• International Journal of Precision Engineering and Manufacturing
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• v.4 no.2
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• pp.30-38
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• 2003

This paper proposed PID controller for torch slider and PD controller for motor right wheel. to control the motion of two-wheeled welding mobile robot with seam tracking sensor touched on welding line. The motion control is realized in the view of keeping constant welding velocity and precise seam tracking even though the target welding line is on straight line or curved line. The position and direction of the body of the mottle robot are controlled by using signal errors between seam tracking sensor and body positioning sensor attached on the end of torch slider and body side of the mobile robot, respectively. In turning motion, the body and the torch slider are controlled by using the kinematic model related with two motions of body turning and torch sliding. The straight locomotion is controlled according to eleven control patterns obtained from displacements between two sensors of the seam tracking sensor and the body positioning sensor. The effectiveness is proven through the experimental results fur lattice type welding line. Through the experimental results, we can see that the position value of the electrode end point and the welding velocity are controlled almost constantly both in straight and turning locomotion.

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.311-317
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• 2005

Measurements of the leakage flow in the shrouded cavity were performed in axial compressor cascades at $Re=2.6{\times}10^5$. This paper describes the effects of the leakage flow tangential velocity on kinematics of the leakage flow in the shrouded cavity and consequent overall loss and exit flow turning at stator blade row downstream. Flow data and flow visualization images consistently indicate that leakage flow circumferentially migrates 2, 4 and 5 blade passages in the direction of rotation for ${\upsilon}_y/c=0.09$, 0.35 and 0.45, respectively where ${\upsilon}_y$ is the leakage tangential velocity and c is the mainstream velocity. The leakage flow contracts to a jet across the seal-tooth resulting in an increase in the leakage axial velocity-doubling the leakage axial velocity in upstream cavity compared to that in the downstream cavity. Consequently, two flow regions are distinguished before and after the seal-tooth. As increasing the leakage tangential velocity, the overall loss downstream of stator blade row decreases and the exit flow turning in the range of span. from the hub endwall to 15% increases while the decreases in the flow turning from 15% to 30% span is observed.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.1
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• pp.52-59
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• 2020

This study aims to investigate the bow thruster performance of the research vessel "NARA" by full-scale maneuvering trials. The thruster test method refers to ITTC's recommended procedures and guidelines. Turning tests with the bow thruster are performed at speed conditions of 0, 2, and 4 knots. The test results indicate that the Rate of Turn (ROT) increased when the ship is in a higher speed condition. Due to the position of the propeller and the housing of the bow thruster, there is difference in the efficiency of the bow thruster according to the turning direction. Zigzag tests with the bow thruster were conducted at speed conditions of 2 and 4 knots. At speeds above 4 knots, it seems difficult to change the course only with the bow thruster.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.10
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• pp.44-51
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• 2020

We studied the heating characteristics of a whirling spindle. This spindle is an important component of a whirling machine for turning a ball screw shaft. In the manufacturing process for a conventional ball screw shaft, a single tool is used to form a spiral in a lathe machine tool. Thereafter, a high-frequency heat treatment process is performed. Recently, a whirling-type cutting method has emerged. This method can perform hard turning in the rotating direction of the spiral portion of the ball screw shaft by rotating and mounting multiple tools. The whirling method can be applied to the heat-treated material. In this study, an experimental apparatus was constructed to analyze the whirling spindle. The experiment proceeded in four steps. The rotating speed of the whirling spindle was set to ISO random and sequential rising conditions. Cooling and non-cooling modes in the cooling jacket were tested. As a result of the above experiment, the heating characteristics of the whirling spindle were derived.

