• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.105-112
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• 2019

Objective: The main purpose of this study was to investigate the effects of wearing an ankle weight belt while performing gait in water by focusing on the effect of using ankle weights have on the gait kinematics and the muscle activities for developing optimum training strategies. Method: A total of 10 healthy male university students were recruited for the study. Each participant was instructed to perform 3 gait conditions; normal walking over ground, walking in water chest height, and walking in water chest height while using ankle weights. All walking conditions were set at control speed of $4km/h{\pm}0.05km/h$. The depth of the swimming pool was at 1.3 m, approximately chest height. The motion capture data was recorded using 6 digital cameras and the EMG was recorded using waterproof Mini Wave. From the motion capture data, the following variables were calculated for analysis; double and single support phase (s), swing phase (s), step length (%height), step rate (m/s), ankle, knee, and hip joint angles ($^{\circ}$). From the electromyography the %RVC of the lower limb muscles medial gastrocnemius, rectus femoris, erector spinae, semitendinosus, tibialis anterior, vastus lateralis oblique was calculated. Results: The results show significant differences between the gait time, and step length between the right and left leg. Additionally, the joint angular velocities and gait velocity were significantly affected by the water resistance. As expected, the use of the ankle weights increased all of the lower leg maximum muscle activities except for the lower back muscle. Conclusion: In conclusion, the ankle weights can be shown to stimulate more muscle activity during walking in chest height water and therefore, may be useful for rehabilitation purposes.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.3
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• pp.274-282
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• 1998

This study deals with sinking resistance for purse seine, in the case of different d/l, ratio of twine diameter and leg length. Experiments carried out on the six types simplified reduced model seines which were made of knotless netting. The nettings were woven in different leg length 4.3, 5.0, 5.5, 6.0, 6.6 and 7.7mm of polyester 28 tex two threads two -ply twine, and each of the seines were named I, II, III, IV, V and Ⅵ seine. Dimension of seine models were 450cm for corkline and 85cm for seine depth, each seines rigged up 160g of float for a floatline and 50g (underwater weight) of lead for a leadline. Experiments were measured in the observation channel of a flume tank at the static conditions Sinking motion was recorded by the two sets TV-camera for VTR which were placed in top and side of the model seine, and reading coordinate carried out by the video digitization system. An analysis were calculated out by simultaneous differential equations for numerical method by Runge - Kutta - Gill sub - routine. The results obtained were as follows: 1. Average sinking speed of seine of seine margin was fastest for Ⅵ seine followed by V, IV, III, II and I seines. 2. The coefficient of resistance for a seine wall was depended upon the ratio of d/l : KD =0.081 (d/l )-0.5 3. The coefficient of resistance for netting bundle was not depended upon the ratio of d/l :CR = 0.91 (), d : Twine diameter, l : Leg length, : Density of netting materals, $\omega$ : Density of water

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1338-1339
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• 2008

In this paper, charging part by basic from Andrew's body model research to second a danger have affect on remaining and rehabilitation humans in space under water. The construction of a circuit make to Andrew's body model. It compare that voltages measure a hand, a breast, a groin and electric currents measure an arm, a breast, a leg with safety a limit of body through an electric current. Out of result, it research that magnitude and wave of body passing an electric current give the effect to the heart control a signal and it have affect on direct the ventricle of the heart in detail motion. A thing of this sort get through to the simulation by the ATP-Draw program. The results from above, it is publish one's research work with safety a limit electric angle take measurement of resistance a body in under water and to the voltage and electric current passing each parts.

• Journal of Wind Energy
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• v.13 no.3
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• pp.79-87
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• 2022

A stabbing system is an underwater jointing structure for positioning the jacket substructure for offshore wind power on top of a pile foundation that is already installed in the seabed. In this paper, the structural safety of the stabbing system currently being developed in South Korea was evaluated through finite element analysis. For this study, conformity of the finite element modeling technique for a gripper (hydraulic cylinder) was reviewed, and the structural safety of the stabbing system was evaluated based on the stress safety factor under three design load combinations (combinations of vertical, shear, and moment loads). From the analysis, it was verified that the pile foundation and the stabbing system mounted on top of it are structurally safe according to the stress safety factor, and there will be no interference between major structural components (i.e., guide cone and pile foundation) due to rotation of the guide cone at the end of the jacket leg.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.9
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• pp.989-997
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• 2014

In this paper, we describe a design method for the static walking algorithm of a subsea hexapod robot called Crabster (CR200). To design the gait algorithms of a hexapod robot, we propose a design method that uses a gait schedule vector and leg pair vector to secure convenience and expandability. Several walking algorithms are designed that are capable of being applied to CR200 according to the underwater environment and explorative conditions. In addition, gait transition is freely performed between algorithms by applying common control parameters to them. The gait algorithms designed using the proposed method are simulated using MATLAB and validated against the results of experiments.

