• Journal of applied mathematics & informatics
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• 제27권3_4호
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• pp.501-515
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• 2009

A second order nonlinear ordinary differential equation is obtained by solving the initial-boundary value problem of a class of elas-todynamics equations, which models the radially symmetric motion of a incompressible hyper-elastic solid sphere under a suddenly applied surface tensile load. Some new conclusions are presented. All existence conditions of nonzero solutions of the ordinary differential equation, which describes cavity formation and motion in the interior of the sphere, are presented. It is proved that the differential equation has singular periodic solutions only when the surface tensile load exceeds a critical value, in this case, a cavity would form in the interior of the sphere and the motion of the cavity with time would present a class of singular periodic oscillations, otherwise, the sphere remains a solid one. To better understand the results obtained in this paper, the modified Varga material is considered simultaneously as an example, and numerical simulations are given.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Structural Engineering and Mechanics
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• 제8권2호
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• pp.193-205
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• 1999

A formulation for the dynamic stability analysis of cylindrical shells resting on elastic foundations is presented. In this previously not studied problem, a normal-mode expansion of the partial differential equations of motion, which includes the effects of the foundation as well as a harmonic axial loading, yields a system of Mathieu-Hill equations the stability of which is analyzed using Bolotin's method. The present study examines the effects of the elastic foundation on the instability regions of the cylindrical shell for the transverse, longitudinal and circumferential modes.

• 한국정밀공학회지
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• 제17권11호
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• pp.165-175
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• 2000

In recent years, it becomes a very important issue to consider the mechanical systems such as high-speed vehicles and railway trains moving on elastic beam structures. In this paper, a general approach, which can predict the dynamic behavior of constrained mechanical system and elastic beam structure, is proposed. Also, various supporting conditions of a foundation support are considered for the elastic beam structures. The elastic structure is assumed to be a nonuniform and linear Bernoulli-Euler beam with proportional damping effect. Combined Differential-Algebraic Equations of motion are derived using multibody dynamics theory and Finite Element Method. The proposed equations of motion can be solved numerically using generalizd coordinate partitioning method and Predictor-Corrector algorithm, which is an implicit multi-step integration method.

• 대한물리치료과학회지
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• 제8권2호
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• pp.1023-1032
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• 2001

The muscles relating to movement of painful low back was analyzed kinematically, by method of applying elastic tapes and putting non-elastic tapes on muscles involving those movements which cause pain and limitation of range of motion (ROM) in low back and trunk. Taping therapy which is effective for improvement of painful low back and which is supposed to facilitate the total and continual movement based on the postural reflexes will be presented in this paper. Fifty cases who had painful low back were investigated. Patients with painful low back were at first asked pain point and direction of painful movement, and then tested the muscles which are cause of those pain and limited motion. Before attaching tape, all subjects were divided into two groups, flexor pattern and extensor pattern, according to direction of increasing pain. Elastic tapes were applied from origin to insertion of objective muscles and non-elastic tapes were put on effective points of the muscles which were associated with respect to pain and limited ROM. As a result of this study, all subjects with low back pain significantly improved in pain and ROM at the low back. The longest treatment duration group for the low back pain cases was herniated lumbar disc(10.4 days) group. Low back pain have been treated by so many ways. muscles factor should be emphasized to be distinguish1y important to reduce low back pain. The muscles relating to make directly painful motion in low back and trunk should be confirmed by means of taping and painful motion should be analyzed by point of view of postural reflexes.

• 로봇학회논문지
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• 제15권2호
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• pp.139-146
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• 2020

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway's body to improve the cornering characteristics during turning. To ensure Segway's driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

• 한국전자통신학회논문지
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• 제7권2호
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• pp.401-407
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• 2012

본 논문에서는 대표적인 이동 로봇의 장애물 회피 방법들의 성능을 분석한다. 이를 위해 장애물 회피 성능 지수로서 목표점까지 이동한 거리, 이동 시간, 장애물과의 거리, 로봇 동작의 평활도(smoothness)를 제시한다. 특히 로봇 동작의 평활도는 로봇 동작 시 조향 방향의 각가속도와 저크(jerk)를 사용하여 로봇의 실질적 이동 효율성을 측정하는 성능 지수이다. 주어진 성능 지수에 의하여 4가지의 주요한 장애물 회피 방법을 비교하였다. 주요한 장애물 회피 방법은 인공 전위계 방법, 탄성력(elastic force) 방법, 가상 거리(virtual distance)에 의한 인공전위계 방법, 그리고 가상 거리에 의한 탄성력 방법이다. 시뮬레이션을 통하여 각 방법의 성능을 비교 분석하여 각각의 장애물 회피 특성을 파악하였다.

