• 전자공학회논문지SC
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• 제42권5호
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• pp.1-12
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• 2005

이동로봇과 작업로봇의 직결연결 형태인 이동매니퓰레이터는 원자로 내부와 같은 위험한 작업환경에서 다양한 일한 처리하기위해 유용한 시스템이라 할 수 있다. 하부의 이동로봇은 non-holonomic 시스템이고 상부의 작업로봇의 결합으로 인하여 기구학적 잉여자유도를 갖고 있다. 그러나 주행 중 작업공간 확보로 인하여 고정식 매니퓰레이터보다 더 효율적인 작업이 가능 하다고 할 수 있다. 본 논문에서는 영상정보에 의한 물체인식 및 최적주행을 수행하기 위하여 이동로봇에 장착된 능동카메라에 인식된 영상과 실제 물체간의 기하학적 관계를 이용하여 직교좌표상의 물체의 위치를 추정할 수 있도록 하였다. 두 번째로 시스템의 위치변위 및 영상정보를 이용하여 물체위치를 추정하고 동차행렬을 이용하여 이동매니퓰레이터의 현 위치와 물체간의 최적경로를 결정하는 방법을 제시하였다. 제시한 방법을 시뮬레이션과 이동매니퓰레이터를 이용한 실험데이터분석을 통하여 유효성을 제시하였다.

• 대한토목학회논문집
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• 제34권1호
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• pp.341-353
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• 2014

GPS 반송파를 사용하여 센티미터 수준 정확도의 동적 측위를 위해서는 반송파 관측데이터에 포함하고 있는 미지정수를 결정하여 정밀한 기하거리로 환산하는 것이 필수적이다. 본 논문에서는 GPS에 의한 실시간 구조물 모니터링에 효율적으로 적용가능한 반송파 관측데이터 순간미지정수 결정 성능향상을 위한 알고리즘을 연구하였다. 이를 위하여 구조물에 설치한 GPS 수신기 이동 범위와 그 네트워크를 수학적으로 모형화하고 '정수제약 최소제곱법'을 통해 정확한 위치를 추정하는 절차를 제안하였다. 이 절차에는 추정해의 신뢰성 향상을 위해 실수해의 과대오차 최소화에 필요한 품질제어와 기하적 구속조건을 이용한 미지정수 타당성 검정을 포함하고 있다. 제안된 순간미지정수 결정절차를 과학기술용 계산용 소프트웨어인 MATLAB에 의해 실시간 적용 가능하도록 구현하고 장대교량에 해당하는 사장교 현장 관측데이터를 처리하여, 그 성능을 미지정수결정 성공률, 통계모형의 영향 그리고 연산시간에 대해 분석하고 결과를 요약하였다.

• 한국산학기술학회논문지
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• 제11권10호
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• pp.3658-3665
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• 2010

최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다.

• Reproductive and Developmental Biology
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• 제35권1호
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• pp.47-54
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• 2011

Endocrine disruptors bind to hormone receptors on sperm membrane, therefore spermatozoa are potentially a useful model for examining estrogenic activities of endocrine disruptors. The objective of this study was to compare the effects of two xenoestrogenic compounds [genistein (Gen) and 4-tert-octylphenol (OP)] to those of two steroids [estrogen ($E_2$) and progesterone ($P_4$)] on boar sperm % motility and motion kinematics of in vitro. Porcine spermatozoa were incubated with various concentrations ($0.001{\sim}100\;{\mu}M$) of each chemical for 15 or 30 min, and then assessed % motility and sperm motion kinematics using computer assisted sperm analyzer (CASA). Each chemical decreased sperm % motility, and OP decreased VSL and VAP compared with untreated control(p<0.05). $E_2$ stimulated the motion kinematic changes except VCL. Moreover, Gen had effects on VCL and VAP alterations after 30 min incubation. In summary, since all chemicals studied effectively altered sperm % motility and motion kinematics, it was concluded that porcine spermatozoa could be a useful model for in vitro screening of potential endocrine disruptors.

