• Journal of Astronomy and Space Sciences
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• v.21 no.2
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• pp.153-166
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• 2004

Interplanetary trajectories using the gravity assists are studied for future Korean interplanetary missions. Verifications of the developed softwares and results were performed by comparing data from ESA's Mars Express mission and previous results. Among the Jupiter exploration mission scenarios, multi-planet gravity assist mission to Jupiter (Earth-Mars-Earth-Jupiter Gravity Assist, EMEJGA trajectory) requires minimum launch energy ($C_3$) of 29.231 $Km^2$/$S^2$ with 4.6 years flight times. Others, such as direct mission and single-planet(Mars) gravity assist mission, requires launch energy ($C_3$) of 75.656 $Km^2$/$S^2$ with 2.98 years flight times and 63.590 $Km^2$/$S^2$ with 2.33 years flight times, respectively. These results show that the planetary gravity assists can reduce launch energy, while EMEJGA trajectory requires the longer flight time than the other missions.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.532-538
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• 2010

SD (Smart Door) is a human friendly power-assisted door system initially targeted for passenger car doors. The Smart Door offers comfort and safety to passengers or/and drivers by supplying additional power. Amount of power supplied by the Smart Door system is depend on the environment where the automotive is situated. It realizes comfort, for example, when the force applied by the passenger to the door is expected to be abnormal, the SD system tries to compensate passenger's effort by supplying additional force. In this study, to enhance the ease of opening and closing the doors of the passenger vehicle, a Smart Door with a power assist mechanism consisting of a motor was developed and analysed. A power assist mechanism mounted within the vehicle's door is designed and modeled for simulation purpose. The required force necessary to control the designed mechanism during the vehicle's roll, pitch and the opening angle of the door has been considered. To this end, we propose a power-assisting control strategy called "gravity cancellation". The system is analysed by numerical simulation with the gravity cancellation control algorithm.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.74-80
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• 2000

In this paper, we present a control method of mobile power assist systems. Most of mobile power assist systems have a heavy base for preventing easy tumbling, so continual movement of the base during operations causes high energy consumption and gives the high risk of human injury. Furthermore, the slow dynamics of the base limits the frequency bandwidth of the whole system. Thus we propose a cooperation control method of the mobile base and manipulator, which removes the unnecessary movements of the base. In our scheme, the mobile base does not move until the center of gravity(C.G) of the system goes outside a safety region. When C.G. reaches the boundary of the safety region, the base starts moving to recover the manipulator's initial configuration. By varying the parameters of a human impedance controller, the operator is warned by a force feedback that C.G. is on the marginal safety region. Our scheme is implemented by assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator. Our scheme is implemented by a nonlinear mass-spring impedance to the tip of the manipulator. The experimental results show the efficacy of the proposed control method.

• Environmental Engineering Research
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• v.19 no.2
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• pp.151-155
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• 2014

This study compares the effects of flow on oil and suspended solids removal efficiencies in circular enhanced gravity plate separator equipped with coalescence medium. Coalescence medium acts to capture rising oil droplets and settling solid particles and assist in the coalescence of oil and coagulation of solid. The circular separator uses an upflow center-feed perforated-pipe distributor as the inlet. The co-current flow is achieved using 4 increasing sizes of frustum, whereas cross flow uses inclined coalescence plates running along the radius of the separator. The different arrangement gave the cross flow separator a higher coalescence plan area per operational volume, minimal and constant travelling distance for the oil droplets and particles, lower retention time, and higher operational flowrate. The cross flow separator exhibited 6.04% and 13.16% higher oil and total suspended solids removal efficiencies as compared to co-current flow.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.865-874
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• 2019

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.4
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.

• Journal of Chest Surgery
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• v.25 no.5
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• pp.469-479
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• 1992

Searching for the clinical effects of colloid solutions that used to increasing the oncotic pressure of priming solutions at the cardiopulmonary bypass, 29 patients [who were diagnosised as simple VSD around 10kg of body weight and scheduled to be operated from June 1990 to December 1990 at Sejong General Hospital] were divided randomly and prospectively to the two groups: A group [15] was received 4gm% albumin as addition to the priming solutions and B Group [14] the same amount of Ringer`s lactated solution. 34 clinical parameters [Body weight, sex, age, body surface area, Qp/Qs, pulmonary arterial pressure, cardiopulmonary bypass time, anesthetic time, intraoperatively infused crystalloid and colloid amount, hemoglobin, hematocrit, serum sodium concentration, serum osmolarity, urine osmolarity, urine specific gravity, serum concentration, serum osmolarity, urine osmolarity, urine specific gravity, serum protein, serum albumin concentration, urine output, central venous pressure, postoperatively infused colloid amount, immedediate post-operative peak inspiratory pressure, cardiac index, blood pressure and pump flow during cardiopulmonary bypass, inotro-pic assist, diuretics, extubation period, total drain amount, duration of ICU] were measured and compaired between the two groups. There were no differences of preoperative and operative clinical parameters. And postoper-atively, practically there were no nearly differences at the clinical outcomes between the two groups, but some parameters [cardiac index, PIP, BP and pumpflow during CPB, etc] contributed to being preferable to the Group A at certain times [P<0.05]. Conclusively, it might be thought that the priming solution of cardiopulmonary bypass added by colloid solution had some beneficial effects on the patients, especially younger and associated with complex anomaly to be expected taken longer time of cardiopulmonary bypass, and more studies about the neonatal and complex anomaly cases were needed in that points.

• Journal of Korea Society of Digital Industry and Information Management
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• v.11 no.2
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• pp.121-129
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• 2015

Interactive media is a method of communication in which the output from the media comes from the input of the users. The interactive media lets the user go back with the media. Interactive media works with the user's participation. The media still has the same purpose but the user's input adds the interaction and brings interesting features to the system for a better enjoyment. We need a digital content using a dynamic motion and gesture of the mobile device. We made an authoring tool for content producers to easily create interactive content. We have tried to take advantage of the interaction by using a touch screen and a gravity sensor of the mobile device. This interaction may lead to allow the user to participate in the content, it can be used as a key device to assist in engagement. Furthermore, our authoring tool can be applied to various fields of publishing content.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.111-125
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• 2005

This study was intended to assist athletes in having a technical understanding of the Yega motion and provide basic material for improving their competitive ability by analyzing the kinematic variable of the Yega motion during the competition of the uneven parallel bar of female gymnastics. For this purpose, the game of female gymnastics participating in the uneven parallel bar game was personally videotaped using the DLT(direct linear transformation) method. An attempt was made to make a comparative analysis of the Yega motion by dividing the final first to third places into the upper group('A' group) and the sixth to eighth places into the lower group('B' group). Based on the results of actual analysis on the scenes of actual game, the following conclusion was concluded: 1. Athletes in the 'A' group showed the shorter required time on the flight phase(P3) than counterparts in the 'B' group. 2. Athletes in the 'A' group showed the little width in the horizontal displacement of the center of gravity than counterparts in the 'B' group. But athletes in the 'A' group exhibited the somewhat greater relative vertical height of the center of the body. 3. Athletes in the 'A' group showed the greater resultant velocity at the lowest point of the center of the body(E2) and at the point in time of release(E3) compared to counterparts in the 'B' group.