• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1509-1517
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• 2005

This paper presents the two degree-of-freedom(DOF) planar parallel mechanism called 2R$\underline{P}$R-RP manipulator, whose degree-of freedom is dependent on a passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed analytically: the inverse and forward kinematic problems are solved in the closed font the practical workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters and the operating limits of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness. Finally, the kinematic performances of the optimized mechanism are evaluated through comparing to the 5-bar parallel manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.464-472
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• 2006

This paper presents the two degree-of-freedom (DOF) planar parallel mechanism, called the $2{\underline{R}}RR-RP$ manipulator, whose degree-of-freedom is dependent on an additional passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed: the inverse and forward kinematic problems are analytically solved, the workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters the optimization of the mechanism is performed considering its dexterity, stiffness, and space utilization. Finally, the kinematic performances of the optimized mechanism are evaluated through the comparison study to the conventional 5-bar parallel manipulator.

• Journal of Korean Academy of Nursing
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• v.38 no.1
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• pp.11-18
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• 2008

Purpose: This study was to determine whether the Sun-style 24 forms of Tai Chi exercise improve pain, stiffness, disability, knee joint motion, mobility, balance or falling. Method: Forty-six community-dwelling elderly subjects (mean age, $75.46{\pm}6.28$) voluntarily participated in an intervention group of either 24 forms of Sun-style T ai Chi for 60 min, 2 times per week for 12 weeks or a control group. A non-equivalent pretest-posttest design was used. Independent t-test and ANCOVA were used to examine group differences by using SPSS12.0. Result: The experimental group had significantly less pain (F=7.60, p=.008) and stiffness (t=-3.19, p=.003) than the control group. Also there were significant improvements in knee joint motion on the right knee (t=2.44, p=.019), left knee (t=2.30, p=.026), rising time (F=8.03, p=.07), balance on the left single leg test (t=2.20, p=.033), and fear of falling (t=-2.33, p=.024) in the Tai Chi exercise group. No significant group differences were found in disability and falls efficacy. Conclusion: The Sun-style 24 forms Tai Chi exercise is effective in decreasing pain, stiffness, fear of falling and it improves balance, rising time, and knee joint motion. We suggest a continuing long term intervention to decrease disability and increase efficacy concerning falls.

• Ocean Systems Engineering
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• v.3 no.3
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• pp.203-217
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• 2013

A PTO (power-take-off) mechanism by using relative heave motions between a floating buoy and its inner mass (magnet or amateur) is suggested. The inner power take-off system is characterized by a mass with linear stiffness and damping. A vertical truncated cylinder is selected as a buoy and a special station-keeping system is proposed to minimize pitch motions while not affecting heave motions. By numerical examples, it is seen that the maximum power can actually be obtained at the optimal spring and damper condition, as predicted by the developed WEC(wave energy converter) theory. Then, based on the developed theory, several design strategies are proposed to further enhance the maximum PTO, which includes the intentional mismatching among heave natural frequency of the buoy, natural frequency of the inner dynamic system, and peak frequency of input wave spectrum. By using the intentional mismatching strategy, the generated power is actually increased and the required damping value is significantly reduced, which is a big advantage in designing the proposed WEC with practical inner LEG (linear electric generator) system.

• Ocean Systems Engineering
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• v.6 no.2
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• pp.143-159
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• 2016

Cargo, such as a Tension Leg Platform (TLP), Semi-submersible platform (Semi), Spar or a circular Floating Production Storage and Offloading (FPSO), are frequently dry-transported on a Heavy Lift Vessel (HLV) from the point of construction to the point of installation. The voyage can span months and the overhanging portions of the hull can be subject to frequent wave slamming events in rough weather. Tie-downs or sea-fastening are usually provided to ensure the safety of the cargo during the voyage and to keep the extreme responses of the cargo, primarily for the installed equipment and facilities, within the design limits. The proper design of the tie-down is dependent on the accurate prediction of the wave slamming loads the cargo will experience during the voyage. This is a difficult task and model testing is a widely accepted and adopted method to obtain reliable sea-fastening loads and extreme accelerations. However, it is crucial to realize the difference in the inherent stiffness of the instrument that is used to measure the tri-axial sea fastening loads and the prototype design of the tie-downs. It is practically not possible to scale the tri-axial load measuring instrument stiffness to reflect the real tie-down stiffness during tests. A correlation method is required to systematically and consistently account for the stiffness differences and correct the measured results. Direct application of the measured load tends to be conservative and lead to over-design that can reflect on the overall cost and schedule of the project. The objective here is to employ the established correlation method to provide proper high-frequency responses to topsides and hull design teams. In addition, guidance for optimizing tie-down design to avoid damage to the installed equipment, facilities and structural members can be provided.

