• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.137-144
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• 2015

In this paper, we present an inertial sensor-based gait analysis system to measure and analyze lower-limb movements. We developed an integral AHRS(Attitude Heading Reference System) using a combination of rate gyroscope, accelerometer and magnetometer sensor signals. Several AHRS modules mounted on segments of the patient's body provide the quaternions representing the patient segments's orientation in space. And a method is also proposed for calculating three-dimensional inter-segment joint angle which is an important bio-mechanical measure for a variety of applications related to rehabilitation. To evaluate the performance of our AHRS module, the Vicon motion capture system, which offers millimeter resolution of 3D spatial displacements and orientations, is used as a reference. The evaluation resulted in a RMSE(Root Mean Square Error) of 1.08 and 1.72 degree in yaw and pitch angle. In order to evaluate the performance of our the gait analysis system, we compared the joint angle for the hip, knee and ankle with those provided by Vicon system. The result shows that our system will provide an in-depth insight into the effectiveness, appropriate level of care, and feedback of the rehabilitation process by performing real-time limb or gait analysis during the post-stroke recovery.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.7
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• pp.651-657
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• 2008

A new approach for maximizing torque capability of low efficient reaction wheel assembly is addressed in this paper. At first, to find out a solution in constrainted field, weighted pseudo-inverse and momentum minimized allocation are suggested instead of a general control allocation called pseudo-inverse. The second method is a structural manner to enlarge torque capability of specific axis by changing installed skew angle of wheels. Two proposed methods are applied to large angle maneuvers of satellite. Improvement of control performance and feasibility for applying to commercial satellite attitude control are demonstrated by numeric simulations.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.10
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• pp.105-111
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• 2003

A measurement of spacecraft alignment is an important process of spacecraft assembly, integration and test. Because, it is necessary that a operator of a ground station controls the precise positions of on-orbit spacecraft by using the alignment data of attitude orbit control sensors(AOCS) on spacecraft. And, an accuracy of spacecraft alignment requirement is about $0.1^{\circ}{\sim}0.7^{\circ}$. A spacecraft alignment is measured by autocollimation of theodolite. This paper describes the measurement principle and method of spacecraft alignment. The result shows that all the AOCS on the spacecraft are aligned within the tolerance required through the alignment measurement.

• Journal of the Korean Society for Library and Information Science
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• v.45 no.4
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• pp.287-295
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• 2011

The Five Laws of Library Science was introduced into Japan in 1935. After World War II, it was widely disseminated among young librarians by the education for librarianship developed in the 1950's. Its concept, "Books for All," met a serious opposition from local authorities based on their long continued concept of "preservation." After they realized that people eagerly use local libraries, they interpreted that the duty of public library was "lending books." They introduced "Privatization" of libraries into quite a few local libraries in order to save money. For overcoming problems, it is important to disseminate the library concept among the public, the assembly members and government officials planning to change their attitude of disregarding libraries. As the fundamental library philosophy, the Five Laws of Library Science is important. In the commentary of the Five Laws written by the present writer, he included an illustration of triangle pyramid showing the structure of the Five Laws. He included here the spiral of study on the library and the library science, based on the Section 814 of the Five Laws. He welcomes discussions on his Japanese angle from different viewpoints in order to develop further understanding of the Five Laws.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• Tribology and Lubricants
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• v.1 no.1
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• pp.88-101
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• 1985

There is a certain relation between the performance characteristics of the porous metal bearing and the porosity. Since the relation is not explicit, author tried to investigate it by numerical analysis and experiment. The analysis and experiment show that the load carrying capacity decreases as porosity increases while attitude angle and friction parameter increase as porosity increases.

• The Journal of Engineering Geology
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• v.24 no.2
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• pp.171-178
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• 2014

In seismic reflection data processing, the crossdip correction effectively focuses the stacking energy near the sharp bends of a crooked survey line. Additionally, approximate 3-D information on the reflector (e.g., true crossdip angle and lateral continuity) are locally investigated as a by-product of the crossdip correction procedure. Improvement of the signal-to-noise ratio and estimation of reflector crossdip attitude are tested, in terms of both common midpoint bin direction and processing-line type, using synthetic seismic reflection data. To effectively image the reflection energy near bends in seismic survey lines, straight-line binning is preferred to slalom-line binning.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1990.11a
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• pp.46-57
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• 1990

It is known that the effects of oil supply conditions on the characteristics of plain journal bearings are significant and especially the dynamic characteristics are affected by cavity region. For various shapes (axial groove, spiral groove, X-shape groove) and positions of oil grooves, the pressure distribution and the static performance of plain journal bearings are obtained with numerical methods. Elrods algorithm which implements JFO oil rupture/reformation boundary condition is used in order to take into account the effect of cavity region. It is shown that in the cases of axial groove or X-shape groove the load capacity and the attitude angle are affected by the groove position but the effect of spiral groove position is less significant.

• Tribology and Lubricants
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• v.20 no.4
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• pp.183-189
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• 2004

The floating ring seal is used in an oxidizer and a fuel pump of the turbo pump unit in the liquid rocket engine to optimize a leakage without rubbing phenomenon. The damper floating ring seal, one of the floating ring seals, is with round hole pattern surfaces. It can reduce the leakage by increased friction factor that obtained from experimental data. In this paper, the leakage test about floating ring seal and damper floating ring seal was conducted. The test result showed the leakage performance of damper floating ring seal was better than the leakage performance of floating ring seal. With the leakage test the lock-up and rotation test about seal was conducted and that position is measured. The relatively large lock-up eccentric ratio was obtained from the test result of damping floating ring seal. The attitude angle of seal increases with increasing of shaft rotation.