• Title/Summary/Keyword: Angular Velocity

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Design and Control of Hybrid a Powered Wheelchair for the Elderly (고령자를 위한 하이브리드형 전동 휠체어의 설계 및 제어)

  • Yoon, Tae-Su;Ann, Sung-Jo;Kim, Sang-Min;Han, Young-Bin;Kim, Jung-Yup
    • 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.

Evaluation on Motion Features of the World's Second Archer during Back-Tension in Archery (양궁 백 텐션 국면에서 최우수 양궁선수의 동작특성 평가)

  • Yi, Jae-Hun;Hah, Chong-Ku;Ryu, Ji-Seon;Kim, Ki-Chan
    • Korean Journal of Applied Biomechanics
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    • v.17 no.3
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    • pp.197-207
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    • 2007
  • It has been reported that Back-Tension played a significant role in archery (Lee & Bondit, 2005; Kim, 2007) but there are a few researches related Back-Tension in Korea recently. Therefore, the purpose of this study was to investigate archery back tension technique for the second ranked archer in the World and to find ways to improve performance. A subject(height: 185cm, mass: 82kg, years: 21yrs, careers: 12yrs) who is a number of national team and the second ranked archer in the World authorized by FITA (Federation Internationale de Trial Arc) was perticipated in this experiment. When shooting 60 shots($12{\times}5$), shooting motions were recorded with 7 infrared cameras and 2 ultrahigh-speed cameras. A QTM and an Auto Track were used to acquire raw data. The sampling rates of both cameras were 200 Hz. and 1000 Hz. respectively and data were filtered using a fourth order Butterworth low pass filtering with a cutoff-frequency of 30Hz. The parameters were calculated with Matlab6.5 and analyzed with SPSS11.0. After Pearson's correlations between 8 parameters were analyzed, 5 parameters from 13parameters that affected records were analyzed with multiple regression analysis (Enter order: x1, x2, x3, x4, x5). The results were as follows: 1. Comparing between parameters according to scores, the patterns of horizontal and vertical angular velocity(av.) of scapular relative angle was different between 8 score and 9 or 10 scores. 2. The correlations of parameters that affected records were a horizontal av.(x1, p=.032<.05) and a vertical av.(x3, p=.033<.05) of scapular from release to delivery in KB back-tension (anchoring-delivery). 3. The decision coefficients(R2) of above two parameters and three parameters selected by experts that may affect record, that is, an absolute trunk angle(x4) from in KKC back-tension (anchoring-release) and a horizontal relative scapular angle(x2) and an absolute trunk angle(x5) from release to delivery in KB back-tension were 7.7%(x1), 0.1%(x2), 8.5%(x3), 0.7%(x4) and 0.9%(x5) in sequence. 4. The multiple regression equation was a y= -1.16E-2 x1 + 0.109 x2 + 3.437E-2 x3 + 6.139E-2 x4 + 0.117 x5 + 3.420 In conclusion, a total contribution was low, that is, R2(17.9%) suggested that on the one hand, Lim's motion may not depend on a certain factor because his postural factors affected shooting motion are some stable on the other hand, unknown factors may exist(e.g. psychological, physiological factors etc.). Further study of EMG patterns of muscles and anatomic consideration related to shoulder girdle and scapular bones may help to identify mechanism of Back-Tension.

A Study on the Quantitative Evaluation of Spasticity Implementing Pendulum Test II - A New Scale Development Using a Representative Parameter (진자실험을 통한 경직의 정량적 평가에 관한 연구 II - 대표변수를 이용한 새로운 척도 개발)

  • 임현균;조강희;김봉옥;이영신
    • Journal of Biomedical Engineering Research
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    • v.22 no.1
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    • pp.49-58
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    • 2001
  • A new scale named LCL(Logically Classified Level) has been developed to judge the status of the spasticity quantitatively implementing a pcndulum test in this study. Total 30 parameters have been used to develop the new scale. One representative parameter that can represent the dominant characteristics of spasticity has been chosen through statistical analysis. 20 parameters among 30 parameters uscd in the statistical analysis were newly developed and 10 parameters were from previous studies. The new 20 parametcrs were developed using combinations of pcndulum test characteristics. ie anglc, angular velocity. musclo midel. and EMG. 11 parameters among 30 parameters have showed strong correlations each other, Finally. L11 that showed consistency at every case has been chosen to be a representative parameter among the 11 parameters. 28 patients data were separated into 4 groups. A regression equation to predict the trend of patients of L11 has been made. The paramcter L11 was tested to prove its usabilitics for various cases of patients. The new LCL scale is expected to be a quantitative scale, and to replace the MAS(Modified Ashworth Scale) that is not a quantitative scale. Especially it is also expected that the new scale could be used to plan a treatmcnt period. methods, and intensity. as it can evaluate the status of patient's in detail.

