• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Aerospace Engineering and Technology
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• v.8 no.1
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• pp.197-206
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• 2009

To improve the aerodynamic efficiency of Smart Unmanned Aerial Vehicle (SUAV), vortex generators and flow fence are applied on the surface and the tip of wing. The initially applied vortex generator increased maximum lift coefficient and delayed the stall angle while it produced excessive increase in drag coefficient. It turns out reduction of the airplane's the lift/drag ratio. The new vortex generators with L-shape and two different height, 3mm and 5mm, were used to TR-S4 configuration to maintain the desired level of maximum lift coefficient and drag coefficient. Flow fence was also applied at the end of both wing tip to reduce the interaction between nacelle and wing when nacelle tilting angles are large enough and produce flow separation. To examine the effect of flow fence, flow visualization and force and moment measurements were done. The variation of the aerodynamic characteristics of SUAV after applying flow control devices are summarized.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.5
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• pp.545-557
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• 2021

Engine is the main source of vibration that generates unwanted noise and vibration of vehicle chassis. Especially, in submarine applications, radiation of noise signatures can be detected at some distance away from the submarine using a sonar array. Thus quiet operation is crucial for submarine's survivability. This study addresses reduction of the force transmissibility originating from engines and transmitted to hull through engine mounts. An inertial damper, as an actuator of hybrid mount system, is addressed to reduce even further the level of vibration. Narrow band FxLMS algorithms are broadly used to cancel the vibration of engine mount because of its excellent performance of canceling narrow band noise. However, in real active dampers, the maximum displacement of damper mass is kinematically restricted. When the control input signal from the FxLMS algorithm exceeds this limitation, the damper mass will collide with the mechanical stops and results in many problems. Originated from these, a modified narrow band FxLMS algorithm based on the equalizer technique with the maximum allowable displacement of active damper mass is proposed in this study. Some simulation results showed that the propose algorithm is effective to suppress vibration of engine mount while ensuring given displacement constraint.

• Journal of the Korea institute for structural maintenance and inspection
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• v.13 no.2 s.54
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• pp.165-171
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• 2009

This research developed two semi-active MR dampers whose gaps in the orifice area were different from each other, and evaluated their damping performance by loading tests. The Damping performance of MR dampers characteristically depends on various factors like their material and mechanical ones, but most importantly on the size of gap in the orifice area. For this research, we designed the orifice gaps of two dampers as each 1.0mm and 2.0mm, both with the 80mm outer diameter of the orifice. We also designed two loading test sets with different input currents, and acquired different control ability from them. The acquired test results were analyzed and evaluated with their maximum and minimum damping force and also their dynamic range from the force-displacement hysteresis loops and the force-input current relationship curve. This research clearly proved how the damping performance of control devices depends on the gap effect, and also presented a possibility that the two dampers developed in this research could be used for the smart control of construction structures by effectively adapting the input current and the number of coil turns.

• Journal of the Korea institute for structural maintenance and inspection
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• v.8 no.2
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• pp.221-230
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• 2004

In this paper, the dynamic response of a multi-story steel moment resisting frame equipped with viscoelastic dampers or lead rubber bearing type isolators subjected to seismic loads is investigated analytically. The objective of this study is to find the best location of viscoelastic dampers by the maximum stress method and maximum story drifts method from structure analysis. Also, a secondary objective of the study is to compare the member force, combined stress, and natural period of the structure retrofitted with viscoelastic dampers or lead rubber bearing type isolators to find effective vibration control method.

• The Journal of Korean Physical Therapy
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• v.32 no.5
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• pp.283-289
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• 2020

Objective: The purpose of this study was to determine the force of lower extremities, the change in walking ability on the ground by applying a walking training program based on perceptual learning to improve gait capacity of chronic stroke patients. Method: This study included Twenty-four patients with chronic stroke. Using a perceptual-based gait training, the experimental group trained twice a day for 30 minutes each time, 5 times a week, for a total of 8 weeks. The control group underwent ground gait training that excluded the element of a perceptual training for 30 minutes, 5 times a week for 8 weeks. Results: In the two groups, the maximum forefoot pressure after intervention was significantly different in both the LEPGT and GGT (p<0.05). The maximum midfoot pressure was significantly different in LEPGT (p<0.05). There was a significant difference in the maximum heel pressure after intervention between the two groups (p<0.05). As a result of comparing the change in step length and stride length after intervention in the two groups, there was a significant difference between the two groups (p<0.05). Conclusion: Both gait training programs was found that gait training based on perceptual learning and ground gait training were the training for improving the functional gait of stroke patient. Perceptual learning gait training utilizing intensive perceptual awareness was the training for improving gait capacity within the period than ground gait training.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.15-26
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• 2003