• 한국전문물리치료학회지
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• 제24권1호
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• pp.19-29
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• 2017

Background: Patients after rotator cuff (RC) surgery experienced pain, weakness and limited of motion of the shoulder. Physical therapists have used heat therapy, electrotherapy, range of motion (ROM) exercise and other methods to treat patients after RC surgery. In addition, functional taping is also used to support joint movement and to increase shoulder joint stability. Objects: The purpose of this study was to determine the initial effects of functional taping using non-elastic tape on pain, strength and ROM of the shoulder following RC surgery. Methods: Forty-eight patients with who underwent RC surgery volunteered for this study. The subjects were randomly divided into an experimental group (EG, $n_1=25$) and a control group (CG, $n_2=23$). First, non-allergic tape was applied to the shoulder to prevent skin irritation. The EG applied functional taping using non-elastic tape and the CG applied sham taping using elastic tape. Assessment tools included the shoulder pain and disability index for functional activity score, visual analog scale for level of pain, shoulder muscle strength, hand grip strength and ROM testing. Results: Pain score in the both group significantly decreased (p<.05), and change in pain score of in the EG increased significantly than in the CG (p<.05). Shoulder strength and ROM in the both group significantly increased (p<.05). Especially external rotation and extension of the shoulder ROM in the EG increased significantly more than in the CG (p<.05), but the rate of change in the two groups showed no significant difference. Conclusion: These results suggest that functional taping using non-elastic tape was initially effective in decreasing pain score level in patients with RC surgery.

• 대한기계학회논문집B
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• 제25권10호
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• pp.1327-1336
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• 2001

The structural modes driven by the low wave-number components of smooth elastic wall pressure provide a relatively weak coupling between the flow and the wall motion. If the elastic thin plate has any resonant mode whose wave-number of resonance coincides with $\omega$/U$\sub$c/, the power will be transmitted to those modes of vibration by the flows. We examine the problem in which the elastic thin plate is subject to pressure fluctuations under turbulent boundary layer. Measurements are presented of the frequency spectra of the near- and far-field pressures and radiated sound contributed by the various wave modes of the thin elastic plate. Dispersion equation for wave motions of elastic plate is used to investigate the effect of bending waves of relatively low wave number on radiated sound. The low wave-number motion of elastic plate is observed to have much less influence on the low-frequency energy of wall pressure fluctuations than that of the rediated sound. High amplitude events of the wall pressure are observed to weakly couple with high-frequency energy of radiated sound for case of low tension applied to the plate. The sound source localization is applied to the measurement of radiated sound by using acoustic mirror system.

• Structural Engineering and Mechanics
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• 제28권6호
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• pp.677-694
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• 2008

A vibration power minimization model is developed, based on the mobility matrix method, for a vibration isolation system consisting of a vibrating source placed on an elastic support structure through multiple resilient mounts. This model is applied to investigate the design optimization of an X-Y motion stage-based vibration isolation system used in semiconductor wire-bonding equipment. By varying the stiffness coefficients of the resilient mounts while constraining the dynamic displacement amplitudes of the X-Y motion stage, the total power flow from the X-Y motion stage (the vibrating source) to the equipment table (the elastic support structure) is minimized at each frequency interval in the concerned frequency range for different stiffnesses of the equipment table. The results show that when the equipment table is relatively flexible, the optimal design based on the proposed vibration power inimization model gives significantly little power flow than that obtained using a conventional vibration force minimization model at some critical frequencies. When the equipment table is rigid enough, both models provide almost the same predictions on the total power flow.