• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.538-546
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• 2015

This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn't restrain the wearer's ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2004년도 제22회 춘계학술대회논문집
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• pp.75-78
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• 2004

Various jet engines (Turbine engine family and RAM Jet engine) have been developed for high speed aircrafts. but their application to hypersonic flight is restricted by principle problems such as increase of total pressure loss and thermal stress. Therefore, the development of next generation propulsion system for hypersonic aircraft is a very important subject in the aerospace engineering field, SCRAM Jet engine based on a key technology, Supersonic Combustion. is supposed as the best choice for the hypersonic flight. Since Supersonic Combustion requires both rapid ignition and stable flame holding within supersonic air stream, much attention have to be given on the mixing state between air stream and fuel flow. However. the wider diffusion of fuel is expected with less total pressure loss in the supersonic air stream. So. in this study the direction of fuel injection is inclined 30 degree to downstream and the total pressure of jet is controlled for lower penetration height than thickness of boundary layer. Under these flow configuration both streams, fuel and supersonic air stream, would not mix enough. To spread fuel wider into supersonic air an aerodynamic force, baroclinic torque, is adopted. Baroclinic torque is generated by a spatial misalignment between pressure gradient (shock wave plane) and density gradient (mixing layer). A wedge is installed in downstream of injector orifice to induce an oblique shock. The schlieren optical visualization from side transparent wall and the total pressure measurement at exit cross section of combustor estimate how mixing is enhanced by the incidence of shock wave into supersonic boundary layer composed by fuel and air. In this study non-combustionable helium gas is injected with total pressure 0.66㎫ instead of flammable fuel to clarify mixing process. Mach number 1.8. total pressure O.5㎫, total temperature 288K are set up for supersonic air stream.

• 농업과학연구
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• 제46권3호
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• pp.613-627
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• 2019

The purpose of this study was to design a powertrain for a 78 kW AWD (all wheel drive) electric tractor by analyzing the combination of various reduction gear ratios on a commercial motor using data from actual agricultural work and driving conditions. A load measurement system was constructed to collect data using wheel torque meters, proximity sensors, and a data acquisition system. Field experiments for measuring load data were performed for two environmental driving conditions (on asphalt and soil) and four agricultural operations (plow tillage, rotary tillage, loader operation, and baler operation). The attached implements and gear stages were selected through farmer surveys. The range of the reduction ratio was determined by selecting the minimum reduction ratio needed to satisfy the torque condition required for agricultural operations and the maximum reduction gear ratio to satisfy the maximum travel speed. The minimum reduction gear ratio selected was 57 in consideration of the working load condition and the maximum reduction gear ratio selected was 62 considering the maximum running speed. In the range of the reduction gear ratio 57 - 62, the selected motor satisfied all working torque conditions. As a result, the combination of the selected motor and reduction gear ratio was applicable for satisfying the loads required during agricultural operation and driving operation.

• 한국항공우주학회지
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• 제49권4호
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• pp.291-299
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• 2021

본 논문에서는 제어모멘트자이로 내 짐벌과 모멘텀 휠의 제어로직에 대해 기술하였다. 우선 소모전력과 안정도(이득여유, 위상여유)를 고려하여 모멘텀 휠의 제어로직을 설계하였다. 두 번째로는 진동흡수장치의 공진과 안정도를 고려하여 짐벌의 제어로직을 설계하였다. 세 번째로는 제어 모멘트자이로에서 발생하는 힘과 토크를 측정하기 위한 장치 구성에 대해 기술하였으며, 네 번째로는 모멘텀 휠과 짐벌의 주파수응답 및 시간응답 시험 결과를 나타내었다. 그리고 마지막으로 제어 모멘트자이로를 통해 발생한 힘과 토크를 실험적으로 측정하여 나타내었다.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.46-53
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• 2022

