• 전기의세계
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• v.56 no.1
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• pp.42-44
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• 2007

• Proceedings of the Korean Magnestics Society Conference
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• 2016.11a
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• pp.183-184
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• 2016

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.510-515
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• 1993

본 연구에서는 저속에서도 시스템의 자세 제어가 용이하게 하기 위하여 추진기 뒤에 제어판이 위치하도록 설계하였으며, 일반 서보 시스템과는 달리 무게와 공간 제약이 크고, 제어판 운동에 따른 외란 등록성의 변화가 심하므로 push-pull 형태의 소형, 고출력 편로드 복동 복수 실린더의 작동기를 설계하였다. 또한 일반적으로 서보밸브와 작동기는 일체형으로 설계되나 본 시스템의 공간상 심한 제약으로 인하여 서보밸브와 작동기를 분리하는 방법으로 구조설계를 하고 그 사이 유로는 매니폴드식으로 하여 동력전달을 하였다. 설계된 구동장치를 실제 정밀제작하여 실험을 수행하였으며, 시뮬레이션 결과와 실험에 의하여 얻어진 결과를 비교 분석하여 설계의 타당성 및 시스템의 성능을 검증하였다. 고속 수중운동체에 대하여 저속에서 자세제어를 용이하게 하고, 제한된 좁은 설치공간의 문제점을 해결하기 위하여 1) 추진기 후미에 독립된 4개의 상, 하, 좌, 우 제어판 설치 2) 서보밸브는 몸체에, 작동기는 Tail Tube에 분리 작동 설계 3) 소형의 편로드 복동 복수 실린더로 설계 구성된 유압식 구동장치는 시뮬레이션과 실험 결과를 통하여 시스템의 타당성을 입증하였다. 그러므로, 개발한 구동장치는 저속에서도 큰 제어력으로 자세 제어가 용이하기 때문에 얕은 수심에서 발사시 예상되는 위험 요소를 상다ㅇ 개선 시키므로써 운용범위의 다양화를 가져 올것으로 기대된다.

• Journal of muscle and joint health
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• v.17 no.1
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• pp.5-13
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• 2010

Purpose: The purpose of this study was to compare the effects of stretching exercise and aquatic exercise program on flexibility, pain and quality of life (QoL) in patients with osteoarthritis. Methods: Fifty elderly women were assigned either to the stretching exercise (SEG, n=25) or to the aquatic exercise groups (AEG, n=25) after 6-week self-help education program. SEG carried out supervised stretching exercise and water exercise training program was conducted by AEG (60 min/day, 2 days/wk) for 8 weeks. Flexibility, pain, and quality of life were measured by Senior Fitness Test Manual (Rikli & Jones, 2gr5), pain rating scale (0-10) and the questionnaire by World Health Organization Quality of Life BREF (Min et al., 2gr0), respectively. Results: Both SEG (all, p&H;.05) and AEG (all, p&H;.05) increased left upper and lower-body flexibility, measured by a measuring tape. Pain significantly decreased both in SEG (p=.000) and AEG (p=.004). Quality of life was significantly improved only for the SEG. Conclusion: The 8-week stretching exercise program would significantly improve flexibility, pain control and QoL in patients with osteoarthritis.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.6 s.144
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• pp.551-558
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• 2005

In this paper, horizontal manoeuvrability of an underwater vehicle near free surface was investigated. Planar Motion Mechanism(PMM) tests were performed at the shallow depth within 4.5 times of vehicle's diameter. Hydrodynamic coefficients related to the horizontal movement were estimated from the measured data using Least SQuare(LS) method and analyzed at each submerged depth. Furthermore, horizontal dynamic stability, trajectory of turning and zigzag test were investigated for the various depths. As underwater vehicle is positioned nearer to the free surface, forces increase and moment decreases. Tested model was found to be stable only at the depth 0.5 times of vehicle's diameter.

• Journal of Navigation and Port Research
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• v.32 no.6
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• pp.447-452
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• 2008

In this paper, the automatic depth control system and the collision avoidance system of the Manta UUV have been established in vertical and horizontal plane. The PID control theory and the Fuzzy theory are adopted in this system. The 6-DOF MMG model had been established by theoretical calculations and captive model test results. The depth control simulation results have been fully presented. The collision risks of the UUV had calculated by the fuzzy theory with the virtual sonar system. Finally, the automatic depth control system and the collision avoidance simulation system of Manta UUV have been fully developed and simulated.

• Journal of the Society of Naval Architects of Korea
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• v.46 no.4
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• pp.382-390
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• 2009

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.4
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• pp.435-448
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• 2021

This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a differential elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.

• Journal of the Korea Society for Simulation
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• v.21 no.1
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• pp.35-43
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• 2012

In this study, underwater behaviors of negative buoyant body and positive buoyant body, which are ejected from a platform, are compared through eject test and simulation. CFD(Computational Fluid Dynamics) method is used to calculate the hydrodynamic derivatives of negative buoyant body with varied hull. Hydrodynamic derivatives that cannot be calculated with CFD are used with the same values of base shape. The pitch angles of test data are much bigger than those of simulated data, and the reason is supposed to be the trailing air effect. A more accurate simulation is possible via modified force modeling which reflects this phenomenon. The underwater behaviors of positive buoyant body and negative buoyant body are somewhat different with each other at the same eject condition, but it may not be a problem in the view of operation.

• Journal of muscle and joint health
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• v.17 no.1
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• pp.47-57
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• 2010

Purpose: The purpose of the study was to identify the effects of a 9-week self-help management aquatic exercise program on pain, flexibility, balance, fatigue and self-efficacy in the patients with osteoarthritis living in the suburban area. Methods: Utilizing a quasi-experimental design, 43 osteoarthritis patients consisted of the experimental group (n=20) and the control group (n=23). Due to the busy schedule of the patients working in the farm, the program was provided for 9 weeks instead of 12 week program under the guidance of professional advice. The questionnaires and physical measurements were used to measure the outcome variables before and after the program. Data were analyzed with the SPSS WIN using descriptive statistics, t-test and ANCOVA. Results: The age was significantly different between the groups. After controlling for the age, pain and fatigue in the experimental group decreased significantly more than the control group. Flexibility, balance and self-efficacy in the experimental group improved significantly more than the control group. Conclusion: This 9-week program could be an effective nursing intervention to be used especially for osteoarthritis patients in the suburban area during the leisure seasons of the farmers to improve their arthritic symptoms and self-efficacy.