• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• 한국항해학회지
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• 제5권2호
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• pp.49-58
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• 1981

One of the main purposes of the marine gyrocompass follow-up system is to preserve the sensitive part from the wandering error due to the frictional or torsional torque around the vertical axis. This error can be diminished through the rapid follow-up action, which minimizes the relative azimuthal angular displacement between the sensitive and follow-up parts and shortens the duration of the same displacement. But an excessive rapidity of the follow-up action would result in a sustained oscillation to the system. Therefore, to design a new type of the follow-up system, the theoretical annlysis of the problems concerned should be studied systematically by introducing the control theory. This paper suggest a concrete procedure for the optimal adjustment of the gyrocompass follow-up system, utilizing the mathematic model and the stability informations formerly investiaged by the author. For theoptimal determination of the adjustable paramfter K, the performance index(P.I.), ITSE(Intergral of the Time multiplied by the Squared Error) is proposed, namely, P.I. = $\int_{0}^{\infty} t \cdot e^{2}(t)dt$ where t is time and e(t) means control error. Then, the optimal parameter minimizing the performance index is calculated by means of Parseval's theorem and numerical computation, and the validity of the obtained optimal value of the parameter Ka is examined and confirmed through the simulations and experiments. By using, the proposed method, the optimal adjustment can be performed deterministically. But, this can not be expected in the conventional frequency domain analysis. While the Mps of the original system vary to the extent of from 0.98 to 46.27, Mp of the optimal system is evaluated as 1.1 which satisfies the generally accepted frequency domain specification.

• Bulletin of the Korean Chemical Society
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• 제16권12호
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• pp.1193-1203
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• 1995

In this work, we focused on the setup of the tools for the analysis of the final rotational state distribution of photofragments in vibrational predissociations of triatomic van der Waals molecules A-B2. We found that reflection principle used for the direct photodissociation processes can also be applied to find out the final rotational state distributions for indirect photodissociation processes. The quantity which represents the strength of rovibrational coupling between the quasi-bound state and the final state is reflected into the mirror of the classical angular momentum function, instead of the initial state before light absorption used in the reflection principle of direct processes. The sign change in the first derivative of the interaction potential with respect to the bond distance of B2 is found to be the source of the binodal structures in the final rotational distributions of photofragments in the model system studied in this work. In MQDT analysis, short range eigenchannel basis functions were found to be localized in angle, in the previous work [Lee, C.W. Bull. Korean Chem. Soc. 1995, 16, 957.] and may be called angle functions. Angle functions enjoy simple geometrical structures which have simple functional relations with the final state distributions of photofragments. Two processes take place along the angle functions which resemble the quasi-bound state and dominate over other processes. Two such angle functions are found to be not only localized angularly but also localized either one of ends of B2 in motions along the bond of B2. These dominating photodissociation processes, however, cancel each other. This cancellation causes photodissociation to depend sensitively on the interaction potential at other angles than the dominant one. Part of potential surface where much larger torque exists can now play an important role in photodissociation. MQDT also enables us to see which processes play important roles after cancellation. This is done by examining the amounts of time delayed by asymptotic eigenchannels.

• Physical Therapy Rehabilitation Science
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• 제11권4호
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• pp.414-420
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• 2022

Objective: In this study, the test-retest reliability and validity were presented to evaluate the usability of isokinetic rehabilitation equipment for the knee joint. Design: Cross-sectional design, reliability & validity study. Methods: Thirty healthy adults participated in the study. A CSMI dynamometer was used as a standardized measuring device to present the validity of the equipment. It was measured based on the dominant leg. The average peak torque value was selected as the measurement variable. After the measurement, a questionnaire was conducted on safety, satisfaction, and performance through the usability evaluation questionnaire. Results: The knee joint isokinetic rehabilitation equipment showed high reliability with Intraclass Correlations Coefficients (ICC) =0.883~0.956. In order to check the validity of the equipment, the 95% confidence interval of the mean difference limit was confirmed by the Bland & Altman plot. As a result, all three angular velocities showed a smaller confidence interval in the flexion than in extension. There were less than 10 plots that were not included in 2 Standard Deviation (SD) between all measurements. As a result of the usability evaluation questionnaire, the average of the safety domain(4.9±0.4), satisfaction domain(4.1±0.8), performance domain(4.3±0.8). Conclusions: If the product is improved by supplementing the items identified in the usability evaluation process, it is judged that it can be used as a useful device in various knee joint rehabilitation fields.