RIn this study, a test tractor that could measure various types of agricultural operational loads was developed, and its performance was verified. This tractor could be used to measure the load generated during agricultural work and convert the related data into a database. A test tractor was developed using an 80-kW-rated load tractor, and it could measure various types of field test data, such as engine torque and rpm, wheel torque, PTO(power take-off) torque, hexometer, IMU/INS sensor, steering angle sensor, hydraulic pressure, and flow sensor data. To verify the developed test tractor, a verification test using an agriculture rotavator was performed. The test conditions were L1, L2, and L3 based on the tractor's main and sub-transmission stages, and stages 1 and 2 were selected as the PTO. In a comparison of the analyzed test data, similar tendencies in the test results of this research and other research (Kim's research) were seen. Through this, the developed test tractor was verified. In the future, we plan to conduct research on the tractor developed in this study using various attached working machines.

• 드라이브 ㆍ 컨트롤
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• 제20권2호
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• pp.31-39
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• 2023

The aim of this study was to measure and analyze engine load factor (LF) according to working conditions (operation type and gear stage) of small agricultural multi-purpose cultivator to estimate the emission of air pollutants. To calculate LF, a torque sensor capable of collecting torque and rotational speed was installed on the engine output shaft and DAQ was used to collect data. A field test was conducted with major operation of a cultivator and tillage operations (plow tillage and rotary tillage). Engine power was calculated using engine torque and rotational speed and LF was calculated using real-time power and rated power. In addition, unified LF was calculated using the weight for each operation and the average LF for each operation. As a result, average LF values at 1.87 and 3.10 km/h by plow tillage were 0.50 and 0.69, respectively. Average LF values at 1.87 and 3.10 km/h by rotary tillage were 0.70 and 0.78, respectively. Furthermore, unified LF calculated in consideration of the weight factor showed a value of 0.65, which was 135% higher than the conventional LF (0.48). Results of this study could be used as basic information for realizing LF values in the field of agricultural machinery.

• 대한치과보철학회지
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• 제48권3호
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• pp.209-214
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• 2010

연구 목적: 본 연구의 목적은 골 유착된 임플란트에 인위적 비틀림을 가한 후 골 유착이 다시 일어나는지, 혹은 일어나지 않는지, 일어난다면 이전의 골유착보다 강화되는지, 약화되는지에 대해 알아보기 위함이다. 연구 재료 및 방법:상업적으로 순수한 티타늄 (commercial pure titanium 99%)으로 직경 3.75 mm, 길이 4 mm의 표면처리 없는 실험용 임플란트를 제작하였다. 3.0 kg이상의 뉴질랜드산 흰색 암컷 토끼 7마리의 좌우 경골에 제작한 임플란트를 2개씩 식립 후, 6주의 골유착 유도 기간 부여 후 비틀림 제거력을 측정한 경우를 I군으로, 다시 임플란트 고정체를 재위치시키고 봉합하여 4주간의 치유기간을 더 두고 측정한 경우를 II군으로 분류하였다. 광학현미경을 이용한 조직 형태학적 분석을 위하여, 1차 비틀림 제거력 측정 직후 1마리의 토끼를 희생시키고, 2차 비틀림 제거력 측정 직후 2마리의 토끼를 희생시켜 각각 4개, 7개의 시편을 제작하여, 광학현미경 (${\times}20$) 분석에서 골-임플란트 접촉 (Bone-Implant contact, BIC, %)비율과 치밀골 부위에 위치하는 임플란트의 나사산 수를 측정하여 CBa (Bone area in the cortical passage)비율을 측정하였다. 비틀림 제거력과 BIC및 CBa비율에서의 I군과 II군의 통계적 유의성 ($\alpha$=.05)을 평가하였다. 결과: 비틀림 제거력 측정에서 I군은 $10.8{\pm}3.6$ NCm로 측정되었으며, II군은 $20.2{\pm}9.7$ NCm로 측정되었으며, I군보다II군의 비틀림 제거력이 평균 98.1% 증가되었다 (P<.05). 조직 형태학적 분석에서 BIC와 CBa 비율은 I군과 II군 사이에 통계적 유의성을 나타내지 않았고 (P>.05), RT/BIC와 RT/CBa 값은 I군과 II군 사이에 통계적 유의성을 나타냈다 (P<.05). 결론: 임플란트 고정체에 의원성 비틀림 동요가 발생한 경우에 초기 골유착을 얻기 위해 필요로 했던 치유기간보다 짧은 기간 내에 이전보다 견고한 골유착을 얻을 수 있을 것으로 생각된다.

