• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.659-667
• /
• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• Journal of the Korea Society of Computer and Information
• /
• v.24 no.6
• /
• pp.57-65
• /
• 2019

In this paper, we study on finding the rail space in elevators by analyzing each image captured with CCD camera. We propose a method that applies one-dimensional matched filter to the pixels of a selected search space in the vertical line at a horizontal position and decides the position with the thickness of the space being represented by a black thick line in captured images. The pattern similarity representing how strongly the associated image pixels resemble with the thick line is defined and calculated with respect to each position along the vertical line of pixels. The position and thickness of the line are decided from the point having the maximum in pattern similarity graph. In the experiments of the proposed method under different illuminational conditions, it is observed that all the pattern similarity graphs show similar shape around door area independent of the conditions and the method can effectively detect the rail space if the rails are illuminated with even weak light. The method can be used for real-time embedded systems because of its simple algorithm, in which it is implemented in simple structure of program with small amount of operations in comparison with the conventional approaches using Canny edge detection and Hough transform.

• Korean Journal of Applied Biomechanics
• /
• v.33 no.4
• /
• pp.164-174
• /
• 2023

Objective: The aim of this study was to quantitatively analyze the impact characteristics of the lower extremity on strike pattern during running. Method: 19 young subjects (age: 26.53 ± 5.24 yrs., height: 174.89 ± 4.75 cm, weight: 70.97 ± 5.97 kg) participated in this study. All subjects performed treadmill running with fore-foot strike (FFS), mid-foot strike (MFS), and rear-foot strike (RFS) to analyze the impact characteristics in the lower extremity. Impact variables were analyzed including vertical ground reaction force, lower extremity joint moments, impact acceleration, and impact shock. Accelerometers for measuring impact acceleration and impact shock were attached to the heel, distal tibia, proximal tibia, and 50% point of the femur. Results: The peak vertical force and loading rate in passive portion were significantly higher in MFS and FFS compared to FFS. The peak plantarflexion moment at the ankle joint was significantly higher in the FFS compared to the MFS and RFS, while the peak extension moment at the knee joint was significantly higher in the RFS compared to the MFS and FFS. The resultant impact acceleration was significantly higher in FFS and MFS than in RFS at the foot and distal tibia, and MFS was significantly higher than FFS at the proximal tibia. In impact shock, FFS and MFS were significantly higher than RFS at the foot, distal tibia, and proximal tibia. Conclusion: Running with 3 strike patterns (FFS, MFS, and RFS) show different impact characteristics which may lead to an increased risk of running-related injuries (RRI). However, through the results of this study, it is possible to understand the characteristics of impact on strike patterns, and to explore preventive measures for injuries. To reduce the incidence of RRI, it is crucial to first identify one's strike pattern and then seek appropriate alternatives (such as reducing impact force and strengthening relevant muscles) on that strike pattern.

• Applied Science and Convergence Technology
• /
• v.26 no.6
• /
• pp.184-188
• /
• 2017

Polymer deposition pattern on the ceramic lid surface is analyzed by numerical modeling. Assumption was made that is affected by gas flow pattern from the horizontal and vertical nozzles, temperature profile from the finger-like branches made of graphite and electrostatic potential effect. Calculated results showed gas flow dynamics is less relevant than two others. Temperature and electrostatic effects are likely determining the polymer deposition pattern based on our numerical simulation results.

• Journal of Oral Medicine and Pain
• /
• v.20 no.2
• /
• pp.291-306
• /
• 1995

Mandibular movement is composed of border movement and functional movement. Border movement such as maximal mouth opening, hinge opening ad lateral eccentric movement has good reproducibility, but functional movement such as chewing, swallowing and speech has also reproducibility. Especially for chewing movement, individual reproducibility has been confirmed by many studies. Study of chewing pattern is still in controversy. In new approach for raising the diagnostic value, numeric parameters and morphologic characteristics could be used for evaluation of chewing pattern. This study was performed to investigate the differences between chewing pattern in controls and in patients with temporomandibular disorders. Sixty-three patients with temporomandibular disorders participated in this study, and they were divided into unilaterally affected subjects or bilaterally affected subjects. Then unilaterally affected subjects were classified into closed lock group, disk displacement with reduction group, and degenerative joint disease group. For recording of chewing pattern, subjects were asked to chew one piece of presoftened chewing gum on both sides, and the chewing movement was recorded with the Electrognatho- Graphy(Bio-Research Associates Inc., U.S.A.). Tooth contact pattern for occlusal stability (Total left-right statistics )was also recorded with T-Scan(Tekscan Co., U.S.A.). The dta related to chewing pattern and total left-right statistics were statistically analyzed by SAS/stat program. The obtained results were as follows : 1. In patient group, mean value of A-P distance and the ratio of A-P distance to vertical distance were larger than control group, but the value of lateral distance in affected side and the closing velocity in unaffected side were smaller than that of control group, respectively. 2. In case of unilateral affected patients, chewing pattern of other side had tendency to restricted movement and slow velocity in closed lock group or degenerative joint disease group than control group or disk displacement with reduction group. 3. In bilateral degenerative joint disease patients, contralateral side had tendency to large range of motion and slow chewing velocity than preferred chewing side. 4. The patients with restricted mouth opening below than 35mm had higher value of total left-right statistics than patient group mouth opening above 35mm. Also closed lock group had higher total left-right statistics than disk displacement with reduction group, degenerative joint disease group and control group. 5. There was some difference in morphologic characteristics of chewing pattern between in control group and in affected side of unilateral patient group, but no difference between control group and unaffected side of unilateral patient group. 6. There were positive correlations between vertical distance and A-P distance, between vertical distance and chewing velocity, between A-P distance and chewing velocity, and between opening velocity and closing velocity in unilateral affected patients.

