• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• Journal of Korean Physical Therapy Science
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• v.8 no.2
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• pp.935-944
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• 2001

The patellofemoral pint is formed by the articulation of the patella and femoral condyles in the trochlear groove. The complexity of the patellofemoral pint is magnified by the fact that the tibiofemoral pint works in conjunction with the patellofemoral pint. Additionally, other pints such as the subtalar pint., hip and sacroiliac pints indirectly contribute to the function of the patellofemoral pint. This pint has little bony stability, Soft tissue surrounds the pint to increase stability. The patellofemoral pint increases the mechanical advantage of the quadriceps muscles and resists mechanical loading. In patellofemoral dysfunction, patellofemoral contact pattern is disrupted. leading to excessive compression at the pint. When you treat the patellofemoral dysfunction, you should evaluate anatomic and biomechanic components and find factors of patellofemoral dysfunction. Hamstring tightness. weakness of VMO and tightness of lateral retinaculum lead to flexed knee and abnormal patella tracking and patellofemoral pint reaction force and patellofemoral dysfunction. A through understanding of the anatomy and biomechanics may assist the clinician in the recognition and treatment of patients with patellofemoral pain. Therefore physical therapists should apply modality as well as therapeutic exercise, stretching and strengthening. In this paper, I will discuss the germane anatomical structures and biomechanics of the patellofemoral pint.

• Journal of Korean Tunnelling and Underground Space Association
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• v.23 no.2
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• pp.93-106
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• 2021

In general, segment lining tunnel refers to a tunnel formed by connecting precast concrete segments as a ring and connecting such rings to each other in the longitudinal direction of the tunnel. As the structural properties of the segment lining is highly dependent on the behavior of the segment joints, thus correct modelling of joint behavior is crucial to understand and design the segment tunnel lining. When the tunnel is subjected to ground loads, the segment joint behaves like a hinge that resists rotation, and when the induced moment exceeds a certain limit of the rotation then it may enter into non-linear field. In understanding the effect of the segment joint on the lining behavior, a moment-rotation relationship of the segment joint was explored based on the Japanese practice and Janssen's approach commonly used in the actual design. This study also presents a method to determine the rotational stiffness of joint refer to the bearing strength. The rotation of the segment joint was estimated in virtual design conditions based on the existing models and the proposed method. And the sectional force of the segment lining and joint were calculated along with the estimated rotation. As the rotation at the segment joint increases, the joint contact area decreases, so the designer have to verify the segment joint for bearing strength as well. This paper suggests a consistent method to determine the rotational stiffness and bearing strength of joints.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.71-82
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• 2016

Objective: The purpose of this study was to investigate kinematic comparisons of Tsukahara vault in gymnastics between a top-level athlete and sublevel collegiate athletes in order to obtain information on key biomechanical points for successful Tsukahara vaults. Methods: An Olympic gold medalist (height, 160 cm; weight, 52 kg; age, 25 years) and five sublevel collegiate gymnasts (height, $168.2{\pm}3.4cm$; weight, $59.6{\pm}3.1kg$; age, $23.2{\pm}1.6years$) participated in this study. They repeatedly performed Tsukahara vaults including one somersault. Fourteen motion-capturing cameras were used to collect the trajectories of 26 body markers during Tsukahara vaults. Event time, displacement and velocity of the center of mass, joint angles, the distance between the two hands on the horse, and averaged horizontal and vertical impact forces were calculated and compared. Results: The top-level athlete showed a larger range of motion (ROM) of the hip and knee joints compared to sublevel collegiate athletes during board contact. During horse contact, the top-level athlete had a narrow distance between the two hands with extended elbows and shoulders in order to produce a strong blocking force from the horse with a shorter contact time. At the moment of horse take-off, reactive hip extension of the top-level athlete enhanced propulsive take-off velocity and hip posture during post-flight phase. Conclusion: Even though a high velocity of the center of mass is important, the posture and interactive action during horse contact is crucial to post-flight performance and the advanced performance of Tsukahara vaults.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.5
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• pp.1363-1372
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• 2014

In the previous study, the structural performance of proposed precast concrete arch with reinforced joint was evaluated by structural experiment. In this paper, finite element analysis considering both material and contact nonlinearity was carried out on the specimens of the previous study. Based on the result of analysis and experiment, friction coefficient between concrete blocks was determined. To evaluate the strength of sectional member, elastic analysis was carried out on the arch using linear elastic analysis program. The section force was compared with the nominal strength of arch section. It was concluded that the maximum load of all the specimens exceed the nominal strength of arch section. Those results of the strength evaluation were similar to the results of structural experiments. Therefore, it is concluded that the elastic analysis and ultimate strength model can effectively evaluate the strength for the proposed precast concrete arch composed of concrete blocks and reinforced joint in design.

