• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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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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• 2000.10a
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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.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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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.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.3
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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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• v.12 no.3
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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.

• The Journal of the Korea Contents Association
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• v.10 no.2
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• pp.268-276
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• 2010

This study was to investigate the knee joint flexion angle and the foot pressure during climbing with different slope. The 24 healthy subjects were participated. And foot pressure was investigated using Parotec system. The knee joint flexion angle were filmed to using a video camera on each slope($0^{\circ},\;3^{\circ},\;6{\circ},\;9^{\circ}$). And knee joint angle was investigated by Dartfish. The data were analyzed ANOVAs. In conclusion, there was significantly different that knee joint flexion angle related on each slope angle. In foot pressure, there was significantly different in lateral heel area(1 cell), medial midfoot area(9 cell), medial forefoot area(15, 16 cell) of left foot, and in lateral heel area(3 cell) of right foot. There was significantly different of foot pressure in lateral and medial heel when knee joint flexion angle is between $10^{\circ}$ and $20^{\circ}$. There was change of gait cycle according to walking slop angle increasing, and the initial contact phase was shorter, the foot pressure in lateral heel was lower.

• Proceedings of the KIEE Conference
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• 2000.07d
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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.

• Polymer(Korea)
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• v.35 no.4
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• pp.337-341
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• 2011

To expand the viewing angle of vertical alignment liquid crystal display (VA-LCD), a wide-band compensation film has been newly developed. VA-LCD needs a retardation film with improved oblique viewing property. The retardation film for VA-LCD has been fabricated by solvent casting and subsequent drawing triacetylcellulose (TAC) containing optical additives. Here, optical birefringence and wavelength dispersion of the retardation film strongly depend on the chemical structures of optical additives. Utilizing quantum mechanical computation, the polarizing anisotropy of retardation film was calculated with respect to additives. It is also realized that the wavelength dispersion of polarizing anisotropy depends on the type and location of substituent to the selected main isomer. When two propionates are substituted to the meta position of the selected main isomer, the wavelength dispersion of polarizing anisotropy shows the most gentle slop, which is well matched with the experimental results. The most gentle slop of wavelength dispersion means that the viewing angle characteristics of LCD are less influenced according to the wavelength of light source of LCD, and it's possible to make better image quality than the present level.

• Journal of Energy Engineering
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• v.29 no.3
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• pp.25-33
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• 2020

In this study, flow and structural computational analysis were performed to investigate the structural safety of the lightweight butterfly valve disc designed by topology optimization. After flow analysis, as the opening angle increased, the flow coefficient increased non-linearly and showed a gentle slop. When the opening angle was 12 degree, the cavitation could be predicted. After FE analysis, all FE von-Misses stresses of the lightweight disc were smaller than the yield strength of the material, and all FE maximum deformations were also smaller than the conservative deformation of the previous study. Ultimately, it was confirmed that the structural safety of the lightweight valve disc based on computational analysis is effective.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.7
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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.