• 한국응용과학기술학회지
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• 제37권1호
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• pp.17-27
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• 2020

본 연구는 6주간의 고강도 복합 훈련 프로그램을 통해 카누 선수의 심폐기능(Cardiorespiratory Function), 체간 등속성 근력(Isokinetic Trunk Strength) 그리고 무산소성 파워(Anaerobic Power)에 미치는 영향을 확인하는데 있다. 이를 위해 고등학교 카누 선수 9명을 대상으로 고강도 복합 훈련 프로그램을 적용하였으며, 고강도 훈련 프로그램은 주 2회의 유산소 운동(화, 목), 주 3회의 무산소 운동(월, 수, 금) 그리고 주 5회의 유연성 운동을 실시하였다. 고강도 복합 훈련 프로그램의 핵심은 무산소성 훈련 프로그램으로 기존 1RM의 퍼센트(%)를 나누어 훈련하던 방식과는 달리 횟수에 대한 100%의 중량을 가지고 하는 훈련이며, 유산소성 운동과 짐볼운동은 보조적인 개념으로 실시하였다. 연구결과, 고강도 복합 훈련 프로그램에 따른 신체구성에서 신장과 근육량은 통계적으로 의한 차이가 있었으며, 체중, 체지방율, BMI는 통계적으로 유의한 차이는 없는 것으로 나타났다. 심폐기능의 경우, 최대산소섭취량과 총 운동시간은 통계적으로 유의한 차이가 있는 것으로 나타났다. 체간 등속성 근력의 경우, 각속도 30°/sec에서는 Flexors 운동시 Peak Torque 항목에서만 통계적으로 유의한 차이가 있는 것으로 나타났다. 각속도 120°/sec에서는 Extensors 운동시 Total Work 항목에서만 통계적으로 유의한 차이가 있는 것으로 나타났다. 무산소성 파워의 경우, Peak Power, Average Power, Peak Drop의 모든 항목에서 통계적으로 유의한 차이가 없는 것으로 나타났다. 이상의 결과를 종합해보면 심폐기능에서는 유의한 개선효과가 있었지만 체간 등속성 근력과 무산소성 파워 항목에서 증가하는 경향은 있었지만 통계적인 차이는 없는 것으로 나타났다. 결론적으로 선수 개개인의 근력과 파워가 개선되는 경향이 나타난 것을 고려하면 훈련기간을 6주 이상으로 구성하고 사례수가 보강된다면 체계적인 결과를 얻을 수 있을 것으로 생각된다. 본 연구에서 적용한 고강도 복합 훈련 프로그램은 카누 선수들의 경기력 향상 효과를 기대할 수 있는 훈련 프로그램으로 적용될 수 있을 것으로 판단된다.

• 대한의용생체공학회:의공학회지
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• 제22권5호
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• pp.449-458
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• 2001

한국형 양심실 보조 인공 심장의 효율 측정 방법과 측정 결과이다. 한국형 양심실 보조 인공 심장은 에너지 변환기로 브러시 없는 직류 모터를 사용한다 이 브러시 없는 직류 모터가 기어 열을 따라 원추운동을 하며 혈액주머니에 힘을 가하게 되고. 이 힘에 의해 혈액주머니 안의 혈액이 박출하게 된다. 효율 측정을 위하여 제어기 및 모터부, 기어부 및 작동기부. 혈액주머니 및 기타부 등 크게 세 부분으로 나누었으며. 각각을 다시 소자별로 나누어 입. 출력의 효율을 측정했다. 부하의 토크, 분당 회전수 각속도, 인가되는 전압 등을 바꾸어 가면서 시스템의 효율을 측정했고. 이 측정을 통해서 모터 운동시의 전체적인 효율과 부분별 효율을 알 수 있었다. 특히 양심실 보조 장치의 모터부와 작동기부의 효율측정에 중점을 두었다. 측정 결과 이동 작동기형 양심실 보조 장치의 평균 동작 영역인 4$\ell/min$ 박출량에서, 전체 효율은 8 %정도이며 구체적으로는 모터부 50 %, 작동기부 85 % 혈액주머니부 19 %정도의 효율을 보였다. 또한 6$\ell/min$ 박출량의 경우, 전체 효율은 5.5 %정도였다. 분석된 결과를 바탕으로 효율을 개선하기 위해 박출량에 따른 필요 구동 전압을 결정하고. 혈액주머니의 충만 상태에 따른 속도 파형을 연구. 제안하였다.