• 조명전기설비학회논문지
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• 제25권2호
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• pp.103-112
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• 2011

This paper proposes a new fuzzy speed controller for the precise speed control of a permanent magnet synchronous motor(PMSM). The proposed control system needs the information of the angular acceleration instead of the load torque, so the third-order fuzzy acceleration observer estimates it. Moreover, the LMI conditions are derived for the existence of the fuzzy acceleration observer and fuzzy speed controller, and the gain matrices of the observer and controller are obtained. It is analytically proven that the proposed observer-based fuzzy speed regulator is exponentially stable. To evaluate the performance of the proposed control algorithm, experimental results as well as simulation results are provided under the conditions of motor parameter and load torque variations. Finally, it is clearly confirmed that the proposed control method can accurately control the speed of a PMSM.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.115-118
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• 1995

This paper present an attitude control using quaternions as feedback attitude errors. The Euler's eigenaxis rotation provides the shortest angular path between two attitudes. This eigenaxis rotation can be achieved by using quaternions since quaternions are related with the eigenaxis. The suggested controller uses error quaternions and body angular rates and generates a decoupling control torque that counteracts the natural gyroscopic coupling torque. The momentum dumping strategy using the earth magnetic field is also applied in this paper to unload the angular momentum of the reaction wheels used in the attitude control.

• International Journal of Advanced Culture Technology
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• 제3권2호
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• pp.67-76
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• 2015

This paper aims to study and design of Organic Rankine Cycle (ORC) Machine using Isopentane as working fluid expanding through Tesla turbine. The study on ORC machine expanding through Tesla turbine has result on the efficiency of Tesla turbine. In addition, Thermodynamics theory on isentropic efficiency proved to be a successful method for overcoming the difficulties associated with the determination of very low torque at very high angular speed. By using an inexpensive experiment device and a simple method, the angular acceleration method, for measuring output torque and power in a Tesla turbine is able to predict a tendency of output work. The experiments using two Tesla turbine sizes, the first size is 1.6 bigger than the second one. In comparison with the first size, the tesla turbine can produce power output more than 62% of the second size. Further study on the machine can be developed throughout the county due to its low cost and efficiency.

• 대한물리의학회지
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• 제3권4호
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• pp.225-233
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• 2008

Purpose : The purpose of this study was to investigate changes of muscle strength, ROM and proprioceptive function as before & after ankle taping in soccer players. For this study fifteen sports club whose had no ankle injuries were volunteered. Methode : Fifteen healthy male in soccer players participated in this study. Biodex pro system3 was used to measure isokinetic muscle strengths at $60^{\circ}$/sec angular velocity. Performances of ankle joint were measured peak torque, total work, average power, total work. To measure proprioceptive function used goniometer. Results : 1. proprioceptive sensation error were significantly differences by before & after taping(p<.05). 2. Compare of total work of dorsi flexion plantar flexion weren't significantly differences by before & after taping(p>.05). 3. Compare of average power of dorsi flexion weren't significantly differences by before & after taping(p>.05). 4. Compare average power of plantar flexion were significantly differences by before & after taping(p<.05). 5. Compare average peak torque of dorsi flexion weren't significantly differences by before & after taping(p>.05). 6. Compare average peak torque of plantar flexion were significantly differences by before & after taping(p<.05). Conclusion : Taping can have propriocetive aberrative angular measure, power & peak torque of plantar flexion were significantly differences. But, total work of dorsi flexion plantar flexion and power & peak torque of dorsi flexion weren't significantly differences.

• The Journal of Korean Physical Therapy
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• 제23권6호
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• pp.37-42
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• 2011

Purpose: The aim of this study is to suggest the basic materials for proposing effective and efficient methods when stretching by measuring isokinetic muscular strength according to static, dynamic and PNF stretching. Methods: This study was conducted on 45 healthy persons (male and female) in their twenties who are attending universities. The subjects are randomly divided into three (3) groups, and static stretching is applied in group 1, dynamic stretching is applied in group 2 and PNF stretching is applied in group 3. After carrying out static, dynamic and PNF stretching, peak torque was measured using isokinetic muscular strength measurement. Results: According to the results, at $60^{\circ}$/sec and $180^{\circ}$/sec isokinetic peak torque of the knee joint according to types of stretching, the largest changes were shown in Group 2 extension and flexion, and the least changes were shown in Group 1. There were significant differences among the three groups (p<0.05), and the result of after-analysis by LSD showed that there were significant differences between Groups 1 and 2, and Groups 1 and 3 (p<0.05). Conclusion: The intention of this study was to determine the peak torque using Cybex after applying three stretching methods to hamstring muscles, and the case of dynamic and PNF stretching was found to be more significant in both the $60^{\circ}$/sec and $180^{\circ}$/sec angular speeds than that of static stretching. Using the results of such studies, if dynamic and PNF stretching are applied together with warming-up before performing sports, the risk of suffering wounds would reduce and the exactness of sports would increase.

