• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.2
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• pp.106-113
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• 2017

Attitude determination algorithms for aircraft and land vehicles use earth gravitational vector and geomagnetic vector; hence, magnetometers and accelerometers are employed. In dynamic situation, the output from accelerometers includes not only gravitational vector but also motional acceleration, thus it is hard to determine accurate attitude. The acceleration compensation method treated in this paper solves the problem to compensate the specific force vector for motional acceleration calculated by a GPS receiver. This paper analyzed the error from the corrected vector regarded as a constant by conventional acceleration compensation method, and improve the error by rederivation from measurements. The analyzed error factors and improvements by the proposed algorithm are verified by computer simulations.

• The Journal of Korean Physical Therapy
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• v.9 no.1
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• pp.177-184
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• 1997

1. The human body is the unification related to the powerful fascial network, I think. 2. Myofascial not only prevent and support the human body structure curdling but also keep the physical balance by dispersing traumatization properly. 3. Myofascial restriction will be developed into muscle deficiency and cause pains without releasing the muscle tension and the spasm. 4. Myofascial restriction affect and change the physical posture by losing the muscle elasticity and flexibility and by losing muscle supporting ability from gravitation. 5. The partial myofascial restriction affect the muscle and the adjoining joint supporting gravitation and cause the unbalance of the entire body.

• Economic and Environmental Geology
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• v.18 no.4
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• pp.309-320
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• 1985

The crustal structure of the southern part of the Korean peninsula has been investigated based on the results of processing and anlaysis of gravity data. The processing techniques involve i) seperation of regional and residual anomalies by polynomial fittings, ii) power spectral analyses to determine the mean depth to the crustal base, iii) a filtering operation called "high-cut filtering and resampling," and iv) downward continuation to determine the undulation of the crustal base. The Bouguer anomalies show a lineation in the NE-SW direction which is the same as that of most mountains and tectonic lines of this area. The mean crustal depth is found to be 34km. The depth of the crustal base is varying in the estimated range of 26km to 36km with a thinner crust below the east coast than that of the west coast. The relief of the crustal base is appeared to be correlated with the regional surface topography. The linear regression relations computed between elevations and gravity anomalies indicate that the crust of this area seems to be not in perfect isostatic equilibrium but a little undercompensated state.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.15-16
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.67-68
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• 2013

• Economic and Environmental Geology
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• v.44 no.6
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• pp.493-502
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• 2011

We study the deep structure of Korean Peninsula by estimating Moho depth and crustal thickness from using land and oceanic topography and free-air gravity anomaly data. Based on Airy-Heiskanen isostatic hypothesis, the correlated components between the terrain gravity effects and free-air gravity anomalies by wavenumber correlation analysis(WCA) are extracted to estimate the gravity effects that will be resulted from isostatic compensation for the area. With the resulting compensated gravity estimates, Moho depth that is a subsurface between the crust and mantle is estimated by the inversion in an iterative method with the constraints of 20 seismic depth estimates by the receiver function analysis, to minimize the uncertainty of non-uniqueness. Consequently, the average of the resulting crustal thickness estimate of Korean Peninsula is 32.15 km and the standard deviation is 3.12 km. Moho depth of South Korea estimated from this study is compared with the ones from the previous studies, showing they are approximately consistent. And the aspects of Moho undulation from the respective study are in common deep along Taebaek Mountains and Sobaek Mountains and low depth in Gyeongsang Basin relatively. Also, it is discussed that the terrain decorrelated free-air gravity anomalies inferring from the intracrustal characteristics of the crust are compared to the heat flow distributions of South Korea. The low-frequency components of terrain decorrelated Free-air gravity anomalies are highly correlated with the heat flow data, especially in the area of Gyeongsang basin where high heat flow causes to decrease the density of the rocks in the lower crust resulting in lowering the Moho depth by compensation. This result confirms that the high heat sources in this area coming from the upper mantle by Kim et al. (2008).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.8
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• pp.708-714
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• 1990

This paper has proposed a self-tuning controller for tracking reference trajectory by measuring End-point of arm on robot manipulator whose link is light and flexibls, and proved the perforformance of the algorithm proposed through the computer simulation. As an object of control, a flexible robot manipulator with two-links was selected. As for structure of model, it utilized an assume mode shape method with include travity force and derived a dynaics equation by adapting two kinds of vibration mode of each.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.8
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.