• Journal of Ocean Engineering and Technology
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• v.34 no.4
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• pp.263-271
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• 2020

In this study, we performed a three-dimensional (3D) topology optimization of a fixed offshore structure to enhance its structural stiffness. The proposed topology optimization is based on the solid isotropic material with penalization (SIMP) method, where a volume constraint is applied to utilize an equivalent amount of material as that used for the rule-based scantling design. To investigate the effects of the main legs of the fixed offshore structure on its structural stiffness, the leg region is selectively considered in the design domain of the topology optimization problem. The obtained optimal designs and the rule-based scantling design of the structure are manufactured by 3D metal printing technology to experimentally validate the topology optimization. The behaviors under compressive loading of the obtained optimal designs are compared with those of the rule-based scantling design using a universal testing machine (UTM). Based on the structural experiments, we concluded that by employing the topology optimization method, the structural stiffness of the structure was enhanced compared to that of the rule-based scantling design for an equal amount of the fabrication material. Furthermore, by effectively combining the topology optimization and rule-based scantling methods, we succeeded in enhancing the structural stiffness and improving the breaking load of the fixed offshore structure.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.23 no.1
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• pp.109-116
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• 2023

The purpose of this study was to investigate the influence of gender and load carriage difference on the lower extremity kinetics during stair descent. Ten healthy males and 10 healthy females were recruited (n=20). In the Maximum resultant velocity, it showed more velocity was decreased with difference by the change of gender (males>females) and load carriage (30%, 20%, 10%> 10%). And, resultant velocity showed interaction between gender and a load (load>gender). Main effect by gender during stair descent showed leg length was decreased in females than that of males at initial contact phase. Also, main effect by gender during stair descent showed more hip, knee flexed and plantar flexion of ankle joint in females than that of males. In the kinetics variables, main effect by gender during stair descent showed more higher reaction force of medial-lateral direction, and leg stiffness in males than that of females. We found that females successfully accommodated a load during stair descent by decreasing the range of motion of the hip joint angle and resultant velocity of movement. Males, on the other hand, require greater medial-lateral, vertical reaction force, and leg stiffness to accommodate a load, and control of momentum.

• Ocean Systems Engineering
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• v.2 no.2
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• pp.115-135
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• 2012

The very low natural frequencies of tension leg platforms (TLP's) have raised the concern about the significance of the action of hydrodynamic wave forces on the response of such platforms. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that coupling between various degrees of freedom has insignificant effect on the displacement responses. Moreover, for short wave periods (i.e., less than 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on the wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about its original position. Also, for short wave periods, a higher mode contribution to the pitch response accompanied by period doubling appeared to take place. For long wave periods, (12.5 and 15 sec.), this higher mode contribution vanished after very few cycles.

• Journal of the Ergonomics Society of Korea
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• v.29 no.3
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• pp.357-364
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• 2010

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.

• The Journal of Korean Medicine
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• v.25 no.1
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• pp.213-219
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• 2004

Objectives: This study is reported to evaluate the effect of oriental medical treatment in 1 caseof HNP patient with sequela of epidural block. Methods : We treated the patient by oriental medical conservative treatment, Who was diagnosed as the sequela of epidural block and admitted Daejeon University Cheonan oriental hospital from 9th November 2002 to 17th December 2002. Results & Conclusions: 1. It may occur headache, tinnitus, dizziness, neck stiffness from sequela of epidural block. 2. Sequela of epidural block can be demonstrated as deficiency of yin(陰虛). 3. After oriental medical conservative treatment, nothing symptom of sequela of epidural block(lumbago, leg pain) was improved but symptom of sequela of epidural block(headache, tinnitus, dizziness, neck stiffness) was disappeared and we consider that the oriental medical treatment baced on the concept of 'deficiency of yin(陰虛)' is effective in the caseof HNP patient with sequela of epidural block.