• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• The Journal of Korean Physical Therapy
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• v.22 no.1
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• pp.27-32
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• 2010

Purpose: This study was designed to examine the effects of a Halliwick rotation program on improving balance. Methods: Nine healthy females were randomly assigned to a Halliwick rotation program training as an aquatic group (n=9, age=$22.5{\pm}1.3$ years) or to a control group. The aquatic group trained using a Halliwick rotation program (3 times/week, 30 min/day) for 6 weeks. Balance was measured according to stance position: Hard Plate Open Eyes (HOE), Hard Plate Close Eyes (HCE), Soft Plate Open Eyes (SOE) and Soft Plate Close Eyes (SCE). This was done before the training and 3 and 6 weeks after the training. The data were analyzed with the SPSS Win 12.0 program using repeated measure ANOVA. Results: There were significant training-induced differences in SOE and POE (p<0.05), and in SCE and PCE (p<0.05) by Toe pad. There were significant training-induced differences in SOE and POE (p<0.05) by Heel pad after the aquatic rotation exercise program. Conclusion: The Halliwick rotation program can improve balance.

• Journal of The Korean Society of Integrative Medicine
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• v.6 no.2
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• pp.1-16
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• 2018

Purpose : This meta-analysis was aimed at guiding future research in stroke treatment and to provide real-world data relating to the effects of aquatic exercise therapy on balance in patients with chronic stroke. Methods : We performed a meta-analysis comprising 22 studies involving aquatic exercise therapy performed between 2006 and 2017. A meta-analysis software program was used to calculate the mean effect size, effect size by intervention, and effect size by outcome. We also performed a meta-regression analysis and an analysis of publishing bias. Results : The mean effect size was 0.563. The effect size by outcome was observed to be the largest for the functional reach test, followed by the Berg balance scale, balance equipment, the Timed Up and Go test and one leg standing. Meta-regression analysis showed that effect size increased with an increase in the duration, number, length of exercise session. Conclusion : Aquatic exercise therapy appears to show a moderate effect on balance in patients with chronic stroke. A meta-analysis is warranted for further research to determine the effects of aquatic exercise on walking, muscle strength, and range of motion.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.51-59
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• 2016

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.6
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• pp.773-783
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• 2019

A numerical analysis of a turbulent flow with a 'large-eddy breakup device(LEBU)' was performed to investigate the influence of the device on the drag of underwater vehicle using commercial CFD code, FLUENT. In the present study, the vehicle drag was decomposed to skin-friction coefficient(C_f) and pressure coefficient(C_p). The variation of the vehicle C_f and C_p were observed with changing location of the device and Reynolds number. As a result, the device decreased the vehicle C_f because it suppressed the turbulent characteristics behind the device. The larger Reynolds number, the higher reduction effect when the device was placed in front part of, and near the vehicle. On the other hand, the device increased/decreased the vehicle C_p with increasing/decreasing turbulent kinetic energy at recirculating flow region behind the vehicle. The total drag change by the device was caused by C_p rather than C_f.

• Journal of Korean Society of Water and Wastewater
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• v.30 no.6
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• pp.691-698
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• 2016

This study was carried out to investigate the characterization of iron oxide nanotubes (INTs) by anodization method and applied adsorption isotherms and kinetic models for phosphate adsorption. SEM analysis was conducted to examine the INTs surface formation. Further XRD and XPS analysis were performed to observe the crystal structure of INTs before and after phosphate adsorption. AFM analysis was conducted to determine of Fe foil surface before and after anodization. Phosphate stock solution for adsorption experiment was prepared by $KH_2PO_4$. The batch experiment was conducted using 20 ml phosphate stock solution and $40cm^3$ of INTs in 50 ml conical tube. Adsorption isotherms were applied Langmuir and Freundlich models for adsorption equilibrium test of INTs. Pseudo first order and pseudo second order models were applied for interpretation of adsorption rate by reaction time. The determination coefficient ($R^2$) values of Langmuir and Freundlich models were 0.9157 and 0.8876 respectively.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.3
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• pp.117-122
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• 2001

The shock test of shipboard equipments is performed for the evaluation of the shock-resistant. capability by analyzing the maximum acceleration, the effective time duration and the shock response spectrum, etc. But some measured signals have impulsive noise and gaussian white noise because of the ambient noise, the acquisition equipment error and the transient movement of cables during the shock test. The improved transient signal analysis method which removes the noise of measured signal using the threshold policy of the median filter and the orthogonal wavelet coefficients is proposed. It was verified that the signal-to-noise ratio was improved about 30dB by the numerical simulation. And the shock response spectrum was extracted using the denoised shock response signal which was applied by this proposed method.