• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1164-1169
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• 2014

This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.149-149
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• 2000

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

• 한국운동역학회지
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• 제24권3호
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• pp.259-267
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• 2014

The purpose of this study was to find the relationship between standing posture biomechanics and physical fitness in the elderly. Physical fitness variables and postural variables for 227 (140 women and 87 men) elderly individuals were tested. Physical fitness tests (Korean Institute of Sports Science, 2012) included 3m sit, walk, and return, grip test, 30 second chair sit and stand, sit and reach, figure 8 walks, and 2 minute stationary march. Postural biomechanics variables included resting calcaneal stance position (RCSP), shoulder slope, pelvic slope, knee flexion angle, leg length difference, thoracic angle, and upper body slope. In statistical analysis, multiple regression was conducted by using stepwise selection method via SAS (version 9.2). Analysis for both men and women revealed significant relationships between physical fitness and age, upper body slope, knee flexion angle, leg length difference. Pelvic and thoracic angle were only related to figure 8 walking and sit and reach in women, while RCSP and shoulder slope had no relationship with any physical fitness variables.

• 대한건축학회논문집:계획계
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• 제35권3호
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• pp.59-66
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• 2019

In recent years, urban regeneration is focused on smart and pedestrian oriented development utilizing various mobility technology. The characteristics of walkways needs to reflect such development orientations. This research is the first step to find an adequate slope for ramp replacing stairs and shared by pedestrians, personal mobilities and powered wheelchairs. It aims to check if ramps on a recommended degree of angle by general guidelines are more preferred than stairs and find out what make difference of such preferences. Two surveys were conducted at $9^{\circ}$ and $9.6^{\circ}$ ramps coexisted with stairs at sequential and parallel location. The study on the survey result found that the general evaluation of $9^{\circ}$ ramp was better than $9.6^{\circ}$ ramp but $9^{\circ}$ ramp was not preferred than stairs while $9.6^{\circ}$ ramps was preferred. The difference of preferences was related to characteristics of stairs. The stair with shorter tread and riser next to $9^{\circ}$ ramp was evaluated much better than stairs next to $9.6^{\circ}$ ramp. Therefore the research concludes that $10.0^{\circ}$ which many guidelines recommend for the maximum slop of a ramp was not adequate for a ramp to replace stairs as a preferred means of vertical circulation. In addition the research found that the preference was sensitive to moving direction and gender especially in regards to comfort of stairs and safety of ramp. Most pedestrians chose a means of vertical circulation based on its comfort but pedestrian's evaluation of safety was most different based on moving direction.

• International Journal of Internet, Broadcasting and Communication
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• 제12권3호
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• pp.95-101
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• 2020

We studied the Implementation and design of inertial sensor that enables to improve performance by reduce the noise of rotor which Angle of inclination. Analyze model equation including motion equation and error, signal processing filter algorithm on high frequency bandwidth with eliminates error using estimation of error coefficient method is was designed and the prototype inertial sensor showed the pick off noise up to 0.2 mV and bias error performance of about 0.06 deg/hr by the experiments. Accordingly, we confirmed that the design of inertial sensor was valid for high rotation.

• 한국콘텐츠학회논문지
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• 제10권2호
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• pp.268-276
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• 2010

본 연구의 목적은 경사로를 오르는 동안 슬관절 굴곡각도와 족저압의 차이를 각각 다른 경사도에 따라 분석하고자 하는 것이다. 24명의 건강한 성인 참가자들에게 각각의 경사도($0^{\circ},\;3^{\circ},\;6{\circ},\;9^{\circ}$)를 걷게 한 후, Parotec system을 이용하여 족저압을 측정하였으며, 걷는 모습을 캠코더로 녹화 한 후 Dartfish system을 이용하여 슬관절 각도를 분석하였으며, 수집된 데이터는 SPSS/PC 통계 프로그램을 이용하여 일원배치분산분석으로 분석하였다. 결과는 각 경사로에 따라 슬관절 굴곡 각도는 통계학적으로 유의한 차이가 나타났으며, 족저압은 좌측 하지의 발뒤꿈치 외측 부위(1번 감지기), 중족부 내측 부위(9번 감지기), 전족부 내측 부위(15번, 16번 감지기), 그리고 우측 하지에서는 발뒤꿈치 외측 부위(3번 감지기)에서 통계학적으로 유의한 차이를 보였다. 슬관절 각도가 $10{\sim}20^{\circ}$ 사이에서 발뒤꿈치 외측 부위 및 내측 부위의 족저압이 통계학적으로 유의하게 높게 나타났다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2575-2577
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• 2000