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Effect of a 12-week Shoulder Stability Rehabilitation Program on the Range of Motion and Muscle Strength of Baseball Players with Shoulder Instability (12주의 어깨 안정성 회복 프로그램이 견관절 불안정성 야구선수의 관절가동범위, 근력에 미치는 영향)

  • Yoon, Jin-Ho;Oh, Jae-Keun;Song, Ki-Jae
    • Journal of the Korea Convergence Society
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    • v.12 no.10
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    • pp.277-286
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    • 2021
  • This study investigated the effect of a 12-week rehabilitation program on the range of motion (ROM) and muscle strength of high school baseball players with shoulder instability. We allocated 12 players with shoulder instability to the rehabilitation group and 13 players without shoulder instability to the normal exercise group. Covariate analysis (ANCOVA) was performed to assess the ROM of the internal (IR) and external (ER) rotational joints before and after participating in the 12 weeks of rehabilitation, and two-way ANOVA was performed to assess isokinetic muscle strength. The statistical significance level was set at p<.05. The IR ROM of the dominant (D) shoulder with instability and non-dominant (ND) shoulder was significantly increased before and after the rehabilitation program. The total ROM of the D shoulder with instability significantly increased after rehabilitation. IR isokinetic strength significantly improved at an angular velocity of 180°/s after rehabilitation. These results indicate that the rehabilitation program used in this study could be effective in improving ROM and muscle strength in patients with shoulder instability. However, due to the limited results, additional research on the premise of extending the rehabilitation period is necessary.

A Study on the Maneuverabilities of the Training ship M.S. A-RA (실습선 아라호(M.S. A-RA)의 조종성능에 관한 연구)

  • 안영화;박명호;최환문;정용진
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.37 no.4
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    • pp.275-284
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    • 2001
  • The for this study, turning circle tests and maneuvering indices were conducted to study and evaluate the maneuverabilities of the fishery training ship M.S. A-RA(G/T : 990tons). The results obtained were summarized as follows : 1. The advances of the starboard and port of the turning circle were measured based on the dumb card test method were 198m, 192m, the size of tactical diameters of them were 194m, 188m, respectively. 2. The advances at the starboard and port of the turning circles were measured according to the DGPS positioning obtained 196m, 194m, the size of tactical diameters of them were 194m, 190m, respectively. 3. The results were compared which came from the sizes of turning circle measured up with the dumb card test method during the trial test and from the size of turning circle measured according to the DGPS positioning. The advance of the turning circle measured at the time of the starboard turning according to the DGPS positioning was 1m longer than that of the trial test. And it was 21m shorter at the time of the port turning. 4. The rudder was steered at $35^{\circ}$ of rudder angle each starboard and port while the ship M.S. A-RA was advancing at full speed of 13 k't. The velocity of the ship was reduced to 7.8 k't at $180^{\circ}$ of turning angle and 6.0 k't at $360^{\circ}$ of turning angle and mean values of turning angular velocity of the port and starboard were $2.4^{\circ}$/sec and $2.3^{\circ}$/sec, respectively. 5. The Z test at each $10^{\circ}$, $20^{\circ}$, and $30^{\circ}$ of rudder angle was carried out to have the maneuvering indices K and T measured. K for the each rudder angle were 1.24, 1.45, and 1.65 while T for the each rudder angle were 0.33, 0.20, and 0.14. That is, K at the Z test at $30^{\circ}$ was greater than at the Z test of $10^{\circ}$ and $20^{\circ}$ while T at the $30^{\circ}$ Z test was less than at the Z test of $10^{\circ}$ and 20.

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THE LUMINOSITY-LINEWIDTH RELATION AS A PROBE OF THE EVOLUTION OF FIELD GALAXIES