• 대한치과보철학회지
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• 제51권2호
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• pp.82-89
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• 2013

연구 목적: 본 연구는 양극산화 임플란트에 골형성단백질과 혈관내피세포성장인자를 코팅한 임플란트를 토끼의 경골에 식립하여 골과 임플란트 계면의 골유착 향상의 가능성을 평가하고자 시행하였다. 연구 재료 및 방법: 6마리의 토끼 양측 경골에 코팅을 하지 않은 양극 산화 임플란트(대조군)와 골형성단백질과 혈관내피세포성장인자를 코팅한 임플란트(실험군)을 각각 한쪽에 2개씩 식립하였다, 토끼는 2주, 8주에 각각 3마리씩 희생하였고 전체 식립된 임플란트는 24개이었다. 각 시기별, 그룹별 임플란트 수는 각각 6개씩이었다. 임플란트안정지수(resonance frequency analysis (RFA)), 회전 제거력(Removable torque measurement (RTQ))을 희생 시기에 측정하였다. 독립표본 t-test (SPSS Ver. 15.0, Chicago, USA)을 이용하여 2주, 8주에서 대조군과 실험군의 차이를 비교 분석하고, 유의수준95%에서 통계적으로 검정하였다. 결과:대조군과 실험군 모두 8주에서 우수한 골유착을 보였다. 특히 실험군에서 8주에 ISQ, RTQ 값 모두 대조군과 비교하여 우수한 값을 나타내었다 (P<.05). 하지만 2주에서는 두군 사이에 통계적 유의성을 보이지 않았다(P>.05). 결론: 골형성 단백질과 혈관내피세포성장인자를 임플란트 표면에 코팅하여 식립하는 것은 치유의 후반기에 골유착을 증대하는 것으로 사료된다.

• 한국산학기술학회논문지
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• 제18권2호
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• pp.71-76
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• 2017

선박 및 해양구조물 설계에 있어 롤댐핑에 관한 문제는 유체점성과 현상자체의 비선형성으로 인해 공학자들에게 있어 난제로 남아있다. 본 연구에서는 강제동요방법을 이용하여 원형실린더의 점성 롤감쇠에 관한 연구를 수행하였다. 토크 센서를 이용하여 강제동요 시 발생하는 롤모멘트(roll moment)를 강제동요 주기별로 계측하였고 이를 실험식(empirical formula)과 비교 검토 하였다. 점성에 의한 전단력으로부터 계측된 토크의 크기가 상대적으로 작은 값임에도 불구하고 실험식으로부터 얻어진 계산값들과 정성적으로 유사한 결과를 보였고, 일부 주기에서는 정량적으로도 잘 일치하는 결과를 보였다. 또한, PIV 계측기법을 통해 원형실린더 벽면주위의 유동을 면밀히 관찰하였으며, 유체점성으로 인해 원형실린더 벽면근처에서 경계층이 형성되고 자유수면에서 원형실린더의 주기적인 강제회전동요로 인해 미소한 크기의 파가 생성(wave making)됨을 PIV 계측결과의 분석을 통해 확인하였다. 본 연구에서는 점성 롤감쇠로 인한 실험식의 적합성을 모형시험을 통해 확인하였고, PIV 계측기법을 통해 벽면주위의 유체점성으로 인한 조파현상을 입증하였다.