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

• 폴리머
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• 제35권4호
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• pp.337-341
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• 2011

수직배향 액정디스플레이의 시야각 향상을 위한 광대역 보상필름을 개발하였다. 상용화된 수직배향 액정디스플레이는 측면 시야각을 보상하는 위상차 필름을 필요로 한다. 일반적으로 triacetylcellulose(TAC)에 광학첨가제를 첨가한 후 제막연신을 통하여 수직배향 액정디스플레이용 위상차 필름을 제작하는데, 첨가되는 광학첨가제의 화학구조에 따라 필름의 위상차와 파장분산 특성이 달라진다. 본 연구에서는 첨가제에 따른 분극률 이방성을 양자역학적으로 계산하고 선택된 중심 이성질체에 사이드 그룹을 치환시켜 파장별 분극률 이방성을 또한 계산하였다. 특히, 치환기가 methoxy와 proplonate인 경우에 치환위치와 숫자에 따른 파장별 분극률 이방성을 비교하였다. 2개의 propionate 그룹이 meta위치에 있을 경우가 파장분산 특성이 가장 완만한 것을 양자역학적 계산을 통하여 예측하였으며 이를 실험을 통해 증명하였다. 파장분산 특성이 완만하다는 것은 LCD 시야각 특성이 광원의 파장에 따라 덜 변한다는 의미이며, 현재 수준보다 우수한 화질을 구현할 수 있다.

• 에너지공학
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• 제29권3호
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• pp.25-33
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• 2020

본 연구에서는 유동해석 및 구조해석을 수행하여 위상최적화에 의해 설계된 버터플라이 밸브 디스크의 구조적 안전성을 살펴보았다. 유동해석을 수행하여 유량계수의 변화와 공동현상을 예측하였으며, 구조해석 후 강도 및 강성의 유효성을 확인하였다. 유동해석 후 열림각이 커질수록 유량계수가 비선형적으로 증가하다가 완만한 경사를 보였고, 열림각이 12o 일 때 공동화 현상을 예측할 수 있었다. 구조해석 후 경량 디스크의 유효응력이 재료의 항복강도보다 작았으며, 최대변형량도 선행연구의 보수적 변형량보다 작았다. 궁극적으로 전산해석에 기초한 경량 밸브 디스크의 구조적 안전성이 유효함을 확인하였다.

• 대한기계학회논문집B
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• 제33권7호
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• pp.541-551
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• 2009

Configuration of the inlet transition square duct (hereinafter referred to as "transition duct") for heat recovery steam generator (hereinafter referred to as "HRSG") in combined cycle power plant is limited by the construction type of HRSG and plant site condition. The main purpose of the present study is to analyze the effect of a variation in turbulent flow pattern by roof slop angle change of transition duct for horizontal HRSG, which is influencing heat flux in heat transfer structure to the finned tube bank. In this study, a computational fluid dynamics(CFD) is applied to predict turbulent flow pattern and comparisons are made to 1/12th scale cold model test data for verification. Re-normalization group theory (RNG) based k-$\epsilon$ turbulent model, which improves the accuracy for rapidly strained flow and swirling flow in comparison with standard k-$\epsilon$ model, is used for the results cited in this study. To reduce the amount of computer resources required for modeling the finned tube bank, a porous media model is used.