• Asian-Australasian Journal of Animal Sciences
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• 제33권7호
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• pp.1068-1076
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• 2020

Objective: In the present study, we determined efficiency of incorporating caffeine, melatonin or omega-3 polyunsaturated fatty acid in the diluent on mitigating consequences of (a) liquid chilled- and (b) cryo-storage of ram spermatozoa. Methods: In the first experiment, ejaculates (n = 30) were collected from 5 adult rams and were pooled, diluted (1:10) with Tris-citric acid (base diluent) and were split into 4 aliquots assigned for: control (untreated), caffeine (0.1 mM), melatonin (0.3 mM) or omega-3 fatty acids (0.3 mM) (T₀). The diluted specimens were stored at 4℃ for 48 h, during which sperm physical and cytological properties were evaluated along with oxidative stress indices (T₂₄, T₄₈). In the second experiment, 15 ejaculates (3 per male) were pooled, diluted with glycerolized base diluent (4% glycerol, v/v) and were split corresponding to the same previous treatment groups before being processed for cryopreservation. Post-thaw physical and kinematic sperm properties were assessed by a computer-assisted sperm analysis system. Results: The results clarified superiority of both melatonin and omega-3 supplementation on maintaining (p<0.05) sperm properties, while reducing (p<0.05) lipid peroxidase reaction and enzymatic activities of alanine aminotransferase, aspartate aminotransferase, and alkaline phosphatase in preservation medium, compared to caffeine either during liquid-chilled storage or cryopreservation of spermatozoa. Conclusion: Melatonin and omega-3 are regarded efficient alternatives to caffeine when processing ram spermatozoa for application of artificial insemination or in vitro fertilization.

• 대한인간공학회지
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• 제31권3호
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• pp.437-444
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• 2012

The purpose of this study was to suggest appropriate human model for ergonomic evaluation considering working postures on 3D space. Background: Traditionally extreme design rules have been widely utilized at the stage of designing products. Body size of 5th percentile and 95th percentile in stature has been generally selected for controllability and clearance evaluation, respectively. However, these rules had limitations in reflecting working posture in ergonomic evaluation. Method: In order to define working posture on 3D space, not only sagittal plane but also lateral plane was considered. Kinematic linkage body model was utilized for representation of working posture. By utilizing the anthropometric data of 2,836 South Korean male populations, the point cloud for end points of linkage models was derived. The individuals who were lacking in certain controllability were selected as human models for the evaluation. Result: In case of standing posture it was found that conventional approach is proper for all controllability evaluations. Contrary to standing posture, tall people had less controllability on control location below shoulder point in sitting posture. Conclusion: From the derived proper range on controllability, ergonomic evaluation rule was suggested according to working posture especially in standing and sitting. Application: The results of the study are expected to aid in selection of appropriate human model for ergonomic evaluation and to improve the usability of products and work space.

• Structural Engineering and Mechanics
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• 제47권6호
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• pp.881-898
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• 2013

This paper describes analytical investigation into a new dual function system including a couple of shear links which are connected in series using chevron bracing capable to correlate its performance with magnitude of earthquakes. In this proposed system, called Chevron Knee-Vertical Link Beam braced system (CK-VLB), the inherent hysteretic damping of vertical link beam placed above chevron bracing is exclusively utilized to dissipate the energy of moderate earthquakes through web plastic shear distortion while the rest of the structural elements are in elastic range. Under strong earthquakes, plastic deformation of VLB will be halted via restraining it by Stopper Device (SD) and further imposed displacement subsequently causes yielding of the knee elements located at the bottom of chevron bracing to significantly increase the energy dissipation capacity level. In this paper first by studying the knee yielding mode, a suitable shape and angle for diagonal-knee bracing is proposed. Then finite elements models are developed. Monotonic and cyclic analyses have been conducted to compare dissipation capacities on three individual models of passive systems (CK-VLB, knee braced system and SPS system) by General-purpose finite element program ABAQUS in which a bilinear kinematic hardening model is incorporated to trace the material nonlinearity. Also quasi-static cyclic loading based on the guidelines presented in ATC-24 has been imposed to different models of CK-VLB with changing of vertical link beam section in order to find prime effectiveness on structural frames. Results show that CK-VLB system exhibits stable behavior and is capable of dissipating a significant amount of energy in two separate levels of lateral forces due to different probable earthquakes.

