• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.10
• /
• pp.1195-1200
• /
• 2013

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

• Journal of Industrial Technology
• /
• v.28 no.A
• /
• pp.167-176
• /
• 2008

Recently, lots of studies are performed in developing of active orthosis. Exact and simple muscle force estimation is important in developing orthosis which assists muscle force for disabled people or physical laborers. Hill-type muscle model dynamics is common method for estimation of muscle forces. In Hill-type muscle model, we must know muscle length and moment arm which largely affect muscle force. And several methods are proposed to estimate muscle length and moment arm using joint angle. In this study, we compared estimation results of those method with data from body model of opensim to find which method is exact for estimation of muscle length and moment arm.

• Proceedings of the Korean Information Science Society Conference
• /
• 2000.04b
• /
• pp.469-471
• /
• 2000

본 논문에서는 모멘트 항을 추가한 수정된 kernel-adatron 알고리즘을 제안하고 이른 support vector machines의 학습기법으로 이용하였다. 이는 기울기상승법에서 일어나는 최적해로의 수렴에 따른 발진을 억제하여 그 수렴 속도를 좀더 개선시키는 모멘트의 장점과 kernel-adatron 알고리즘의 구현용이성을 그대로 살리기 위함이다. 제안된 학습기법의 SVM을 실제 200명의 암환자를 2부류(초기와 악성)로 분류하여 문제에 적용하여 시뮬레이션한 결과, Cambell등의 kernel-adatron 알고리즘을 이용한 SVM의 결과와 비교할 때 학습시간과 시험 데이터의 분류률에서 더욱 우수한 성능이 있음을 확인할 수 있었다.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.7
• /
• pp.745-752
• /
• 2012

The pivot steering of an individual wheel motor drive vehicle is an effective steering maneuver in the narrow road, but it has become a matter of concern that the torque input of each wheel is very difficult to determine. In this study, the independent yaw moment control was proposed for the smooth pivot steering control of an in-wheel drive vehicle. For this control method, the vertical forces of tires were estimated from the trailing arm dynamic model, and the yaw moments of individual wheels were calculated from the vehicle dynamic model. Dynamic simulation results showed that the independent yaw moment control was much more effective on the minimization of the instabilities of pivot steering in comparison with the conventional direct yaw moment control with yaw rate feedback.

• Journal of KIISE:Software and Applications
• /
• v.29 no.11
• /
• pp.803-808
• /
• 2002

This paper describes automatic methods for detection of kidney and kidney tumor on abdominal CT scans. The abdominal CT images were digitalized using a film digitizer and a gray-level threshold method was used to segment the kidney. Based on texture analysis results, which were perform on sample images of kidney tumors, SEED region of kidney tumor was selected as result of homogeneity test. The average and standard deviation, which are representative statistical moments, were used to as an acceptance criteria for homogeneous test. Region growing method was used to segment the kidney tumor from the center pixel of selected SEED region using a gray-level value as an acceptance criteria for homogeneity test. These method were applied to 113 images of 9 cases, which were scanned by GE Hispeed Advantage CT scanner and digitalized by Lumisvs LS-40 film digitizer. The sensitivity was 85% and there was no false-positive results.

• Journal of the Korean Geotechnical Society
• /
• v.38 no.11
• /
• pp.119-135
• /
• 2022

This paper used dynamic centrifuge tests to examine the seismic response for a deep temporary retaining wall with four input motions of 100, 1,000, and 2,400 years of return periods. The centrifuge model was designed based on an actual deep excavation design with a 50 m maximum excavation depth. The model backfill was prepared with dry silica sand at a relative density of 55%, and the retaining wall was modeled as a 24.8 m height diaphragm wall supported by struts. Acceleration response was amplified at the backfill surface, top of the wall, and near bedrock. However, in the middle of the model, input motion was de-amplified. The member forces of the wall and strut induced by the seismic load, which excited, were compared with the member force at rest condition. The wall's maximum negative and positive moments were increased to 36% and 10% compared to the maximum moment at rest. The maximum axial force increases to 70% of the at rest axial force on the bottom strut. The equivalent static analysis using Mononobe-Okabe (M-O) and Seed-Whitman (S-W) seismic earth pressures were compared to the centrifuge results. Considering the bending moment, the analysis results with the M-O theory underestimates but that with the S-W theory overestimates.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.20 no.8
• /
• pp.797-805
• /
• 2009

In this paper, we developed MoM(Moment of Method) forward solver to implement the inverse scattering by using BIM(Born Iterative Method) for the detection of cancer in human body Especially, we adopted two-dimensional breast structure to analyze electromagnetic scattered phenomena. For the two-dimensional scattering structure, the integral equations is solved with MoM employing two-dimensional Green's function. Also, calculated results are compared with the measured results obtained from breast cancer detecting equipment.

