• Journal of Biosystems Engineering
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• v.42 no.3
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• pp.127-135
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• 2017

Purpose: Purpose: The usability of a mathematical model modified for analysis of the static stability of an asymmetric tractor-harvester system was investigated. Method: The modified asynchronous mathematical model was validated through empirical experiments, and the effects of movements of the center of gravity (CG) coordinates on the stability against lateral overturning were analyzed through simulations. Results: Changes in the lateral overturning angle of the system were investigated when the coordinates of the CG of the system were moved within the variable range. The errors between simulation results and empirical experiments were compared, and the results were -4.7% at the left side overturning and -0.1% at the right side overturning. The asymmetric system was characterized in such a way that the right side overturning had an increase in overturning angle in the (+) variable range, while it had a decrease in overturning angle in the (-) variable range. In addition, the left side overturning showed an opposite result to that of the right side. At the declination angle (296<${\gamma}$<76), the right side overturning had an increase in the maximum overturning angle of 3.6%, in the minimum overturning angle of 20.3%, and in the mean overturning angle of 15.9%. Furthermore, at the declination angle (284<${\gamma}$<64), the left side overturning had a decrease in the maximum overturning angle of 29.2%, in the minimum overturning angle of 44%, and in a mean overturning angle of 39.7%. Conclusion: The modified mathematical model was useful for predicting the overturning angle of the asymmetric tractor-harvester system, and verified that a movement of the CG coordinates had a critical effect on its stability. In particular, the left side overturning was the most vulnerable to stability, regardless of the direction of declination angle.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.6
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• pp.492-501
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• 2016

Three-Loop autopilot is generally used for the acceleration control of guided missiles. Because the acceleration command to the three-loop autopilot is given as values at the center of gravity, feedback information of IMU should be obtained at the same position. However, the position of IMU might not be located at the center of gravity due to the sub-system assignment. This paper presents the stability analysis of three-loop autopilot with respect to the arbitrary position of IMU and variation rate of center of gravity. Gain and phase margins are calculated for several trim points for general anti-tank missiles.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• Journal of International Academy of Physical Therapy Research
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• v.7 no.2
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• pp.1046-1050
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• 2016

The purpose of this study was to investigate the effects of strengthening and stretching exercises on forward head angle and static dynamic balance ability. 21 adults with the forward head posture were participated in this study. Subjects were randomly assigned to strengthening exercise group I(n=11) and stretching exercise group II (n=10) respectively. Each group were underwent six intervention over the period of 2 weeks, each session lasting 30 minutes. During a preliminary examination, forward head angle and static dynamic balance were measured, and a post examination was conducted that involved same procedure as preliminary examination. There were significant differences in forward head angle after exercise in both groups. In the strengthening group, center of gravity total sway distances was significantly changed under all conditions. In the stretching group, center of gravity total sway distances was significantly changed when subjects had their eyes open while standing on an foam surface. There were significant changes in center of gravity sway velocities in the strengthening group under all conditions, and the same was true in the stretching group only when the subjects had their eyes open while standing on an foam surface. In the comparison between groups, eyes closed while standing on a firm surface was significantly different. There was a significant difference in dynamic balance of the stretching group when the subjects tilted their bodies forward, and there was a statistically significant difference between groups under the same condition. The results of this study suggest that forward head posture can be corrected through therapeutic exercise, and muscle strengthening exercise more effective in improving static balance of forward head posture more than stretching exercise.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.2
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• pp.114-121
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• 2019

Tailless aircraft have advantages of low visibility compared to conventional aircraft, but drawback of poor stability as well which makes designing controller difficult. The controller design is more difficult, especially when the center of gravity moves due to store release or fuel consumption during flight. In this paper, an L1 adaptive controller is proposed as a way to overcome these problems. The reliability and performance of the controllers were verified by non-linear simulations. RPV Flying Quality Design criteria were used for design criteria. Using the simulation, it is shown that the adaptive controller maintains stability of the unmanned aircraft for sudden large change in the inertial properties. It is also shown that the calculation burden can be reduced when it is used with the gain scheduling method.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.31-39
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• 2008

The purposes of this study were to compare and analyze the world elite hurdler and the domestic hurdler 3-D kinematic and kinetic techniques about hurdling motion in the 110m hurdles. After analyzing variables in the 110m hurdle run the following conclusions were obtained; In a preparation phase, the domestic hurdler came out running more 0.13m then world elite hurdler from grounding to taking off in the height of center of gravity and the distance by 1.04m. In a flight phase, the domestic hurdler came out taking off 0.33m less then world elite hurdler from taking off to flight peak in the height of center of gravity and the distance by 1.63m. In a flight peak phase, domestic hurdler came out landing more 0.37m then world elite hurdler by 159m. More over, during the hurdling, the horizontal velocity of center of gravity came out decreasing from taking off to landing with domestic hurdler by 0.75m/s. the take off percentage and the landing percentage is 53:47. In a acceleration phase, domestic hurdler came out going slower 0.54m/s than world elite hurdler from landing in the horizontal velocity of center of gravity by 8.78m/s.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.971-979
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• 2023