• Ocean and Polar Research
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• v.39 no.3
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• pp.205-211
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• 2017

This paper seeks to provide a dynamic analysis of a 150 ton winch based on ocean environmental data. The winch model that was subjected to analysis was modeled from CAD to each subsystem by the commercial software DAFUL. The winch model has tree brake systems (disk brake, band brake and ratchet brake). The rotation motion of the motor and contact elements of the brake are applied to the winch model in order to analyze its dynamic characteristics. In addition, a crane-barge was modeled to apply ocean environmental data. The motion data of the crane-barge was produced by means of the RAO(Response Amplitude Operator) of the barge and wave spectrum. The reaction force of the translational joint was measured instead of the tension of the cable. The brake performance of the winch was produced and assessed based on the operating motion of the crane-barge.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.23 no.9
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• pp.620-626
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• 2011

The purpose of this study is to evaluate a simulation model of a stacking guidance system (SGS) with a roller guide applicable to the mobile harbor. The study used a small-scale model (1/20) made of wood with rollers in order to compare the dynamic analysis with experiment results. The law of similarity was applied for the validation of the scaled model. In order to construct a more realistic simulation model, the damping coefficient of the dynamic model was adjusted to 0.5 Ns/mm for the wood-to-wood contact condition based on the experimental results. Using this validated model, dynamic simulations were also carried out for containers of 20, 30, and 40 tons. The results showed that the reaction force of the roller guide was increased from 74.7 kN to 91.2 kN as the weight of container increased. For the design of a roller guide for SGS, the results obtained in this study can be used to reduce the reaction force by employing a rubber roller or a highly damped rotational joint.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.244-247
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• 2005

Although several artificial disc designs have been developed for the treatment of discogenic low back pain and used clinically, biomechanical change with its implantation seldom studied. To evaluate the effect of artificial disc implantation on the biomechanics of lumbar spinal unit, nonlinear three-dimensional finite element model of L1-L5, S1 was developed and strain and stress of vertebral body and surrounding spinal ligaments were predicted. Intact osteoligamentous L1-L5, S1 model was created with 1-mm CT scan of a volunteer and known material property of each element were applied. This model also includes the effect of local muscles which was modeled with pre-strained spring elements. The intact model was validated with reported biomechanical data. Two models implanted with artificial discs, SB Charite or Prodisc, at L4/5 via anterior approach were also developed. The implanted model predictions were compared with that of intact model. Angular motion of vertebral body, force on spinal ligaments, facet joint contact force with $2\sim12$ Nm flexion-extension moment.

• Journal of Korean Orthopaedic Sports Medicine
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• v.7 no.1
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• pp.33-36
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• 2008

Purpose: The purpose of this study was to evaluate the mechanism of injury in the anterior cruciate ligament tears sustained in participation in soccer. Materials and methods: 50 patients whose knees were injured during playing soccer were enrolled in this study. The mean age was 27 years old, 47 were male and 3 female. 15 of them were either professional or amateur soccer players, the rest were non-professional. The injury mechanism was investigated by evaluation of the medical records or by telephone interview. Results: The injury mechanism involved contact injuries in 17 patients and non-contact in 33. 41 patients were bearing weight on the involved side at the time of injury, and 9 patients were not. In cases of contact injury, 9 of the 17 patients had sustained a valgus force to the knee, and 5 patients had varus force, 11 patients had their foot planted, and 6 did not. Among those patients with a planted foot, 3 patients were injured by the rotation of the thigh, 1 patient was injured by hyperextension, and there were no deceleration mechanism injuries. In non-contact injuries, 30 out of 33 patients had their foot planted at time of injury and only 3 patients did not. Of these 30 patients, 16 were injured by the rotation of thigh, 6 sustained a varus force on the knee joint and 5 had a valgus force, 5 were injured by hyperextension, and 2 by deceleration. 3 patients, who did not have their foot planted, were injured while kicking with the involved leg. Conclusions: For soccer players in this series, the most common mechanisms resulting in anterior cruciate ligament tears were non-contact, most often by rotation of the torso over a planted foot. In contact injuries, the most common mechanism was the application of valgus force by tackle.