• Journal of Biosystems Engineering
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• 제27권1호
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• pp.67-76
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• 2002

This study was conducted to investigate the effects of impact conditions on the acoustic characteristics of a watermelon. The study was crucial to develop a device for nondestructive internal quality evaluation of a watermelon by an acoustic impulse response method. An impact device was constructed with a pendulum to hit the watermelon, a microphone to detect the acoustic impulse responses, and a digital oscilloscope and computer to store and analyze the data. The selected samples were Guemcheon cultivar watermelons(Citrulus Vulgaris Schrad) harvested on Oct. 20,1998. Sixty watermelons were tested on flour different types of sample holders, with four kinds of ball made of different materials, at four bevels of the angular position of the pendulum and distance from the watermelon to the microphone. Since the magnitudes of frequencies obtained by hitting with the steel and rubber ball were relatively small at the bandwidths of above 500 Hz, it was shown that the steel and rubber ball were not suitable far a hitting ball in the pendulum to get informations on internal quality of the watermelon. In case of using broth of the wood and acryl ball, almost the same and good acoustic responses were shown on the wide range of frequency bandwidth. Therefore, it seemed that the acryl ball was more suitable to the test than the wood ball in considering its mechanical properties. The acoustic characteristics of the watermelon were not shown a significant difference between the types of sample holder. The amplitudes of the acoustic signals and the magnitudes of frequencies from the whole samples increased with increase of the angular position of pendulum and with decrease of the distance from the watermelon to the microphone. However, the resonance resonance of the sample were almost the same regardless of the angular positions and the distances.

• 한국운동역학회지
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• 제15권1호
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• pp.1-18
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• 2005

The purpose of this study was to evaluate performance characteristics. in the success of team attack during volleyball competition. For this, real game was analyzed using S-VHS video camera for three dimensional cinematography. The contents of this research were receive to set time, set to spike time, setter moving distance, ball position during set and attacker's relative ball position during jump and spike, and open area at spike. Among the various kinematical factors considered in this study, the ball height relative spiker and open area were found to be related to offensive performance. This finding implies that although their direct impact were not significant the other factors could have indirect impact on offensive performance by increasing open area. Thus, receiver, setter, assistant attacker, and main attacker should practice for successful performance in each stage. Lastly, it is necessary to develop kinematic variables to evaluate performance characteristics of players. Further study may consider the best defense position against the attack of the opponent player.

• 한국항해학회지
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• 제23권3호
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• 한국생산제조학회지
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• 제21권2호
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• pp.208-213
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• 2012

In this paper, the radial error of a rotary table at five-axis machine tool is evaluated by utilizing ISO 230-2 and estimation method using double ball-bar. The geometric error of a rotary table is defined as position dependent geometric errors or position independent geometric errors according to their physical character. Then estimation method of geometric errors using double ball-bar is simply summarized including measurement path, parametric modeling and least squares approach. To estimate representative radial error, offset error, set-up error which affect to the double ball-bar data, mean value of measured data including CCW/CW-direction are used at estimation process. Radial errors are separated from measured data and used for evaluation with ISO 230-2. Finally, suggested evaluation method is applied to a rotary table at five-axis machine tool and its result is analyzed to improve the accuracy of the rotary table.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.893-898
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• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.263-268
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• 1997

Development of a high speed feed drive system has been a major issue for the past few decades in machine tool industries. The reduction of tool change time as well as repid travel time can enhance the productivity. However,the high speed feed drive system generates more heat in nature,which leads to thermal expansion that has adverse effects on the accuracy of machined part. The paper divides the feed drive system into the ball screw and guide way. For each part, the thermal behvior model is separtately developed to estimate the position error of the respective feed drive system that is caused by the thermal expansion. The modified lumped capacitance method is used to analyze the linear position error of the ball screw. The thermal deformation of guide way parts affects the straightness and angular error as well as linear position error. Finite element method is used to estimate the thermal behavior of these guide way parts. The effectiveness of the proposed models are verified through the experiments using laser interferometer.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 I
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• pp.297-303
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• 2001