This study was conducted to investigate the performance times, CM position and CM speed, pole chord length and pole chord angle, whole body angular momentum(X axis), and grip width in pole vault event according to the event and phase; touch down, pole plant, take-off, maximum pole bending pole straight, pole release, peak height, and foot contact, pole contact, free flight. The pole vaulting of four male elite vaulters including six trial were filmed using two video digital cameras at 60 Hz at 56th national athletic match, and data were collected through the DLT method of three dimensional cinematography. In general the better jumper is, the longer the performance time is. And the greater CM speed is, and the better his transformation ability of CM horizontal speed into vertical speed is. As he uses a longer pole, his grip is higher, and it is a enough for him to rock back his body, so that he pulls and pushes the pole well keeping his hips close to. An greater maximum angular momentum and early positioning of the hips parallel to the bar makes his body far side of the bar and his bar clearance easier. Specially our national jumper needs to have more powerful braking force during foot contact phase, and take his body on the pole after maximum pole bending, and pull and push the pole strongly keeping his hips close to. Also he needs to have stronger muscular strength in order to control the longer pole and use the pole of proper tension more efficiently.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.3-9
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• 2007

Existing long range piezoelectric motors with friction based transmission mechanisms are limited by the axial load capacity. To overcome this problem, a new linear piezoelectric motor using one piezoelectric actuator combined with a novel stepping mechanism is reported in this paper. To obtain both long range and fine accuracy, dual positioning control strategy consisting of coarse positioning and fine positioning is used. Coarse positioning is used for long travel range by accumulating motion steps obtained by piezoelectric actuator. This is followed by fine positioning where required accuracy is obtained by fine motion displacement of piezoelectric actuator. This prototype is able to provide resolution of 20 nanometers and withstand a maximum axial load of 300N. At maximum load condition, the positioner can move forward to a travel distance of 5mm at a maximum speed of 0.4 mm/sec. This design of nanopositioner can be used in applications for ultra precision positioning and grinding operations where high axial force capacity is required.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.25-29
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• 2011

The purpose of this study was to analyze quantitative and qualitative differences according to shoe type for the grand jete landing in ballet. The subjects for this study were 9 female ballet majors with an average of 12 years of experience. Subjects jumped, performing a front split, and landed on 1 foot, a movement called the grand jete. Analysis was performed on the students' landing. Independent variables were 3 shoe types: split sole, traditional out sole, and 5-toed forefoot shoes, with bare feet as a control group. Dependent variables were vertical passive ground reaction force and qualitative elements. Passive ground reaction force variables(maximum passive peak value, number of passive peaks, passive force-time integral, and center of pressure) were measured by the Kistler 9281B Force Platform. Qualitative elements were comfort, cushioning, pain, and fit. Statistical analysis included both 1-way ANOVA and Tukey's test for follow-up. Finalized data demonstrated that the 5-toed forefoot shoe allows the forefoot to expand and the toes to individually press down upon landing, increasing foot contact with the surface. Five-toed forefoot shoes minimize passive peaks and pain, while increasing comfort, cushioning, and fit. Most ballet movements are composed of jumping, balancing, landing, and spinning. Wearing 5-toed forefoot shoes allows for a natural range of movement in each toe, to improve both technique and balance. Pain and injuries from ballet can be minimized by wearing the correct shoe type. According to this analysis, it is possible to customized ballet shoes to increase the efficiency of techniques and movements.

• Journal of the Korea Safety Management & Science
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• v.16 no.4
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• pp.371-378
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• 2014

Manual materials handling tasks are the main risk factors for the work-related musculoskeletal disorders. Many assistant tools for manual materials handling are being used in various kind of industries. One of them is a 4-wheeled cart which is widely used in manufacturing factories, hospitals, etc. The major force required to control the 4-wheeled cart is pushing and pulling. There are two types of handles being used for the 4-wheeled cart : vertical type (two vertical handles), and horizontal type (one horizontal handle). This study tried to investigate the pushing forces and subjective discomforts (hand/writst, shoulder, low back, and overall) of the two handle types with different handle height and distance conditions. Twelve healthy male students (mean age = 23.4 years) participated in the experiment. The independent variables were handle angle (horizontal, vertical), handle height (low, medium, high), and handle distance (narrow, medium, wide). The full factorial design was used for the experiment and the maximum pushing forces were measured in 18 different conditions ($2{\times}3{\times}3$). Analysis of variance (ANOVA) procedure was conducted to test the effects of the independent variables on the pushing force and discomfort levels. Handle height and angle were found to be the critical design factors that affect the maximal pushing forces and subjective discomfort. In the middle height, subjects exerted higher pushing forces, and experience lower discomfort levels compared to the high, and low height. There was no statistical influence of the handle distance to the pushing forces and subjective discomfort levels. It was found out that the effects of the handle angle (horizontal and vertical) on both pushing force and subjective discomfort were statistically significant (p < 0.05). The vertical handle revealed higher pushing force and lower discomfort level than the horizontal handle. The reason for that was thought to be the different postures of the hand when grasping the handles. The horizontal handle induced pronaton of the hand and made hand posture more deviated from the neutral position.