• Journal of Biosystems Engineering
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• v.39 no.1
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• pp.11-20
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• 2014

Purpose: Walking type cultivator used for weeding generated excessive handle vibration as well as bouncing motion depending on the weeding speed. This research was conducted to define a design factor of the rotary weeding blades for reducing soil reaction forces as well as hand vibration. Methods: The motion and forces acting on the rotary blades were reviewed to find out the most influencing parameter on hand vibration. The installation angle (IA) of the blade was selected and analyzed to determine the condition of no reaction force less. For removing the unnecessary upward soil reaction, the design factor theory of weeding blade was suggested based on geometrics and dynamics. For evaluation of design factor theory, the experiment in situ was performed base on ISO 5349:1. The vibration $a_{hv}$ and theoretical value $X_{MF}$ were compared with two groups that one was positive group ($X_{MF}$ > 0) and the other was negative group ($X_{MF}$ < 0). Results: $X_{MF}$ was derived from rotational velocity, forward velocity, disk diameter, weeding depth, blade's width and IA of blade. Two groups had significant difference (p < 0.05). In aspect of the group mean total exposure duration, positive group was 17.53% bigger than negative group. When disk radius 100, 150 and 200 mm, minimum IAs were $4{\sim}27^{\circ}$, $3{\sim}15^{\circ}$ and $2{\sim}10^{\circ}$, respectively. A spread sheet program which calculated XMF was developed by Excel 2013. Conclusions: According to this result, minimum IA of weeding blade for soil reaction reduction could be obtained. For reduction hand-arm vibration and power consumption, minimum IA is needed.

• Physical Therapy Rehabilitation Science
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• v.6 no.2
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• pp.65-70
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• 2017

Objective: The purpose of this study was to examine the intertester reliability and validity of four nonradiologic measurements of thoracic spine rotation in healthy adults. Design: Descriptive laboratory study. Methods: This study was conducted on 20 male and 20 female university students aged between 19 and 26. To measure thoracic rotation, a goniometer, a bubble inclinometer, a dual inclinometer, and a smartphone application-clinometer were used. The measurement was performed twice for each device and the same measurement was performed by two examiners. The measurements were performed in the lumbar locked position. The arm in the direction of rotation was taken back and placed onto the back of the lumbar region. With right and left trunk rotation, the head was rotated together but remained in the center line so that the axial rotation was maintained. Both examiners performed the measuring procedures and directly handled the measuring instrument. All measurement results were recorded by the recorder. Results: The range of motion (ROM) of thoracic rotation in lumbar locked position for all four devices was 47 degrees. The intra-rater reliability estimates ranged from 0.738 to 0.906 (p<0.05). The inter-rater reliability estimates ranged from 0.736 to 0.853 (p<0.05). The goniometer, bubble inclinometer, dual inclinometer, and smartphone clinometer showed high validity (p<0.05). This result indicates that all four devices may be used by the same examiner and by other examiners obtaining follow-up measurement. Conclusions: The use of the goniometer, bubble inclinometer, dual inclinometer, and smartphone clinometer for measurements in the lumbar locked posture are reliable and valid nonradiologic measures of thoracic rotational ROM in healthy adults.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.4
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• pp.98-103
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• 1992

The dynamic and static torque characteristics of a three dimensional control panel installed behind a guide panel were investigated in a wind tunnel. The panel was tested for various wind speeds, angles of attack and positions of the panel. The effects of the rotational speed and the amplitude of the sinusoidal motion were also studied. The increasing rate of torque coefficients with the angular position of the panel is small when the panel remains in the wake region, but is linear when it reaches the external stream. In case of a sinusoidal motion of the pannel, a hysterisis appears in the dynamic torque. The hysterisis becomes strong as the wind speed and the angular speed of the panel increase. The unsteady torque is considered quasi-steady when the angular speed is less than 5.5rad/s, i.e. the reduced frequency is less than 0.035.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.515-520
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• 2020

The design and actual implementation of the four-bar parallel link was studied in the paper. The parallel four-section link is widely used as a basic kinematic mechanism for transmitting the rotation of one axis to the rotational motion of the other axis. However, the parallel 4 link has a problem that phase reversal occurs at the turning point during the movement. In order to prevent the link reversal, it is known that a double parallelogram-type link is formed by attaching an additional phase reversal suppression link with an offset. However, as a result of the actual fabrication experiment, the movement is not smooth at the transition point. In order to solve this problem, in this study, a link for smooth movement is added in addition to a link that provides an offset to prevent phase reversal, so that the phase reversal does not occur at a specific point when the driven shaft rotates along the drive shaft. The test result confirms the validity of our suggestion.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.6 s.40
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• pp.31-43
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• 2004

