• The Journal of Korean Physical Therapy
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• v.34 no.4
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• pp.161-167
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• 2022

Purpose: The purpose of this study was to investigate the effects of regular training on the uneven surface that stroke patients encounter in their daily life on their ankle joint muscle activity and balance ability. They were divided into two groups: the gait training group on uneven surfaces and the gait training group on normal surfaces. Methods: In this study, 30 patients diagnosed with stroke and undergoing rehabilitation were selected. 15 people in the uneven surface gait training group and 15 people in the flat gait training group were selected. The muscle activation of the ankle muscles was measured when walking again on a even surface after walking on an uneven surface and on a flat ground. After each gait training, the limit of stability and Romberg test were performed to evaluate the balance ability. Results: As a result of the experimental results before and after walking by group, the tibialis anterior muscle activity of the paralyzed side was significantly decreased in the uneven surface walking group. As a result of measuring balance ability after training, the limit of stability in all directions was significantly increased in the uneven surface gait training group, and the area and length moved significantly decreased in the uneven surface gait training group in the Romberg test as well (p<0.05). Conclusion: After walking on uneven surface, it was confirmed that the muscle activity of the ankle joint decreased in normal flat walking, and thus the efficiency of muscle activity was increased. In addition, it was possible to confirm the improvement of the balance ability of the gait training on the uneven surface, and in conclusion, it could be confirmed that it had an effect on the improvement of the walking ability.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1658-1662
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• 2007

The tire uneven wear has been an ongoing concern for a long time, and one of customer's complaints too. This paper deals with uneven wear improvement of passenger car tires, to have tested the tire wear levels by each wheel alignment set (according to changing toe and camber) using taxis. The pre-set wheel alignments on test vehicle were gained by energy friction simulation of tire. The result of this experiment was as follows : First, verified the effects of initial wheel alignment (adjusted at Curb Vehicle Weight) to minimize tire uneven wear. Second, tire uneven wear makes tire life much shorter than even wear does.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.47-55
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• 2009

In this study, a robot foot having toes for firm stepping on uneven surface is proposed. The toes are connected to the lower leg by parallel links so that the lower leg can rotate in the rolling and pitching directions during stance phase without ankle joint. The landing performance of the foot on uneven surface was evaluated by relative comparison with that of the most common foot making point contact with the walking surface, since the test conditions considering real uneven surface could be hardly defined for its objective evaluation. Anti-slip margin(ASM) was defined in this study to express the slip resistance of a robot foot when it lands on a projection with half circular-, triangular- or rectangular cross section, assuming that uneven surface consists of projections having these kind of cross sections in different sizes. Based on the ASM analysis, the slip conditions for the two feet were experimentally confirmed. The results showed that the slip resistance of the new foot is not only higher than that of the conventional point contact type foot but also less sensitive to the surface friction coefficient.

• The KSFM Journal of Fluid Machinery
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• v.18 no.6
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• pp.71-75
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• 2015

The flow and noise characteristics of the regenerative blower are evaluated experimentally. To decrease the noise of regenerative blower at a high frequency, we arrange the impeller vanes unevenly by special formula. The uneven pitch formular consists of the combination of trigonometric function. The magnitude of degree between each vanes and the control parameters of trigonometric functions are main design parameters for the uneven pitch. The flow characteristics of even and uneven impellers are tested by the fan tester and compared each results. The efficiency of a blower is calculated by the axial power using a dynamo system. The noise property of designed impeller is measured in an anechoic room. In this study, we certify that the uneven pitch impeller is effective in the noise reduction at a high frequency.

• The Journal of Korean Medical History
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• v.26 no.2
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• pp.63-74
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• 2013

Objective : In Donguibogam(東醫寶鑑), like a slow pulse with irregular intervals(結脈), an abrupt pulse(促脈) and a slow and weak pulse with regular intervals(代脈), an uneven pulse is written as a kind of arrhythmia. Such a recognition differs from the present one. In this study, I try to seize the meaning and deliberate whether those expressions are appropriate. Method : 1. Collect and compare the materials of the above four pulses among documentary records of feeling the pulse for diagnosis. 2. Grasp the aspect and trend of changes. 3. Reason whether records in Donguibogam(東醫寶鑑) are proper or not. Result & Conclusions : Donguibogam(東醫寶鑑) written "like a slow pulse with irregular intervals(結脈), an abrupt pulse(促脈) and a slow and weak pulse with regular intervals(代脈), an uneven pulse is written as a kind of arrhythmia". It is not 'an uneven pulse' is written about irregularity of pulse, but 'an uneven pulse' is written about irregularity of the sense able to be felt on the fingertip.

• Journal of Industrial Technology
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• v.29 no.B
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• pp.127-131
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• 2009

This paper presents the development of smart counting system that is proper for grains with uneven unit weight or shape. This device can detect the small differences of a light beam and count the pulse from wave shape control, when the grain is going on the light screen, which is made by the light beam screen sensor. It can, different from the former conventional device, distinct the uneven grains for counting detect, by using the dedicated hardware and the software algorithm of the light sensor.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.11a
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• pp.501-508
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• 2000

In recent years, as lines are selected In disadvantageous region, unavoidable developments is increased. Owing to such developments. environmental problems have been occurred frequently, In excavation of tunnels especially located in close to slope, uneven stress take place to tunnel due to a topographical factor. it is used assistant methods of construction which are excavation of slope, retaining wall, ground anchor, etc for uneven stress. these assistant methods raise problems of environmental. In this study, using slit, we could make better stress state by means of inducing stress concentration in boundary of tunnel. considering a variety of slit and rock mass condition, we use numerical analysis.