This research presents an analytical model to characterize the ball bearing vibration due to the waviness in a rigid rotor supported by multi-row ball bearings considering centrifugal force and gyroscopic moment of ball. The effects of centrifugal force and gyroscopic moment are introduced to the kinematic constraints and force equilibrium equations. The waviness of ball and races is modeled by the superposition of sinusoidal function and it is introduced to position vectors of race curvature center to use the Hertzian contact theory in order to calculate the elastic deflection and nonlinear contact force resulting from the waviness while the rotor has translational and angular motion. They can be determined by solving the nonlinear equations of motion with five degrees of freedom by using the Runge-Kutta-Fehlberg algorithm. The accuracy of this research is validated by comparing with the results of the prior researches. It characterizes the vibration frequencies resulting from the various kinds of waviness in rolling elements, the harmonic frequencies resulting from the nonlinear load-deflection characteristics of ball bearing resulting from the waviness interaction.

• 전기전자학회논문지
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• 제23권4호
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• pp.1236-1242
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• 2019

최근 로봇 기술의 발전에 따라 모바일 로봇에 대한 연구가 주목을 받고 있다. 현재 모바일 로봇의 대부분은 2륜 및 4륜 기반으로 개발되어 직선 주행에는 강하지만 방향전환 및 제자리 회전에 제한이 있으며, 이러한 문제점을 극복하고자 구 형태의 바퀴를 사용하는 볼 로봇에 대한 연구가 진행되고 있다. 볼 로봇은 협소한 공간에서 큰 제약 없이 이동이 가능하다는 장점을 가지고 있지만, 구조적으로 불안정하여 안정적인 자세 및 주행 제어가 요구된다. 본 연구에서는 무선통신으로 자세 및 주행 제어가 가능한 스마트폰 어플리케이션을 제안하고, 이를 적용하여 제작된 볼 로봇을 이용하여 자세 및 주행 제어 실험을 수행하였다. 실험을 통해 Roll 각도 오차 ±0.8도, Pitch 각도 오차 ±0.7도 이내에서 제어됨을 확인하였으며, 1m 주행제어에 대해 x축 방향 위치오차 ±0.1m, y축 방향 위치오차 ±0.08m 이내에서 제어됨을 확인하였다.

• 대한정형도수물리치료학회지
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• 제29권2호
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• pp.59-67
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• 2023

Background: The purpose of this study is to analyze the effect of shoulder and neck stabilization exercise using a gym ball for healthy women in their 20s with round shoulder and forward head posture, it is intended to try and find improvement for posture. Methods: The subjects of the study were 25 women who understood the purpose of the research and voluntarily agreed to participate in the experiment. They carried out the shoulder and neck stabilization exercise program using a gym ball, which was conducted for 35 minutes, 3 times a week for 4 weeks. The position of the round shoulder and shoulder bones was measured using an tape measurement and were recorded in both at pre, 2 weeks, and post intervention. The craniovertebral angle (CVA) and craniorotational angle (CRA) was measured using an image J. Results: The round shoulder posture left was statistically significantly different within group (p<.05); however, the round shoulder posture right wasn't statistically significantly different (p>.05). As a result of this contrast, test were significant different in both at pre, 2 weeks and post. The scapular position on the left and right were statistically significantly different within the group (p<.05). As a result of the contrast, test were significant different in both at pre, 2 weeks and post (p<.05). The CVA and CRA on the left and right were statistically significantly different within the group (p<.05). As a result of the contrast, test were significant different in both at pre, 2 weeks and post (p<.05). Conclusion: The gym ball exercises improved the posture of women in their 20s. Therefore, gym ball exercises can help improve the quality of life of those with shoulder and neck pain.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.964-968
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• 2007

The measurement of floor impact sound have been standardized in KS 2810-1 and 2. The height of receiving microphones position is specified in the standard as 1.2m which is almost half height of apartment rooms as a listening position. In this study, receiving positions are investigated by measuring the distribution of sound pressure levels at 792 receiving microphone positions in the standard testing building. Standard impact sources, tapping machine and impact ball, are driven on the center position in the source room where is located at the above floor. It was found that the distribution of sound pressure levels in the receiving room indicates significant deviation at different frequencies there is more than 5dB drop at 63Hz but 2dB rise at 125Hz at a height of 1.2m when the impact ball is driven, in the other case of a generating tapping machine there is more than 2dB rise at 125Hz at a height of 1.2m due to room modes.