• Journal of The Korean Society of Integrative Medicine
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• v.12 no.3
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• pp.189-199
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• 2024

Purpose : This study aimed to investigate the test-retest reliability, minimal detectable change (MDC), and the effect of turning direction on the time and number of steps taken during the 180 ° turn test in subacute stroke patients. Additionally, it examined the concurrent validity of the 180 ° turn test. Methods : The study included 28 subacute stroke patients. The test-retest reliability of the 180 ° turn test according to the direction of rotation (paretic and non-paretic sides) by comparing the consistency between the initial assessment and a reassessment conducted 7 days later. Concurrent validity was examined by assessing the correlation of the 180 ° turn test with the Fugl-Meyer assessment of lower extremity (FMA-L/E), Berg balance scale (BBS), 10-meter walk test (10 mWT), and timed up and go test (TUG). Results : The ICC for the time taken to turn 180 ° to the affected and unaffected sides were 0.971 and 0.918, respectively, indicating excellent reliability. The ICC for the number of steps were 0.944 and 0.932, respectively. The MDC for the time taken were 0.33 seconds (affected side) and 0.67 seconds (unaffected side). The MDC for the number of steps were 0.49 (affected side) and 0.63 (unaffected side). The paired t-test showed the limited community ambulator group took significantly longer to turn to the unaffected side (p<.048). Significant correlations were found between the 180 ° turn test and FMA-L/E (r= -0.395 to -0.416), BBS (r= -0.622 to -0.684), 10 mWT (r= 0.720 to 0.730), and TUG (r= 0.684 to 0.790) (p<.05 to .01). Conclusion : The 180 ° turn test demonstrated excellent test-retest reliability and high validity when correlated with other functional measures in subacute stroke patients. MDC values indicated high reliability. Faster walking speeds (≥0.95 m/s) were unaffected by turning direction, while slower speeds (<0.58 m/s) showed significant effects. The 180 ° turn test is a simple, sensitive, and reliable tool for evaluating turning ability in subacute stroke patients.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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• pp.886-896
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• 1991

In this paper a new turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. At first the feasible leg sequences which can guarantee a positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequince and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be appled to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.

• Korean Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.236-242
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• 1998

This paper presents a development of computer aided cutting tool selection techniques for rough and finish turning operations. The developed system,. which is one of important activities for computer aided operation planning, firstly implements operation sequencing. Then, from relations of the size of machined area, recommended finishing allowance and maximum depth of cut, a main machining method is selected, a number of cut is calculated, cutting tools including toolholders and inserts are selected, and values for cutting parameters are determined. A cutting tool selection procedure is proposed for toolholders and inserts of ISO code in rough cutting, and some important parameters such as holder style, tool approach angle, tool function and its direction are described in detail. In order to demonstrate the validity of the system a case study is performed.

• Journal of Ocean Engineering and Technology
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• v.11 no.4
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• pp.111-121
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• 1997

The spectral energy balance model is composed and the nonlinear interaction is approximated by the discrete interaction parameterization as in WAM model. The numerical results of durational limited growth test agree very well with those of the exact model, EXACT-NL. The response of a wave spectrum to a change in wind direction is investigated numerically for a sequence of direction changes 30$^{\circ}$ , 45$^{\circ}$ , 60$^{\circ}$ , 90$^{\circ}$ . The high frequency components relax more repidly to the new wind direction than the low frequency components and the relaxation process also depends on the wave age. For wind direction changes less than 60$^{\circ}$ , the coupling by nonlinear interaction is so strong that the secondary peak in input source distribution is counteracted by the negative lobe of the nonlinear interaction. For wind direction changes grater than 60$^{\circ}$ , a second independent wind-sea spectrum is generated in the new wind direction, while the old spectrum gradually decays as swell.

• Journal of the Korean Applied Science and Technology
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• v.39 no.4
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• pp.507-516
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• 2022

The purpose of this study was to investigate the effect of rotational preference on body stability based on COP and EMG analysis in an quiet standing after turn in the left and right directions. The subjects of this study were 16 subjects with a high lateral preference for the right hand and foot. The subjects of this study were 16 subjects with high unilateral preference for the right hand and foot, and three rotational direction conditions (QS: quiet standing, LT: 10 turns on the left, RT: 10 turns on the right) were performed. In order to evaluate the stability in an quiet standing after turning, the results were derived and analyzed using a COP plate and an EMG. As a result of the study, LT and RT were larger than QS for all COP variables, but there was no difference according to the direction of turning. In EMG, RT showed larger muscle activity than the QS according to the rotational direction in left and right gastrocnemius. In conclusion, although all subjects had a high right lateral preference, there was no effect of rotational preference in COP, and gastrocnemius showed the effect of rotational preference.