• CDE review
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• v.18 no.2
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• pp.38-46
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• 2012

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.117-121
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• 2023

Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1751-1754
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• 2003

Due to advances in information technology, even Engineering Simulations can now be performed in web-based JAVA through an integrated operating system called Virtual Machine and the use of byte code, which guarantees the compatibility of identical codes in every computing system and makes it suitable for web-based simulation system development. This paper introduces an implementation embodied in JAVA Applet that allows a block-diagram type GUI that runs in a web browser for use in the dynamics simulation modeling of powertrains of vehicles and multi-body systems. This system is not restrained by any of the H/W and S/W in the user's computer, so that it has the advantage of providing a GUI that allows web-based block-diagram type modeling.

• Clinics in Shoulder and Elbow
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• v.26 no.2
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• pp.126-130
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• 2023

Background: Arm swing plays a role in gait by accommodating forward movement through trunk balance. This study evaluates the biomechanical characteristics of arm swing during gait. Methods: The study performed computational musculoskeletal modeling based on motion tracking in 15 participants without musculoskeletal or gait disorder. A three-dimensional (3D) motion tracking system using three Azure Kinect (Microsoft) modules was used to obtain information in the 3D location of shoulder and elbow joints. Computational modeling using AnyBody Modeling System was performed to calculate the joint moment and range of motion (ROM) during arm swing. Results: Mean ROM of the dominant elbow was 29.7°±10.2° and 14.2°±3.2° in flexion-extension and pronation-supination, respectively. Mean joint moment of the dominant elbow was 56.4±12.7 Nm, 25.6±5.2 Nm, and 19.8±4.6 Nm in flexion-extension, rotation, and abduction-adduction, respectively. Conclusions: The elbow bears the load created by gravity and muscle contracture in dynamic arm swing movement.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• Communications of the Korean Mathematical Society
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• v.16 no.3
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• pp.519-541
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• 2001

Magnetic Resonance Electrical Impedance Tomography(MREIT) is a new medical imaging technique for the cross-sectional conductivity distribution of a human body using both EIT(Electrical Impedance Tomography) and MRI(Magnetic Resonance Imaging) system. MREIT system was designed to enhance EIT imaging system which has inherent low sensitivity of boundary measurements to any changes of internal tissue conductivity values. MREIT utilizes a recent CDI (Current Density Imaging) technique of measuring the internal current density by means of MRI technique. In this paper, a mathematical modeling for MREIT and image reconstruction method called the alternating J-substitution algorithm are presented. Computer simulations show that the alternating J-substitution algorithm provides accurate high-resolution conductivity images.

• Tribology and Lubricants
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• v.30 no.2
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• pp.116-123
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• 2014

The objective of this study is to model and simulate the nonlinear lubrication performance of the sliding part between the piston and cylinder wall in a hydrostatic swash-plate-type axial piston pump. A numerical algorithm is developed that facilitates simultaneous calculation of the rotating body motion and fluid film pressure to observe the fluid film geometry and power loss. It is assumed that solid asperity contact, so-called mixed lubrication in this study, invariably occurs in the swash-plate-type axial piston pump, which produces a higher lateral moment on the pistons than other types of hydrostatic machines. Two comparative mixed lubrication models, rigid and elastic, are used to determine the reaction force and sliding friction. The rigid model does not allow any elastic deformation in the partial lubrication area. The patch shapes, reactive forces, and virtual local elastic deformation in the partial lubrication area are obtained in the elastic contact model using a simple Hertz contact theory. The calculation results show that a higher reaction force and friction loss are obtained in the rigid model, indicating that solid deformation is a significant factor on the lubrication characteristics of the reciprocating piston part.

• Structural Engineering and Mechanics
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• v.6 no.5
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• pp.485-496
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• 1998

Standard finite element wave propagation codes are useful for determining stresses caused by the impact of one body with another; however, their applicability to a laminated system such as architectural laminated glass is limited because the important interlayer delamination process caused by impact loading is difficult to model. This paper presents a method that allows traditional wave propagation codes to model the interlayer debonding of laminated architectural glass subject to low velocity, small missile impact such as that which occurs in severe windstorms. The method can be extended to any multilayered medium with adhesive bonding between the layers. Computational results of concern to architectural glazing designers are presented.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.2162-2167
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• 2003

It is well-known that high anisotropic characteristic of turbulent flow field is dominant inside tip leakage vortex. This anisotropic nature of turbulence invalidates the use of the conventional isotropic eddy viscosity turbulence model based on the Boussinesq assumption. In this study, to check whether an anisotropic turbulence model is superior to the isotropic ones or not, the results obtained from steady-state Reynolds averaged Navier-Stokes simulations based on the RNG ${\kappa}-{\varepsilon}$ and the Reynolds stress model in two test cases, such as a linear compressor cascade and a forward-swept axial-flow fan, are compared with experimental data. Through the comparative study of turbulence models, it is clearly shown that the Reynolds stress model, which can express the production term and body-force term induced by system rotation without any modeling, should be used to predict the complex tip leakage flow, including the locus of tip leakage vortex center, quantitatively.

• Journal of Biomedical Engineering Research
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• v.26 no.6
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• pp.373-381
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• 2005

The respiratory and heart beat signals are the fundamental physiological signals for sleep monitoring in the home. Using the air mattress sensor system, the respiration and heart beat movements can be measured without any harness or sensor on the subject's body which makes long term measurement difficult and troublesome. The differential measurement technique between two air cells is adopted to enhance the sensitivity. The concept of the balancing tube between two air cells is suggested to increase the robustness against postural changes during the measurement period. With this balancing tube, the meaningful frequency range could be selected by the pneumatic filter method. The mathematical model for the air mattress and balancing tube was suggested and the validation experiments were performed for step and sinusoidal input. The results show that the balancing tube can eliminate the low frequency component between two cells effectively. This technique was applied to measure the respiration and heart beat on the bed, which shows the potential applications for sleep monitoring device in home. With the analysis of the waveform, respiration intervals and heart beat intervals were calculated and compared with the signal from conventional methods. The results show that the measurement from air mattress with balancing tube can be used for monitoring respiration and heart beat in various situations.