• 대한치과보철학회지
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• 제46권6호
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• pp.628-633
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• 2008

STATEMENT OF PROBLEM: The application of a simple, clinically applicable noninvasive test to assess implant stability are considered highly desirable. So far there is still a controversy about correlation of various tests and implant stability. PURPOSE: In order to assess implant stability, the development of a new method is critical. It's possible to assess implant stability by calculating energy and angular momentum during implant installation. The purpose of this study is to evaluate the correlation of energy and implant stability. MATERIAL AND METHODS: Twenty three implants were installed in two different types of pig bone. Type I bone was retrieved from the distal aspect of the rib, with more cortical bone. Type II bone came from a more proximal region with less cortical components and a higher content of bone marrow and spongeous trabeculae. Insertion torque, removal torque, ISQ values and angular momentum and energy were measured. Pearson Correlation test was done to analyze the relation between RFA, maximum insertion torque, mean insertion torque, bone type, energy and removal torque. RESULTS: Type I bone showed higher removal torque than type II bone. Energy value was significantly correlated with maximum insertion torque and mean insertion torque. RFA values were related with insertion torques but the significance was lower than Energy value. CONCLUSION: Within the limitation of this study energy values were considered clinically predictable method to measure the implant stability.

• Journal of Biosystems Engineering
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• 제5권2호
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• pp.40-57
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• 1980

The aim of this study was to promote extensive use of strain gage for accurate measurement in the area of farm machinery research. The results are summarized as follows. 1. Although many strain gate transducers commercially available such as load-cells , accelerometers and pressure transducers have been used in the area of farm machinery research, many types of transducers had to be developed due to the inadaptability or high cost commercial transducers, in many instances. 2. A strain -gaged cantilever beam could be used as a good educational material to demonstrate the methods of Wheatstone bridge arrangement, calibration and theoreticval computation. A ring type load-cell and shaft torque transducer also could be used for the same purpose. 3. The torque and angular speed transducers for an auto-feed thresher and the displacement and pressure transducers for a rice whitener were made and gave satisfactory results. 4. Based on the above results, it is possible to develop simple and low-cost transducers to measure displacement, angular speed , torque and pressure of farm machine elements.

• 한국자동차공학회논문집
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• 제20권4호
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• pp.68-75
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• 2012

This paper presents a study on the driveline output torque estimation using a discrete Kalman filter. The in-situ output shaft torque is first measured by a non-contacting magneto-elastic torque transducer. The linear state-space system equations are first derived and the discrete Kalman filter is designed based on the Kalman filter theory to recover the driveline output torque contaminated by random noises. In addition to using torque measurement, the estimation of the output torque using two angular velocities: the output and wheel, is also conducted. The experimental results show that the discrete Kalman filter can be effective for not only removing the random noise in output torque but also estimating the output torque without torque measurement.

• The Journal of Korean Physical Therapy
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• 제17권3호
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• pp.429-440
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• 2005

The purpose of this study was to compare the effects of knee joint position sense following local and general load protocols in 25 healthy male subjects. Proprioception of the knee joint was evaluated by measuring absolute angular errors at matching angles before, after and between 2 different types of load protocols. Proprioception tests(on the dominant knee) were performed in which proprioception of the passivepassive reproduced and active-active reproduced knee position was measured. Local load was provided with maximum isokinetic knee extension-flexion on the isokinetic dynamometer(Cybex), and general load was 10 minutes running on a treadmill. Peak torque(knee extension and flexion) and heart rate(beats per minute) was evaluated as an indicator of local and general fatigue during load protocols. The results were as follows: 1. For pasive-pasive reproduced knee position test, significant difference in absolute angular errors after general load protocol was detected compared with that before general load protocol(P<.05), significant difference in absolute angular errors after local load protocol was detected compared with that before local load protocol(P<.05). However, no significant difference in absolute angular errors of general load protocol was detected compared with that of local load protocol (P>.05), no significant difference in absolute angular errors of local load protocol was detected compared with that of general load protocol(P>.05). 2. For active-active reproduced knee position test, significant difference in absolute angular errors after general load protocol was detected compared with that before general load protocol(P<.05), significant difference in absolute angular errors after local load protocol was detected compared with that before local load protocol (P<.05). Also, significant difference in absolute angular errors of general load protocol was detected compared with that of local load protocol(P<.05), significant difference in absolute angular errors of local load protocol was detected compared with that of general load protocol(P<.05). 3. A significant decrease of peak torque of knee extensors and flexors was seen after local load, although heart rate was significantly increased(P<.05). No significant change of peak torque of knee extensors and flexors was seen after general load(P>.05), although heart rate was also significantly increased(P<.05). The previous study revealed that knee proprioception is significantly altered when the muscle mechanoreceptors are dysfunctional due to muscle fatigue, although the joint mechanoreceptors have no significantly effect on knee proprioception when the presence of knee muscle fatigue. However, the results of this study are different from those of the previous study in that muscle weakness of the knee could not be seen after general load. This study shows that general load may diminish motor control by the central nervous system. Proprioceptional decline without muscle weakness of knee after general load suggests a change in the proprioceptional pathway without influence from muscle mechanoreceptors.

• 대한기계학회논문집A
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• 제29권5호
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• pp.770-776
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• 2005

The gains fur NC controller parameter are fixed when the controller is combined with a machine. However, the characteristics of controller could be changed as it has being used by the machine or other environmental conditions. Those result in that the tool positioning accuracy is influenced. The loading torque in servo motor influences on the tool positioning accuracy and it is controlled by the parameter gains. It is required to analyze the torque variation with angular positioning accuracy of the servo motor. This study focus on a measuring method and device for verifying angular positioning accuracy of NC servo motor. We used a high resolution An converter for acquiring analogue signal of rotary encoder in servo motor. The positional accuracy for a nominal tool path, which is generated by the combination of axial movements (X,Y,Z), is analyzed with the servo motor torque. The current variation signal is acquired at the power line using a hall sensor and converted to the loading torque of servo motor. The method of measurement and analysis proposed in this study will be used for determining the gains of parameter in NC controller. This gain tuning is also necessary when the controller is set up at a machine.