Seismic risk assessment of bridge is presented using fragility curves which represent the probability of damage of a structure virsus the peak ground acceleration. In theseismic fragility analysis, the structural damage is defined using the rotational ductility at the base of the bridge pier, which is obtained through nonlinear dynamic analysis for various input earthquakes. For the assessment of seismic risk of bridge, peak ground accelerations are obatined for various return periods from the seismic hazard map of Korea, which enables to calculate the probability density function of peak ground acceleration. Combining the probability density function of peak ground acceleration and the seismic fragility analysis, seismic risk assessment is performed. In this study, seismic fragility analysis is developed as a function of not the surface motion which the bridge actually suffers, but the rock outcrop motion which the aseismic design code is defined on, so that further analysis for the seismic hazard assessment may become available. Besides, the effects of the friction pot bearings and the friction pendulum bearings on the seismic fragility and risk analysis are examined. Lastly, three regions in Korea are considered and compared in the seismic risk assessment.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.2
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• pp.970-977
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• 2015

The purpose of this study was to investigate biomechanical factors on key motions in K-Pop dance(BoA's No.1). A professional choreographer who was BoA's K-Pop No. 1 dance participated in this study. ROMs(range of motion) of shoulder and elbow joints in AP direction were greater than other joints. Those of trunk and pelvis in ML direction were the greatest of other directions. The velocity of CoG in SI direction was greater than other directions, and also max angular velocities of shoulder, elbow, knee, and hip joints in AP direction were the greatest of all directions. But ROM and angular velocity of ankle joint were very small. Max rotational powers of shoulder and knee joints were larger than other joints.

• Korean Journal of Applied Biomechanics
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• v.24 no.2
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• pp.167-172
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• 2014

The purpose of this study was to investigate walking standard time and joint powers of the lower extremities on the changes of illuminations in the elderly women. Ten older women ($70.90{\pm}3.28$ years, $154.70{\pm}3.47$ cm, $53.80{\pm}5.39$ kg) with normal vision and no gait disabilities participated in this study. All the experiments were performed on a level walkway from low to high lighting (six conditions). A 3-dimensional motion capturing system, force-plate, and EMG were used to acquire and analyze walking motion, force, and muscle activity data; the sampling frequency was 100 Hz, 1000 Hz and 1000 Hz respectively. To test the differences on walking standard time and joint powers of the lower extremities between the six lighting conditions, one-way repeated ANOVAs were evaluated. The following results were drawn: First, mean standard time was about 1.3 sec/stride, and velocities were smaller with lighting increasing except 100 Lx. Second, the joint power patterns of ankle and knee were not consistent, but only hip joint power was a greatest in 6 Lx and a smallest in 400 Lx. Third, standard times(100 Lx<300 Lx, 400 Lx) were statistically significant, and hip joint max powers (100 Lx>others) were also statistically significant. But ankle and knee joint max power were not statistically significant. These results showed that standard times from low to high lighting were not consistent, and hip joint of 100 Lx has a greatest rotational torque. We suggested that gait strategies of them as to changing illuminations were not consistent and findings may represent a lack of adaptability in the elderly women.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.193-203
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• 2014

Temperature-dependent stress analysis and heat transfer analysis of a rotating gas turbine blade made of functionally graded materials (FGMs) are presented considering turbine operating temperature and ceramic particle size. The material properties of functionally graded materials are assumed to vary continuously and smoothly across the thickness of the thin-walled blade. For obtaining system stiffness reflecting these characteristics, the one-dimensional heat transfer equation is applied along the thickness of the thin-walled blade for determining the temperature distribution. Using the results of the temperature analysis, the equations of motion of a rotating blade are derived with hybrid deformation variable modeling method along with the Rayleigh-Ritz assumed mode methods. The validity of the derived rotating blade model is evaluated by comparing its transient responses and temperature distribution with the results obtained using a commercial finite element code. The maximum tensile stress with operating speed and gradient index are obtained. Furthermore, the gradient index that minimizes blade temperature was investigated.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.