), in the parts of neck, shoulder, and armpit at a bowing posture($M_2$), and the armpit at a posture of raising hands($M_3$). The appearance was better on the whole. 4. From the examination of photographs, the waist line of the devised clean room garment was not so much pulled up as that of the existing one on moving. And when sitting down on a chair, the waist line of the existing one was pulled down while that of the devised one had no change. As above, we investigated the actual conditions of wearing the clean room garment and measured the body's changes according the various actions. So we applied these results to the devised clean room garment but we couldn't research the clean mom effect of it owing to not obtaining the measuring instrument. The aspect of ergonomics liked the feeling of wearing and fitted to the action must be given consideration to the clean room garment, and simultaneously the dust-resistant effect must be taken into consideration in order to improve the quality of the goods. Therefore, we think it should be continued the research on the dust-resistant effect, material, washing method, quality control, and size along with the aspect of ergonomics.

• Journal of Astronomy and Space Sciences
• /
• v.26 no.4
• /
• pp.677-692
• /
• 2009

In recent years, lots of studies on the planetary rover systems have been performed around space advanced agencies such as NASA, ESA, JAXA, etc. Among the various technologies for the planetary rover system, the mobility system, navigation algorithm, and scientific payload have been focused particularly. In this paper, the conceptual design for a ground-based model of planetary rover's mobility system to evaluate mobility and moving stability on ground is presented. The status of overseas research and development of the planetary rover systems is also addressed in terms of technical issues. And then, the requirements of the planetary rover's mobility system are derived by means of considering mobility and stability. The designed rover's mobility system has an active suspension with 6 legs that controls 6 joints on the each leg in order to achieve high stability and mobility. This kind of mobility system has already applied to the ATHELE of NASA for various purposes such as transportation and habitation for human lunar exploration activities in the near future (i.e., Constellation program). However, the proposed system has been designed by focusing on the small-sized unmanned explorations, which may be applied for the future Korea Lunar exploration missions. Therefore, we expect that this study will be an useful reference and experience in order to develop the planetary exploration rover system in Korea.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.3
• /
• pp.503-509
• /
• 2020

In offshore floating structures, the viscous mean drift force due to drag is considered a design part that has not been considered until recently. In this paper, an analytical solution for the viscous mean drift forces on a floating vertical cylinder considering the waves and currents was obtained. The area was considered by dividing it into a splash zone above the free surface and a submerged zone below the free surface. In the case of waves, only the splash zone was considered; in the case of waves and currents, equations were obtained in both the splash zone and the submerged zone. The RAO results of previous studies were used to compare the calculated results with the drift forces acting on the fixed cylinder. Except for the case in only waves in the splash zone, the viscous mean drift force acting on the floating cylinder was larger than the drift force acting on the relatively fixed cylinder in most frequencies. In particular, the increase was greater when the currents were considered to be more important. Therefore, these results provide the inference for the viscous drift force due to drag in the design of floating offshore structures.

• Journal of Fashion Business
• /
• v.15 no.5
• /
• pp.178-194
• /
• 2011

Due to the population growth of the old aged, Korea is also entering into an aging society. But a research on the pattern design to the old aged is much to be desired. The purpose of this research is to design skirt pattern fitted for each body type by categorizing the lower body type of the old aged woman. For the way of research, categorized the body type by using the female measuring size from the 65 years old to 99 years old which has been measured by the Korean body size research as an assay data, and base on this data, a suitable skirt pattern for each body type of the old aged woman was designed by practicing the exterior evaluation. The data analysis was done with the statistical treatment in SPSS 12.0, and the results are as follows. The lower body type of the old aged woman were divided into the type 1. The circumference article is the biggest compared to the height article regarding to the lower body type of the old aged woman. The type 2. The height article and the circumference and thickness articles are the poorest. The type 3. The height article is the biggest and the hip width and calf circumference are thicker than the waist width. The type 4. The height article is the lowest and the waist width is thicker instead the hip and leg are thinner. In type 1, The pattern was modified by increasing 1cm a length of the dart and raising up 1.2cm at the cross point between side line and waist line. In type 2, the basic pattern was used, and in type 3, using the outline of the basic pattern however, increased 1cm a length of the dart and modified the amounts of dart by handling the art in curve, and modified the waist line to be more three-dimensional curves by raising up 1 cm at the cross point between waist line and side line and falling down 0.5cm at the cross point between the back center line and the waist line. In type 4, modified the amounts of front and back dart to 1.25cm, and raised up 0.8cm at the cross point between side line and waist line, and modified the waist line and the side seam line in a gentle curve by reducing circumference of the skirt tail to 1cm from the side seam line.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.29 no.11
• /
• pp.821-827
• /
• 2018

In devices used for re-forming osteoblasts to treat osteoporosis, a magnetic field is applied from the outside of the bone, and the minerals contained in the bone are aligned in a certain direction and undergo precessional motion. When a $90^{\circ}$ RF pulse is applied by using an RF coil, protons of minerals are brought to an excited state, and phosphorus activity promoting the deposition of osteoblasts in the bone is increased, thereby reshaping the bone. Miniaturizing the RF coil that generates a signal corresponding to the harmonic of the precessional motional frequency by means of the $90^{\circ}$ RF pulse can drastically reduce the overall size of the bone reshaping system. In this study, we propose a methodology for the miniaturization of the RF coil that can be used for osteoblast re-formation using a bone reshaping system. The capacitance of the designed RF coil is 25 pF, the inductance is approximately 100 nH, and the resonance frequency is 96 MHz. The radius of the end ring of the designed RF coil is 18 cm, and the total length of the leg is $2{\times}11.6cm$. The performance of the coil is verified through post-design measurement.