  • GUHATHAKURTA PURAGRA;ING KRISTINE;RIX HANS-WALTER;COLLESS MATTHEW;WILLIAMS TED
    • Journal of The Korean Astronomical Society
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    • v.29 no.spc1
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    • pp.63-64
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    • 1996
  • The nature of distant faint blue field galaxies remains a mystery, despite the fact that much attention has been devoted to this subject in the last decade. Galaxy counts, particularly those in the optical and near ultraviolet bandpasses, have been demonstrated to be well in excess of those expected in the 'no-evolution' scenario. This has usually been taken to imply that galaxies were brighter in the past, presumably due to a higher rate of star formation. More recently, redshift surveys of galaxies as faint as B$\~$24 have shown that the mean redshift of faint blue galaxies is lower than that predicted by standard evolutionary models (de-signed to fit the galaxy counts). The galaxy number count data and redshift data suggest that evolutionary effects are most prominent at the faint end of the galaxy luminosity function. While these data constrain the form of evolution of the overall luminosity function, they do not constrain evolution in individual galaxies. We are carrying out a series of observations as part of a long-term program aimed at a better understanding of the nature and amount of luminosity evolution in individual galaxies. Our study uses the luminosity-linewidth relation (Tully-Fisher relation) for disk galaxies as a tool to study luminosity evolution. Several studies of a related nature are being carried out by other groups. A specific experiment to test a 'no-evolution' hypothesis is presented here. We have used the AUTOFIB multifibre spectro-graph on the 4-metre Anglo-Australian Telescope (AAT) and the Rutgers Fabry-Perot imager on the Cerro Tolalo lnteramerican Observatory (CTIO) 4-metre tele-scope to measure the internal kinematics of a representative sample of faint blue field galaxies in the red-shift range z = 0.15-0.4. The emission line profiles of [OII] and [OIII] in a typical sample galaxy are significantly broader than the instrumental resolution (100-120 km $s^{-l}$), and it is possible to make a reliable de-termination of the linewidth. Detailed and realistic simulations based on the properties of nearby, low-luminosity spirals are used to convert the measured linewidth into an estimate of the characteristic rotation speed, making statistical corrections for the effects of inclination, non-uniform distribution of ionized gas, rotation curve shape, finite fibre aperture, etc.. The (corrected) mean characteristic rotation speed for our distant galaxy sample is compared to the mean rotation speed of local galaxies of comparable blue luminosity and colour. The typical galaxy in our distant sample has a B-band luminosity of about 0.25 L$\ast$ and a colour that corresponds to the Sb-Sd/Im range of Hub-ble types. Details of the AUTOFIB fibre spectroscopic study are described by Rix et al. (1996). Follow-up deep near infrared imaging with the 10-metre Keck tele-scope+ NIRC combination and high angular resolution imaging with the Hubble Space Telescope's WFPC2 are being used to determine the structural and orientation parameters of galaxies on an individual basis. This information is being combined with the spatially resolved CTIO Fabry-Perot data to study the internal kinematics of distant galaxies (Ing et al. 1996). The two main questions addressed by these (preliminary studies) are: 1. Do galaxies of a given luminosity and colour have the same characteristic rotation speed in the distant and local Universe? The distant galaxies in our AUTOFIB sample have a mean characteristic rotation speed of $\~$70 km $s^{-l}$ after correction for measurement bias (Fig. 1); this is inconsistent with the characteristic rotation speed of local galaxies of comparable photometric proper-ties (105 km $s^{-l}$) at the > $99\%$ significance level (Fig. 2). A straightforward explanation for this discrepancy is that faint blue galaxies were about 1-1.5 mag brighter (in the B band) at z $\~$ 0.25 than their present-day counterparts. 2. What is the nature of the internal kinematics of faint field galaxies? The linewidths of these faint galaxies appear to be dominated by the global disk rotation. The larger galaxies in our sample are about 2"-.5" in diameter so one can get direct insight into the nature of their internal velocity field from the $\~$ I" seeing CTIO Fabry-Perot data. A montage of Fabry-Perot data is shown in Fig. 3. The linewidths are too large (by. $5\sigma$) to be caused by turbulence in giant HII regions.

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CCD Photometric Observations and Light Curve Synthesis of the Near-Contact Binary XZ Canis Minoris (근접촉쌍성 XZ CMi의 CCD 측광관측과 광도곡선 분석)

  • Kim, Chun-Hwey;Park, Jang-Ho;Lee, Jae-Woo;Jeong, Jang-Hae;Oh, Jun-Young
    • Journal of Astronomy and Space Sciences
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    • v.26 no.2
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    • pp.141-156
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    • 2009
  • Through the photometric observations of the near-contact binary, XZ CMi, new BV light curves were secured and seven times of minimum light were determined. An intensive period study with all published timings, including ours, confirms that the period of XZ CMi has varied in a cyclic period variation superposed on a secular period decrease over last 70 years. Assuming the cyclic change of period to occur by a light-time effect due to a third-body, the light-time orbit with a semi-amplitude of 0.0056d, a period of 29y and an eccentricity of 0.71 was calculated. The observed secular period decrease of $-5.26{\times}10^{-11}d/P$ was interpreted as a result of simultaneous occurrence of both a period decrease of $-8.20{\times}10^{-11}d/P$ by angular momentum loss (AML) due to a magnetic braking stellar wind and a period increase of $2.94{\times}10^{-11}d/P$ by a mass transfer from the less massive secondary to the primary components in the system. In this line the decreasing rate of period due to AML is about 3 times larger than the increasing one by a mass transfer in their absolute values. The latter implies a mass transfer of $\dot{M}_s=3.21{\times}10^{-8}M_{\odot}y^{-1}$ from the less massive secondary to the primary. The BV light curves with the latest Wilson-Devinney binary code were analyzed for two separate models of 8200K and 7000K as the photospheric temperature of the primary component. Both models confirm that XZ CMi is truly a near-contact binary with a less massive secondary completely filling Roche lobe and a primary inside the inner Roche lobe and there is a third-light corresponding to about 15-17% of the total system light. However, the third-light source can not be the same as the third-body suggested from the period study. At the present, however, we can not determine which one between two models is better fitted to the observations because of a negligible difference of $\sum(O-C)^2$ between them. The diversity of mass ratios, with which previous investigators were in disagreement, still remains to be one of unsolved problems in XZ CMi system. Spectroscopic observations for a radial velocity curve and high-resolution spectra as well as a high-precision photometry are needed to resolve some of remaining problems.