• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Journal of TMJ Balancing Medicine
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• v.12 no.1
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• pp.15-21
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• 2022

This case is witten for presenting the effect of the TMJ balancing therapy using the TMJ balancing appliance which normalizes the yin and yang balance of the brain-nervous system including the Meridian system. The balancing appliance was used in patient with cervical dystonia, and clinical outcome measurements were performed through clinical observations in specific movement and actions. The patient displayed positive changes after the treatment and the effect was well-maintained during the treatment period. For the more precise evaluation, clinical and biological studies of temporomandibular balancing therapy (TBT) are needed.

• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.527-532
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• 2004

An effective balancing method for mil compressors is developed based on vibration plane model. By assuming the design range of balancer size is not large and considering only the radial axial direction rigid vibration of the mil compressors, we can find the vibration plane (V-plane) describing the vibration level of the scroll compressor depending upon balancer design specifications. By in the intersection of two minimum lines (areas) obtained from the couple of V-Planes we can find the design lesion to minimize vibration level of the compressor. The full design process is described by using an illustrative example with upper and lower balancer weights. Further more sensitivity analysis of parameters important for designation of size and positioning of the balancer is analyzed.

• Journal of Korea Technology Innovation Society
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• v.20 no.3
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• pp.754-780
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• 2017

This study was conducted to investigate whether WGB (Work-Growth Balance), an area of WLB (Work-Life Balance) improves Interpersonal Harmony, Creative Effort and Innovative Behavior in the organization, and whether Interpersonal Harmony and Creative Efforts have indirect effects on the relationship between WGB and Innovative Behavior. To test the hypothesis of this study, PROCESS Macro by Hayes (2013) was used. The results showed that WGB, Interpersonal Harmony, and Creative Effort influenced Innovative Behavior and WGB were variables that influenced Interpersonal Harmony. The variables influencing Creative Effort turned out to be WGB and Interpersonal Harmony. The indirect effect of Interpersonal Harmony and Creative Efforts was also confirmed in the relationship between WGB and Innovative Behavior. In addition, the magnitude of the effect between parameters was examined through Process Macro analysis. It turned out that there is a synergy relationship between WGB, Interpersonal Harmony, Creative Efforts and Innovative Behaviors. In future, more researches on WGB among various industries as well as mediating variables are expected. Further research is needed to study the various parameters of WGB and innovation behavior, and to Balance of Work-Family and Balance of Work-Leisure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.146-154
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• 1991

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robot, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to take an experiment on the walking in mush terrain.

• Proceedings of the Korea Multimedia Society Conference
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• 2012.05a
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• pp.394-395
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• 2012

승강기관련 사고의 요인은 많은 것이 있다. 많은 요인 중 건물의 노후화와 보수 및 설치부실로 인한 가이드레일 변형과 가이드슈의 이탈은 사망사고를 일으킬 수 있는 치명적인 요인이 될 수 있다. 이러한 사고를 방지하기 위해서는 엘리베이터의 카와 균형추의 위치를 실시간으로 감시하여 두 구조물이 가이드레일에서 이탈하는 것을 감지할 수 있어야 한다. 본 논문에서는 자이로센서를 이용하여 엘리베이터의 이탈을 감지하기 위한 시스템을 설계하는 방법을 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

• Journal of KSNVE
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• v.10 no.1
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• pp.97-106
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• 2000

The dynamic behavior of crankshaft-bearing system in scroll compressor has been investigated using the combined methodologies of finite elements and transfer matrices. The finite element formulation is proposed including the field element for a shaft section and the point element at balancer weight locations, bearing locations, etc., whereas the conventional method is used with the elements. The Houbolt method is used to consider the time march for the integration of the system equations. The linear stiffness and damping coefficients are calculated for a finite cylindrical fluid-film bearing by solving the Reynolds equation, using finite difference method. The orbital response of crankshaft supported on the linear bearing model is obtained, considering balancer weights of motor rotor. And, the steady state displacement of crankshaft are compared with a variation in balancer weight. The loci of crankshaft at bearing locations are composed of the synchronous whirl component and the non-synchronous whirl component.

• Korean Journal of Applied Biomechanics
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• v.18 no.2
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• pp.19-27
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• 2008

The purpose of this study was to investigate of assessment of the ability of balance control using COP 95% confidence ellipse area while executing single-leg stance with eyes open and eyes closed through GRF system. The subjects participated in this study were 7 female yoga group and 7 female control group. The yoga training affected to improve the ability of balance control because the yoga group's COP AP and ML standard deviation and COP 95% confidence ellipse area were smaller than control group in both a single-leg stance with eyes open and eyes closed. Visual affected to the ability of balance control in a single-leg stance. I consider COP 95% confidence ellipse area as a high variable for determining the ability of balance control, and therefore suggest that additional studies for various groups and subjects will be required in the future.