• Journal of Korean Physical Therapy Science
• /
• v.28 no.2
• /
• pp.30-39
• /
• 2021

Background: The purpose of this study was to compare the differences in gait and mobility according to the types of assistive device for ankle joint including ankle foot orthosis (AFO), non-elastic tape, elastic tape, and high ankle shoes in chronic hemiplegic stroke survivors. Design: A cross-over design. Methods: Twelve hemiplegic stroke survivors participated in this study, and they walked under 5 different conditions including bare feet, wearing a AFO, wearing a non-elastic tape, wearing a elastic tape, and wearing a high ankle shoes. During the participants walked, the spatio-temporal gait analysis and mobility examinations were performed. For the spatio-temporal gait analysis (gait velocity and cadence, step length, stride length, and single and double leg support time) and mobility examinations, the gait mat, TUG and TUDS were used. Results: As s results, on the AFO, non-elastic tape, elastic tape, and high ankle shoes, there were significantly differences in the all spatio-temporal gait parameters, TUG, and TUDS compared to barefoot (p<0.05). In particular, all spatio-temporal gait parameters, TUG, TUDS were significantly improved with AFO compared to barefoot. TUG was significantly improved with AFO compared to non-elastic tape, TUG and TUDS were significantly improved with AFO compared to elastic tape, gait velocity was significantly improved with non-elastic tape compared to high ankle shoes, gait velocity and TUG were significantly improved with elastic tape compared to high ankle shoes, and TUDS was significantly improved with non-elastic tape compared to elastic tape. Conclusion: The AFO, non-elastic tape, elastic tape, and high ankle shoes showed a positive effect on gait and mobility compared to barefoot, and among them, wearing AFO was most effective for improving gait and mobility of chronic hemiplegic stroke survivors.

• Journal of Korean Physical Therapy Science
• /
• v.28 no.2
• /
• pp.57-64
• /
• 2021

Background: During squat exercises, Ankle joint stability during squat movement transfers forces produced by unstable supports or various loads to the leg joints and trunk, reducing the risk of injury; therefore, a reference is needed for correct ankle joint posture during squat exercises. The purpose of this study was to examine the effect of ankle joint stability on quadriceps femoris and hamstring activation during squat exercises. Design: Quasi-experiment one group pretest-posttest design. Methods: The participants in this study were 20 volunteers who performed squat exercises with and without kinesiology tape. We measured quadriceps femoris and hamstring activation using surface electromyography. The ankle joint was stabilized with kinesiology tape using the ankle balance taping (ABT) method. A paired t-test was performed to compare differences between taping conditions. Results: Vastus medialis and vastus lateralis activation were greater following squat exercises with kinesiology tape than without; however, the difference was not significant. Medial and lateral hamstring activation was not significantly different between taping conditions. Conclusion: Although it is difficult to maintain stability using kinesiology tape alone, ankle joint stability is believed to affect quadriceps femoris muscle activity, which increases the effectiveness of the squat exercise.

• Journal of the Korea Society of Computer and Information
• /
• v.26 no.3
• /
• pp.43-50
• /
• 2021

In this paper, we design and implement KITNESS, a windows application that feeds back the accuracy of fitness motions based on Kinect sensors. The feature of this application is to use Kinect's camera and joint recognition sensor to give feedback to the user to exercise in the correct fitness position. At this time, the distance between the user and the Kinect is measured using Kinect's IR Emitter and IR Depth Sensor, and the joint, which is the user's joint position, and the Skeleton data of each joint are measured. Using this data, a certain distance is calculated for each joint position and posture of the user, and the accuracy of the posture is determined. And it is implemented so that users can check their posture through Kinect's RGB camera. That is, if the user's posture is correct, the skeleton information is displayed as a green line, and if it is not correct, the inaccurate part is displayed as a red line to inform intuitively. Through this application, the user receives feedback on the accuracy of the exercise position, so he can exercise himself in the correct position. This application classifies the exercise area into three areas: neck, waist, and leg, and increases the recognition rate of Kinect by excluding positions that Kinect does not recognize due to overlapping joints in the position of each exercise area. And at the end of the application, the last exercise is shown as an image for 5 seconds to inspire a sense of accomplishment and to continuously exercise.

• Fashion & Textile Research Journal
• /
• v.24 no.5
• /
• pp.655-665
• /
• 2022

This study evaluated the validity of a newly developed mobility protocol examining the comfort functions and requirements of personal protective equipment (PPE) for COVID-19 healthcare workers. Eight males (age: 24.7 ± 3.0 y, height: 173.4 ± 2.3 cm, and body weight 69.9 ± 3.7 kg) participated in the following three PPE conditions: (1) Plastic gown ensemble, (2) Level D ensemble, and (3) Powered air purifying respirator (PAPR) ensemble. The mobility protocol consisted of 10 different tasks in addition to donning and doffing. The 10 tasks were repeated twice at an air temperature of 25oC with 74% RH. The results showed significant differences among the three PPE conditions in mean skin temperature, local skin temperatures (the forehead, thigh, calf, and foot), clothing microclimate (the chest and back), thermal sensation, thermal comfort, and humidity sensation, while there were no significant differences in heart rate or total sweat rate. At rest, the subjects felt less warm and more comfortable in the PAPR than in the Level D condition (P<0.05). However, subjective perceptions in the PAPR and Level D conditions became similar as the tasks progressed and mean skin and leg temperature became greater for the PAPR than the Level D condition (P<0.05). An interview was conducted just after completing the mobility test protocol, and suggestions for improving each PPE item were obtained. To sum up, the mobility test protocol was valid for evaluating the comfort functions of PPE for healthcare workers and obtaining requirements for improving the mobility of each PPE item.