• Journal of Korean Tunnelling and Underground Space Association
• /
• v.12 no.2
• /
• pp.157-164
• /
• 2010

Recently, the number of shallow tunnel construction increases to improve the structural safety and environment-friendliness. In semi-cut-and-cover Method, ground is excavated to the crown arch level and arch slab is set to backfill before the excavation of lower face. In this study, laboratory model tests was performed to clarify the behavior of the arch slab constructed perpendicular to the slope. Results show that Arch slab is affected by perpendicular to the slope and bedrocks. Negative moment at the upper part of the arch slab at hillside and positive moment at the upper part at the other side are generated as perpendicular to the slope increases. Reaction load at the hillside support was larger than that at the other side.

• The Journal of Korean Physical Therapy
• /
• v.18 no.6
• /
• pp.1-11
• /
• 2006

Purpose: This study compared the effects of non-cold and cold conditions on the viscoelastic properties of tendon structures in vivo. Methods: Seven male subjects perfomed plantar flesion exercise with maximal isokinetic voluntary contraction, which consisted of muscle contraction for 6 see and relaxation for 60 secs, 10 times for 1 set, Totally 10 sets were repeated. Before and after each task, the elongation of the tendon and aponeurosis of the medial gastrocnemius muscle (MG) was directly measured by ultrasonography. (The relationship between the estimated tendon force and tendon elongation.) Tendon cross-sectional area and ankle joint moment arm were obtained from magnetic resonance imaging (MRI). The tendon force was calculated from the joint moments and the tendon moment arm and stress was obtained by dividing force by cross-sectional areas (CSA). The strain was measured from the displacements normalized to tendon length. Results: After cooling, the tendon force was larger in cold than non-cold. The value of the tendon stiffness of MVC were significantly higher under the cold condition than under the non-cold condition. The maximal strain and stress of $7.4{\pm}0.7%$ and $36.4{\pm}1.8$ MPa in non-cold and $7.8{\pm}8.5%,\;31.8{\pm}1.1$ MPa in cold (P<0.05). Conclusion: This study shows for the first time that the muscle endurance in cooling increases the stiffness and Young's modulus of human tendons. The improvement in muscle endurance with cooling was directly related to muscle and tendon.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2014.02a
• /
• pp.434.1-434.1
• /
• 2014

최근 자성 나노 입자를 이용한 온열치료가 주목을 받고 있다. 자성을 띄는 나노 입자를 암 세포에 보내, 교류 자기장을 걸어주어 회전에 의한 마찰손실로 인한 열을 이용하여 암 조직만을 국소 가열하는 원리이다. 본 실험은 유도 자기장을 사용한 자성 나노 파우더의 가열을 목적으로 시행하였다. 나선형 코일위에 세라믹, 유리 등 절연체 원판 위에 자기장이 발생되도록 휴대용 평판형 자기장 발생장치를 제작하였다. 자기장 발생 장치는 평판형 나선형 코일에 특정 주파수를 가진 전원을 인가하여 자기장을 발생시킨다. 평판형 나선형 코일은 내경 40 mm, 외경 140 mm, 2 mm 동선으로 제작하였다. 제작한 자기장 발생장치를 자기장 측정 센서(Hall sensor 등)을 원판 위에 설치하여 거리별 자기장의 크기를 측정하였다. 자기장은 나선형 코일 위 원판 중심에서 최대로 발생되어 중심에서 멀어질수록 크기가 감소하였다. 자기장 발생장치 위에 자성 나노 파우더($Fe_3O_4$와 $CoFe_2O_4$)를 혼합한 용액 시료를 위치시키고 자기 쌍극자 모멘트와 자기장간의 상호작용을 유도한다. 이때 자성 나노 파우더별로 발생하는 열을 열전쌍(TC)이나 Optical fiber를 사용한 Thermometer로 측정하여 비교분석하였다.