• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.2
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• pp.228-236
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• 2021

In order to understand the underwater noise source factor of the linear pump type forced ejection system, a reduced-model compressed water experiment device was developed. The reduced-model compressed water experiment device consists of a reverberation tank, a linear pump type forced ejection device, and an underwater vehicle. The underwater noise source was selected from the hydraulic ram moving speed, the hydraulic ram/piston pipe spacing, the ejection pipe inlet/water ram area ratio, and the number of water ram inlets. The underwater vehicle was ejected into the reverberation tank by the device. The source level was derived from the measured sound pressure. The source level tends to increase as the hydraulic ram/piston tube spacing and the hydraulic ram moving speed increase. The source level tended to increase as the area ratio was increased, but the level was weak. The number of water ram inlet did not affect the source level.

• Journal of Korean Physical Therapy Science
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• v.6 no.3
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• pp.9-24
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• 1999

Guillain-Barre syndrome(GBS) is one of the common motor unit diseases and defined as acute postinfectious polyneuropathy, It is not known most effective medical intervention for GBS, but generally benefits from an intensive physical therapy program. In this report, hydrotherapy was applied for a patient with GBS to improve muscle power and functional abilities. Two weeks later, the patient's functional abilities, muscle power, and physical endurance were improved without complications. Since the hydrotherapy does not load maximally to the patient with GBS, the patient can exercise himself actively for the maximal tolerance. It is the reason of fast recovery. In summary, the hydrotherapy is important to the patient with GBS and it must apply to these patients more frequently.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.488-496
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• 1991

Dynamic chanracterisitcs and control of a submerged working robot manipulator have been investigated for articulated type robot manipulator with three revoluted joints. A dynamic equation of the manipulator has been derived. The dynamic equation includes not only mass matrix, centrifugal and Coriolis terms and gravity terms but also added mass, buoyant force and drag force terms, which are important terms for underwater motion description. A series of simulations using computed torque method have been performed for the cases of straight and circular trajectory motion controls. The results of this study show that the dynamic characteristics of the submerged working robot manipulator are very different from that of the manipulator which works in air. The influences of added mass, buoyant force and drag force terms to the total required torques have been discussed as distribution ratios to the total required torques.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.41-47
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• 2009

• Proceedings of the Korean Information Science Society Conference
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• 2003.04c
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• pp.582-584
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• 2003

본 논문은 수중에서 유동하는 입자의 움직임을 추적하고 유체의 흐름에 따라 분산되는 입자의 분산정도 그리고 입자의 침강패턴을 분석하기 위한 계산형 3차원 시스템을 제안한다. 이러한 계산형 시스템은 물과 같은 공간에서 움직이는 입자들을 고려하고 있는데, 물의 흐름을 위해 운동량방정식과 연속방정식을 일반화하여 흐름을 제어하고 있다. 또한 물이라는 공간 특성을 고려하여, 입자간에 작용하는 부력, 침강력등의 물리적인 힘을 적용시키고 있다. 이렇게 제안된 시스템을 통해 다양한 외부적 요인에 따라 움직임을 달리하는 유동 입자들은 실제 울에서와 같이 유사하게 가시화되도록 한다. 이렇게 가시화된 유동 입자의 움직임을 추적하여 입자들의 침전패턴까지도 미1리 예측해 낼 수 있게 된다.

• Journal of Ocean Engineering and Technology
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• v.28 no.6
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• pp.560-565
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• 2014

In this study, the problem of trajectory optimization for underwater gliders considering depth constraints is discussed. Typically, underwater gliders are controlled to dive and climb in a saw-tooth pattern at constant gliding angles. This approach is effective and close to optimal for deep water applications. However, the optimal path deviates from the saw-tooth path in shallow water conditions. This study focuses on finding more efficient gliding paths that can minimize the traverse time in the horizontal plane when the water depth is limited. The trajectory optimization problem is formulated into a minimum time control problem with inequality path constraints and hydrodynamic drag effects. A numerical approach based on the pseudo-spectral method is adopted as a solution approach, and the simulation results are presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.796-807
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• 2009

The swimming abilities of aquatic-animals are of vital importance to their ecology. The relationship between outer shapes and the swimming ability has been focused just a few centuries ago by engineering community. Present paper surveys the recent studies of the aquatic-animals' swimming performance in the morphological point of view. Also an experimental study is performed in order to investigate the effect of the tail fin's shape on the propulsive performance. The result showed that the morphological study provided valuable data for exploring the secrets of the aquatic-animals' swimming performance.

• Journal of the Society of Naval Architects of Korea
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• v.30 no.4
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• pp.31-38
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• 1993

Horn rudders or flap rudders with a gap between forward and after part are used for effective steering of a ship or a submerged body. It is necessary to analyze the effect of a gap since it affects the performance of rudders. In this paper, an equation to calculate the lift acting on a two-dimensional flap rudder in uniform flow is derived by using the thin hydrofoil theory and the analytic solution of viscous flow in a channel formed by two coaxial cylindrical walls to which a pressure gradient is applied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.330-335
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• 1995

The actuator's response delay, disturbance and measurement noise can often cause a significant error in the target tracking of an underwater vehicle. The first purpose of this paper is error analysis about motion of an underwater vehicle when the closed loop system has actuator and disturbance and noise. The underwater vehicle is simulated for cases of various disturbances. The second purpose is robust controller design for the underwater vehicle with parameter uncertainty. So, two robust control methods are applied for the underwater vehicle. One is standard $H_{\infty}$ control, and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for $H_{\infty}$ control, and design parameters for time-varying switching surfaces are provided Simulations for the two controllers are carried out and their performances are analyzed.lyzed.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.913-916
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• 2014

본 논문의 수중로봇 도미(Domi) ver1.0는 관상어용 물고기 로봇 개발을 목표로 연구 개발되었다. 물고기 로봇은 머리, 1단, 2단 몸체와 꼬리부분과 2개의 구동 관절로 구성되어 있다. 물고기 로봇의 추력에 적합한 구동부 선정을 위하여 물고기 로봇 모델링과 유영 해석을 통하여 관절 구동부가 설계되었다. 또한 물고기 로봇의 유영알고리즘은 Lighthill 운동학 해석을 기초로 생체 모방의 유영 근사화 방법을 적용하였다. 설계된 물고기는 수동유영 및 자율운영모드로 동작된다. 수동유영모드는 RF 송수신에 의하여 구현된다. 본 설계된 물고기로봇 도미 ver1.0은 수중 현장시험 평가을 통하여 추력, 내구성, 방수성 등의 성능이 우수함을 확인하였다.