• 한국정밀공학회지
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• 제27권12호
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• 한국정밀공학회지
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• 제22권1호
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• pp.143-151
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• 2005

This paper study the effect of open cracks on the dynamic behavior of simply supported Timoshenko beam with a moving mass. The influences of the depth and the position of the crack in the beam have been studied on the dynamic behavior of the simply supported beam system by numerical method. Using Lagrange's equation derives the equation of motion. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments i.e. the crack is modeled as a rotational spring. This flexibility matrix defines the relationship between the displacements and forces on the crack section and is derived by the applying fundamental fracture mechanics theory. As the depth of the crack is increased the mid-span deflection of the Timoshenko beam with the moving mass is increased. And the effects of depth and position of crack on dynamic behavior of simply supported beam with moving mass are discussed.

• 한국정밀공학회지
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• 제22권6호
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• Ocean Systems Engineering
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• 제5권3호
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• pp.199-220
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• 2015

The paper described the nonlinear dynamic motion behavior of a barge equipped with the portable outboard Dynamic Positioning(DP) control system in short-crested waves. The DP system based on the fuzzy theory is applied to control the thrusters to optimally adjust the ship position and heading in waves. In addition to the short-crested waves, the current, wind and nonlinear drifting force are also included in the calculations. The time domain simulations for the six degrees of freedom motions of the barge with the DP system are solved by the $4^{th}$ order Runge-Kutta method. The results show that the position and heading deviations are limited within acceptable ranges based on the present control method. When the dynamic positioning missions are needed, the technique of the alternative portable DP system developed here can serve as a practical tool to assist those ships without equipping with the DP facility.

• JSTS:Journal of Semiconductor Technology and Science
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• 제15권6호
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• pp.685-694
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• 2015

In this paper, a new dynamic reference scheme is proposed to improve the read voltage margin better than the previous static reference scheme. The proposed dynamic reference scheme can be helpful in compensating not only the background pattern dependence but also the cell position dependence. The proposed dynamic reference is verified by simulating the CMOS-memristor hybrid circuit using the practical CMOS SPICE and memristor Verilog-A models. In the simulation, the percentage read voltage margin is compared between the previous static reference scheme and the new dynamic reference scheme. Assuming that the critical percentage of read voltage margin is 5%, the memristor array size with the dynamic scheme can be larger by 60%, compared to the array size with the static one. In addition, for the array size of $64{\times}64$, the interconnect resistance in the array with the dynamic scheme can be increased by 30% than the static reference one. For the array size of $128{\times}128$, the interconnect resistance with the proposed scheme can be improved by 38% than the previous static one, allowing more margin on the variation of interconnect resistance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1380-1383
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• 2004

The scanning type XY stage is frequently used these days as precision positioning system in equipment for semiconductor or display element. It is requested higher velocity and more precise accuracy for higher productivity and measuring performance. The position accuracy of general stage is primarily affected by the geometric errors caused by parasitic motion of stage, misalignments such as perpendicular error, and thermal expansion of structure. In the case of scanning type stage, H type frame is usually used as base stage which is driven by two actuators such as linear motor. In the point view of scanning process, the stage is used in moving motion. Therefore, dynamic variation is added as significant position error source with other parasitic motion error. Because the scanning axis is driven by two actuators with two position detectors, 2 dimensional position errors have different characteristic compared to general tacked type XY stage. In this study 2D position error of scanning stage is analyzed by 1D heterodyne interferometer calibrator, which can measure 1D linear position error, straightness error, yaw error and pitch error, and perpendicular error. The 2D position error is evaluated by diagonal measurement (ISO230-6). The yaw error and perpendicular error are compensated on the base stage of scanning axis. And, the horizontal straightness error is compensated by cross axis compensation. And, dynamic motion error in scanning motion is analyzed.

• 한국전문물리치료학회지
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• 제8권2호
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• pp.73-85
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• 2001

The purpose of this study was to investigate whether the standing balance could be influenced by the different foot positions. Seventeen patients with hemiplegia were tested for the static and dynamic balance under the different foot positions. In the balance test, subject stood by bearing weight on one foot, and the other foot was positioned in three different positions (symmetric, $45^{\circ}$ anterolateral, and anterior position). This study used the Kinesthetic ability trainer (KAT2000) to measure the standing balance. The results were as follows: 1) There were significant differences in the static standing balance in different foot positions with both weight-bearing on the paretic limb and on the nonparetic limb (p<.05). 2) There were also significant differences in the dynamic standing balance in different foot positions with both weight-bearing on the paretic limb and on the nonparetic limb (p<.05). 3) There was a significant difference when the paretic weight-bearing and the nonparetic weight-bearing were compared (p<.01). 4) when the paretic weight-bearing and the nonparetic weight-bearing were compared, anterior foot position showed a significant difference in the dynamic standing balance (p<.05), but $45^{\circ}$ anterolateral foot position did not show a significant difference (p>.05). In this study, the standing balance showed a significant difference according to different foot positions in hemiparetic patients, and standing balance was better when they stood by bearing weight on the nonparetic limb. These results indicate that it is a necessary to consider both weight-bearing limb and foot position not only in the rehabilitation program but also in achieving the stability in the independent life.

• 대한기계학회논문집
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• 제18권10호
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Physical Therapy Rehabilitation Science
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• 제9권4호
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• pp.269-274
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• 2020

Objective: There are many cases of applying various taping methods to prevent muscle damage and to assist with movement. The purpose of this study was to investigate and to compare the effects of dynamic taping on joint position sense and to find out the difference in error values during various degrees of shoulder flexion. Design: Cross-sectional study. Methods: A total of 20 subjects participated in this study with a randomized cross-over design. The order of taping was adjusted by randomly proceeding with dynamic taping, sham taping, and no taping. After the taping, the proprioception of the shoulder joint was evaluated. The evaluation of proprioceptive sensation was performed by evaluating joint position sensation. The sequence was adjusted by randomly performing joint position tests at each shoulder flexion of 50, 90, and 110 degrees. All angles were repeated 3 times. Results: There was a significant difference between dynamic taping and no taping in 50 degrees of shoulder flexion. There was a significant difference between sham taping and no taping in 90 degrees of shoulder flexion (p<0.05). No significant difference was found in 110 degrees of shoulder flexion. Conclusions: In this study, it was confirmed that dynamic taping is effective in improving the joint position sense in 50 degrees of shoulder flexion. In the future, it is expected that further studies will be conducted on patients with shoulder dysfunction with decreased proprioception.

• 한국소음진동공학회논문집
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• 제23권5호
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• pp.407-413
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• 2013

This paper deals with the analysis of dynamic characteristics of mooring system of floating-type offshore wind turbine. A spar-type floating structure which consists of a nacelle, a tower and the platform excepting blades, is used to model the floating wind turbine and connect three catenary cables to substructure. The motion of floating structure is simulated when the mooring system is attached using irregular wave Pierson-Moskowitz model. The mooring system is analyzed by changing cable position of floating structure. The dynamic behavior characteristics of mooring system are investigated comparing with cable tension and 6-dof motion of floating structure. These characteristics are much useful to initial design of floating-type structure. From the simulation results, the optimized design parameter that is cable position of connect point of mooring cable can be obtained.