Small ships (<499 GT) constitute 46% of the existing ships, therefore, it can be concluded that they produce relatively high CO₂ gas emissions. Operating in optimal trim conditions can reduce the resistance of the ship, which results in fewer greenhouse gases. An affordable way for trim optimization is to adjust the weight distribution to obtain an optimum longitudinal center of gravity (LCG). Therefore, in this study, the effect of LCG changes on the resistance of a small planing ship is studied using empirical and numerical analyses. The Savitsky method employing Maxsurf resistance and the STAR-CCM+ commercial computational fluid dynamics (CFD) software is used for the empirical and numerical analyses, respectively. Finally, the total resistance from the ship design process is compared to obtain the optimum LCG. To summarize, using numerical analysis, optimum LCG is achieved at the 46.2% length overall (LoA) at Froude Number 0.56, and 43.4% LoA at Froude Number 0.63, which provides a significant resistance reduction of 41.12 - 45.16% compared to the reference point at 29.2% LoA.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.5
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• pp.506-515
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• 2024

Owing to the interaction between a ship and the river bed, several phenomena resulting in increased resistance may have occurred. This increase in resistance is primarily due to the wave-making performance. Thus, this study aims to reduce the wave-making resistance by optimizing the performance of an electric canal cruise through changing the longitudinal center of gravity (LCG). Numerical simulations are performed to obtain the lowest resistance by optimizing the LCG position; subsequently, the ef ect of water depth is included as the next variable. Results show that LCG variations of 37.5%-52.5% Lpp can result in a wide range of total resistance. In deep water, a 72.67% resistance gap is achieved by comparing the highest and lowest resistances, whereas a slightly lower gap of up to 62.97% is achieved in shallow water. Additionally, smaller water depths correspond to higher resistance. The resistance increased by a maximum of 67.68% in shallow water measuring 1.5 m, as compared with the case of deep water. This increase in resistance is primarily due to wave-making resistance, which constitutes 84.99% of the total resistance.

• Journal of the Korean Wood Science and Technology
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• v.45 no.4
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• pp.399-408
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• 2017

Research on the rapid and accurate prediction of physical properties of wood using near-infrared (NIR) spectroscopy has attracted recent attention. In this study, partial least squares analysis was performed between NIR spectra and air-dried specific gravity of five domestic conifer species including larch (Larix kaempferi), Korean pine (Pinus koraiensis), red pine (Pinus densiflora), cedar (Cryptomeria japonica), and cypress (Chamaecyparis obtusa). Fifty different lumbers per species were purchased from the five National Forestry Cooperative Federations of Korea. The air-dried specific gravity of 100 knot- and defect-free specimens of each species was determined by NIR spectroscopy in the range of 680-2500 nm. Spectral data preprocessing including standard normal variate, detrend and forward first derivative (gap size = 8, smoothing = 8) were applied to all the NIR spectra of the specimens. Partial least squares analysis including cross-validation (five groups) was performed with the air-dried specific gravity and NIR spectra. When the performance of the regression model was expressed as $R^2$ (coefficient of determination) and root mean square error of calibration (RMSEC), $R^2$ and RMSEC were 0.63 and 0.027 for larch, 0.68 and 0.033 for Korean pine, 0.62 and 0.033 for red pine, 0.76 and 0.022 for cedar, and 0.79 and 0.027 for cypress, respectively. For the calibration model, which contained all species in this study, the $R^2$ was 0.75 and the RMSEC was 0.37.

• Economic and Environmental Geology
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• v.24 no.4
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• pp.409-419
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• 1991

A gravity survey was conducted in the western Marquette district, Michigan, to delineate the subsurface structure and the relationship of the Proterozoic Marquette Range Supergroup rocks (Precambrian X) and Archean basement (Precambrian W) where the Republic, Michigan River, and Marquette troughs join. In order to accomplish these purposes, three hundred and forty gravity stations were established in the area of $380km^2$. Positive anomalies are associated with the Precambria X, metasedimentary sequence which has a higer density with respect to the Precambrian W, basement rocks. The dominant positive gravity anomalies follow the axes of the three troughs which are filled with Precambrian X rocks. Subsurface structure was modelled by using the Talwani method. Gravity model studies indicate that the Marquette trough is asymetrically shaped and steeply dipping at the north edge except in the eastern part of the study area. The interpretive results obtained from two dimensional model studies suggest that the basement structure of the study area is relatively flat, and that the troughs were formed contemporaneously.