• Physical Therapy Rehabilitation Science
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• v.6 no.2
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• pp.77-82
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• 2017

Objective: Swimming and water-based exercise (WE) programs can provide vigorous physical activity in a fun and a motivating environment. The properties of water, may make it easier for children with cerebral palsy (CP) to move and to participate in an WE program. The aims of this study was to evaluate the effect of WEs on postural control in children with spastic CP. Design: Quasi-experimental design (one group pretest-posttest design). Methods: Twenty preschoolers with spastic CP participated in this study. Prior to the application, sufficient warm-up training was performed to allow the subjects to adapt to the water. Afterwards, three different types of underwater leg exercises for the flexor, extensor, and adductor/abductor of muscles of the lower limb were performed. The WE program lasted during 8 weeks, with one-40 minute sessions per week (8 training session). The usual care was performed during the training session. The Korean-trunk control measurement scale (K-TCMS) and weight distribution variability (difference of both Fz) were measured before and after training session. Results: According to the results, the K-TCMS scores of the three sub-levels, including static sitting, dynamic sitting, and dynamic reaching, was significantly increased after the training session (p<0.05). Also, the weight distribution variability was significantly decreased after 8 weeks (p<0.05). Conclusions: We suggest that WEs may improve the postural control ability in children with spastic CP. Furthermore, we support the need for additional research on the effect of WE on gait or activity of daily living performance with a control group included.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.24 no.2
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• pp.55-64
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• 1988

Stow nets have widely been used in the western sea of Korea from the olden age. The original structure of a stow net is a large square-sectional bag net made of 4 netting panels, and the front fringes of top and bottom panels are connected to the top and bottom beams respectively. Wire ropes, which is originated from the holding anchor are gradually forked and biforked, and finally 4 pieces of wire rope (biforked pendants) are jointed to each beam. Much convenience caused by long and heavy beams were problemed, then some studies have been carried out to improve the net since 1930's. The most effective improvement were achieved in 1980 by Mr. Han and his colleagues. The key point of improvement was that the beams were removed and the belt shaped shearing device made by canvas was attached to the side panels, the head rope and ground rope to the front fringe of top and bottom panel, and biforked pendants are joined to the shearing device. Even though this is the epoch-making improvement of a stow net, the further study should be required to find out more effective method. The authors carried out a model experiment on the stow net to determine the vertical and horizontal opening of a net mouth, and also examine the front, top and side-view configuration of the net. The model net was constructed depending on the Similarity Law of Fishing Gear in 1/10 and 1/20 scale and set against to the current at shallow and speedy flowing channel. The vertical and horizontal openings were determined by using scaled bamboo poles, and the configuration was observed by using specially prepared observation platform and underwater observation glass, and also photographed by using specially prepared underwater photographic equipment. The results obtained can be summarized as follows: 1. The opening height and width of the shearing device varied in accordance with the relative length of the biforked pendants. Considering the height and width of shearing device in 6 cases of the arrangement system of biforked pendants, the best result was obtained in the case that the 2nd, 3rd and 4th pendents from the bottom-most was 5%, 9% and 4% longer than that. 2. On the top-view configuration the excessive deformation of head rope and ground rope were observed. In the actual net, 54m long head rope and ground rope were attached to the front fringe of top and bottom panels so that the head rope may be lifted to make the net mouth open highly. But actually the head rope and the ground rope are streamed backward without any lift, and also the netting followed the ropes were deformed until the 2/5 in the whole length of the net. This deformation may be guessed to disturb the entrance of fish school into the net and also caused the net to get caught by obstacles in the sea bed and to be broken largely. 3. Hydrodynamic resistance R of the actual net may be deduced as R(kg)=29.2$\times$103 v1.65. It is also expressed as R(kg)=5.9$\times$d/l$\times$ab v1.65. depending on the formula deduced by Koyama to estimate the resistance of trawl nets, where d/l denote the ratio between diameter of netting twine and length of mesh leg in every part of side panel, a and b, the stretched circumference of the mouth and the stretched length of the net, respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.35 no.2
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• pp.93-101
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• 1999

A simple experimental method was used in an attempt to realize the elevation of the fishing ability of purse seine in the sea area of Cheju Island, the changes of seine volume and tension in the purseline during pursing. Experiments carried out on the six types simplified reduced model seines which were made of knotless nettings. The nettings were woven in different leg length 4.3, 5.0, 5.5, 6.0, 6.6 and 7.7mm of polyester 28 tex two threads two-ply twine, and each of the seines were named I, II, III, IV, V and Ⅵ seine. Dimension of seine models were 450cm for corkline and 85cmfor seine depth, each seines rigged up 160g of float for a floatline and 50g (underwater weight) of lead for a leadline. These model purse seines were made of the scale of 1/200 of its full scale, a 120 ton in the near sea of Cheju Island. Designing and testing for the model purse seines were based on the Tauti's law. Experiments were measured in the observation channel of a flume tank at the static conditions set up shooting and pursing equipments. Motion of purse seine during purse line was recorded by the two sets video camera for VTR which were placed in top and front of the model seine. The reading coordinate of seine volume carried out by the video digitization system, disk data for the purseline tension. An analysis were performed on the changes seine volume and tension in the purseline during pursing. The results obtained were as follows: 1. The seine volume during pursing was largest for Ⅵ seine with smallest d/l followed by V, IV, III, II and I seines, and tension in the purseline was small. 2. Seine volume during pursing can be expressed by the following equation; CVt=l-EXP[｛2.79 (d/l）＋0.35｝t-33.37 (d/l) ＋ 0.57] Where CVt is volume ratio, d is twine diameter, l is leg length and t is pursing time (sec). 3. Tension in the purse line during pursing can be expressed by the following equation; T= 1- EXP ｛0.57t ＋ 13.36 (d/l)+2.97｝ Where T is tension (kg) in the purseline during pursing.