• 한국산학기술학회논문지
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• 제21권1호
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• pp.14-19
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• 2020

본 논문은 차등 위성항법 보정 시스템을 이용한 측위 오차 보정을 통해 소형 드론의 위치를 정밀하게 계측할 수 있는 시스템 구현에 대해 서술하고 있다. 본 시스템은 고정된 위치에 자리하는 기준국과 실시간으로 움직이는 이동국(드론)으로 이루어져 있다. 자체 기준국 위치 정보와 국가에서 제공하는 관측 정보를 함께 후처리하여 기준국의 정밀 좌표를 획득하는 과정에 대해 서술하고, 이동국을 정밀 추적하기 위한 차등 위성 항법 시스템의 하드웨어 및 소프트웨어 구성에 대해 설명한다. 기준국 및 이동국 구현에 있어 저가의 경량 위성 항법 수신기 및 오픈소스 소프트웨어 코드와 라이브러리를 활용하여 범용성과 경제성을 극대화 하였으며, 오차 보정 정보 송수신에는 비 면허 주파수 대역 무선통신인 지그비(Zigbee)를 사용하였다. 본 시스템을 이용하여 소형 드론 위치 추적 시험 결과, 평균 측위 오차가 0.8m 및 최대 측위 오차가 1.2m로, 단일 위성 항법 수신기를 사용했을 경우 대비 오차가 86% 개선됨을 확인할 수 있었다.

• 한국자동차공학회논문집
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• 제22권2호
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• pp.175-181
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• 2014

A four-link mechanism consisting of torsion bars is used for opening the trunk lid in most midsize sedans. When the weight of the lid is in equilibrium with the spring force exerted by torsion bars, the lid stops opening at a pop-up height. However, the actual pop-up height has large deviations from the specified height even with the same parts in the same car model, which leads to quality issues. Automotive manufacturers have experienced this deviation problem despite much effort to resolve it. In this research, we developed a multi-body dynamics model for the analysis of pop-up deviation of a trunk lid with torsion bars, which can simulate the actual pop-up motion of the trunk lid by considering kinematic constraints of the motion and friction forces in joints. We could also determine the most important factor that governs the pop-up height by sensitivity analysis of all parts. The developed system can be used for the analysis of other trunk lid systems to control the tolerance of parts.

• 한국운동역학회지
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• 제26권3호
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• pp.243-248
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• 2016

Objective: The aim of this study was to determine the kinematical characteristics of somersault with twist in the Lou Yun and Akopian motions and to provide useful information to gymnastic athletes in men's vault. Method: The study subjects were 12 male adult top athletes. After 12 trials (7 Lou Yun and 5 Akopian trials) filmed by using two digital high-speed camcorders set at 90 frames/sec, kinematical data were collected through the direct linear transformation (DLT) method. The mean differences in biomechanical variables were compared during the second flight upward phase. The kinematic characteristics of somersault with twist in the Lou Yun and Akopian motions were identified. Results: In Lou Yun motion, the vertical release velocity through horse breaking was not difficult to obtain, so the athletes had enough time to prepare for the twist. Therefore, the Lou Yun motion has an advantage to make a cat twist in the pike posture. In the Akopian motion, obtaining the horizontal velocity through horse pushing was so easy that the Akopian athletes attained a large angular impulse and angular momentum. Therefore, the Akopian motion has an advantage to making a tilt twist in the body tilting posture. Conclusion: This study suggests that gymnastic athletes should control their body segment movements in order to increase the twisting angular velocity of the whole body, which requires regulation of the longitudinal moment of inertia of the body. Moreover, athletes should prepare for the shoulder and hip twists early in order to make the landing position in advance.