• Structural Engineering and Mechanics
• /
• v.90 no.5
• /
• pp.447-458
• /
• 2024

This study investigated the influence of scale ratio and vertical load on the seismic performance of Puzuo joints in traditional Chinese timber structures. Three low-cyclic reversed loading tests were conducted on three scaled specimens of Bujian Puzuo in Yingxian Wooden Pagoda. This study focused on the deformation patterns and analyzed seismic performance under varying scale ratios and vertical loads. The results indicated that the slip and rotational deformations of Bujian Puzuo were the primary deformations. The scale of the specimen did not affect the layer where the maximum interlayer slip occurred, but it did decrease the proportion of slip deformation. Conversely, the reducing vertical load caused the layer with the maximum slippage and the position of the damaged Dou components to shift upward, and the proportion of slip deformation increased. When the vertical load was decreased by 3.7 times, the maximum horizontal bearing capacity under positive and negative loadings, initial stiffness, and energy dissipation of the specimen decreased by approximately 60%, 58.79%, 69.62%, and 57.93%, respectively. The horizontal bearing capacity under positive loading and energy dissipation of the specimen increased by 35.63% and 131.54%, when the specimen scale was doubled and the vertical load was increased by 15 times.

• Journal of the Korean Home Economics Association
• /
• v.50 no.1
• /
• pp.29-39
• /
• 2012

The purpose of this research is to suggest a scarf design which reflects the traditional culture native to Korea by making use of the combined pattern of jokgakbo patchwork and ddeoksal(rice cake). For research methodology, the computer design programs of Adobe Illustrator CS3 and Adobe Photoshop CS3 were used along with the related literature. For the combined sets of motif pattern, the following were consider: first, a combination of jogakbo in square shape and chrysanthemum in a rice cake mold; second, a combination of radius jogakbo and geometrical pattern; third, a combination of vertical and horizontal forms of jogakbo and rice cake pattern; fourth, a combination of yeouijumunbo and butterfly pattern in rice cake mold. For the scarf design with these applications, technical skills such as repeat, rotation, symmetry, free setup, and distortion were used for the combination motif. In terms of the shape of the design, there are two, square and lengthwise tetragons.

• The korean journal of orthodontics
• /
• v.24 no.2
• /
• pp.447-476
• /
• 1994

This study was performed to evaluate the initial reaction of maxillofacial complex to the Class II intermaxillary and the anterior vertical elastic forces on the six types of archwires including multiloop edgewise arch wires(MEAW). A human dry skull was used for this purpose and this investigation was done by holographic interferometry. Based on such investigation, the fringe pattern and the number of fringes of each condition were compared and analyzed. The findings of this study were as follows: 1. As the orthodontic forces increased, the amount of displacement increased. 2. As the orthodontic forces were applied, the fringes were shown not only in the teeth and the maxilla but also in the adjacent bones, i.e., temporal bone, zygomatic bone, nasal bone, frontal bone and sphenoid bone. And the direction of fringe pattern and the number of fringes were different from each other by the sutures. 3. As the long Class II elastic forces were applied, the backward-downward displacements of the anterior teeth and the maxilla were shown, and backward displacement of the former were grater than those of the latter. And backward displacements were greater by the long Class II elastic forces than by the short Class II elastic forces. 4. As the anterior vertical elastic forces were applied, downward displacements of the anterior teeth and the maxilla were shown, and the downward displacements of the former were greater than those of the latter relatively. 5. The downward displacements of the anterior area to the anterior vertical elastic forces of the MEAW were greater than those of other archwires. In addition, the more tip-back bend was applied, the more displacement was seen. 6. As the Class II intermaxillary forces and the enough anterior vertical elastic forces were applied on the MEAW with tip-back bend, there was an intrusive effect of the posterior teeth.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.17 no.9
• /
• pp.830-838
• /
• 2005

The present study investigated the optimization of the absorption performance of the vertical absorber tube with falling film by considering heat and mass transfer simultaneously. Effects of film Reynolds number, geometric parameters by insert device (spring) and flow pattern on heat and mass transfer performances have been also investigated. Especially, effects of coolant flow rate and the flow pattern by geometric parameters has been observed for the total heat and mass transfer rates through both numerical and experimental studies. Based on both predicted values, the optimal coolant flow rate was predicted as 1.98 L/min. The maximum absorption rate of the spring inserted tube was increased by the maximum of $20.0\%$ than those for uniform film of bare tube. Average Sherwood numbers and Nusselt numbers were increased as Reynolds numbers increased under the dynamic and geometric conditions showing the maximum absorption performance.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.16 no.2
• /
• pp.194-201
• /
• 2004

In the present study, the improvement of absorption characteristics on combined heat and mass transfer process in a falling film of a vertical absorber by change of geometric parameters were studied experimentally and analytically. The energy and diffusion equations are solved simultaneously to give the temperature and concentration variations at the liquid solution-refrigerant vapor interface and at the wall. Absorption behaviors of heat and mass transfer were analyzed through falling film of the LiBr aqueous solution contacted by refrigerant vapor in the absorber. Effects of film Reynolds number, geometric parameters by insert device (spring) and flow pattern on heat and mass transfer performances have been also investigated. Especially, effects of the flow pattern by geometric parameters have been considered to observe the total heat and mass transfer rates through falling film along the absorber. As a numerical and experimental result, maximum absorption rate was shown at the wave-flow by insert device (spring). The error ranges between experiment and analysis were from 5.8 to 12％ at Re$_{f}$ > 100.0.