• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• 한국의류학회지
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• 제39권1호
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• pp.63-76
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• 2015

This study conducted a survey to gauge the buying and wearing propensities of wearers of leg guards made for baseball catchers, as well as product characteristics of preferred leg guards. Data from the survey were analyzed to obtain basic data for the development of an advanced leg guard design. Degree of compression, horizontal distance, cross section view and outline 3D sketch were also analyzed from the 3D data of leg guards; in addition, mobility and kinematic analysis were conducted through a wearing test. The survey indicated that imported products dominate the current retail market because they are appreciated by customers in terms of fit, price, brand, and protection. Representative complaints of products were discomfort, pressure, and the heavy-weight of the leg guards in general attributed to overall structure and 3D shape. When the pressure was lower on the front area of knee, it feels better to wear and the average knee angular velocity during the up and down motion increased, which suggests a better design from a kinematic point of view. The knee is the primary part of the body responsible for any movement of the lower limbs; consequently, the degree of compression and support stability of the leg guards near the knee area are important factors to evaluate the performance of leg guards. The results of our study indicate significant opportunities for improvement in product design and the development of baseball leg guards along with an ergonomic design that considers the mobility of the knee, skin deformations is necessary to improve performance. The process followed in this study will be applicable to studies on other personal protective equipment for sports.

• International Journal of Ocean System Engineering
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• 제4권1호
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• pp.19-28
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• 2014

The tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is regarded as moored structure in horizontal plan, while inherit stiffness of fixed platform in vertical plane. 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 tethers length and 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 for short wave periods (i.e. 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether length, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about that is significantly dependent on tether length.

• 한국전자파학회논문지
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• 제19권2호
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• pp.168-173
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• 2008

본 논문에서는 능동 위상 배열 레이다 시스템에 적용 가능한 송수신 모듈을 설계/제작/측정하였다. 송수신 모듈은 능동 위상 배열 시스템에서 배열의 빔 합성으로 TWTA와 유사한 고출력을 획득하면서 TWTA 같은 중앙 집중식 송신기보다 신뢰성이 높고 기계적 빔 조향보다 기민하게 빔 조향을 가능하게 하는 핵심 구성품이다. 제안된 송수신 모듈은 물리적으로 Brick구조이며, 전기적으로 common leg 구조로 구성되어 있다. 또한, 소형화를 위해 하나의 유전체 기판 위에 MCM(Multi Chip Module) 형태로 제작되었으며, 실제 군용 레이다 시스템에 적용 가능한 사양을 선정하여 측정하였고, 측정 결과를 통하여 송수신 모듈의 최적화 설계를 위해 고려해야 하는 사항들을 검토하였다.

• 한국해양공학회지
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• 제9권2호
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• pp.53-60
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• 1995

A multi-leg spread mooring system for floating offshore structures is important, but the multi-leg static analysis is complicated due to the nonlinear behavior of each line and the effect of current which affects each line differently. The pretensioned position of the multi-leg mooring system obtained from the static equilibrium condition changes into a different position due to external loads and current. In this paper, the new position and the static tension at each line are caculated. The relation between the initial static equilibrium position and the new position due to the external loads is expressed in terms of the Taylor's series expansion. The Runge-Kutta $4^{th}$ method is employed in analyzing the 3-dimensional static cable nonlinear equations.

• Animal cells and systems
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• 제16권1호
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• pp.57-68
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• 2012

Two new harpacticoid species belonging to the genera $Microarthridion$ Lang, 1944 (Tachidiidae) and $Nitocra$ Boeck, 1864 (Ameiridae) are recorded from underground caves in the karst area of Ninh Binh Province, North Vietnam. $Microarthridion$ $thanhi$ n. sp. is distinguished from congeneric species by the number of setae on the antennary exopod, the structure of leg 5 in both sexes, and the finger-like process modified from an outer distal pinnate seta of the third endopodal segment of leg 2 in the male. $Nitocra$ $vietnamensis$ n. sp. has the character combination of six setae on the ellipsoidal exopod of leg 5 in both sexes, the first endopodal segment of leg 1 shorter than the whole exopod, the seta/spine armature of an inner seta of P2-P4 enp-1 and four elements on P2 enp-3, and the reduction of the proximal endite to a seta on the maxillary syncoxa.

• 로봇학회논문지
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• 제14권4호
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• Archives of Reconstructive Microsurgery
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• 제22권2호
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• pp.52-56
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• 2013

Purpose: We had proceeded seven iIpsilateral dorsalis pedis vascularized pedicle flaps in the distal leg and foot to cover the restricted size defects and followed-up average for 5 years and 9 months to evaluate the survival rate, neurosensory function and cosmesis in final results. Materials and Methods: From January 1999 through October 2012, we have performed iIpsilateral dorsalis pedis vascularized pedicle flaps in the distal leg and foot to cover the restricted size defect (average around $3.6{\times}2.4cm$) in 7 cases and average age was 41.6 years (21.5 to 59.0 years). Lesion site was posterior heel in 4 cases, distal anterior leg in 3 cases. Donor structure was the dorsalis pedis artery and the first dorsal metatarsal vessel and deep peroneal nerve in 3 cases and the dorsalis pedis artery and the first dorsal metatarsal vessel in 4 cases. Results: Seven cases (100%) were survived and defect area was healed with continuous dressing without skin graft. The sensory function in the neurovascular flap was restored to normal in 3 cases. Cosmesis was good and fair in 7 cases (85.7%). Conclusion: Ipsilateral dorsalis pedis vascularized pedicle flap in the distal leg and foot is one of the choice to cover the exposed bone and soft tissues without microsurgical procedure.

• 한국해양공학회지
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• 제13권2호통권32호
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• pp.51-57
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• 1999

In this study, one side fillet welded T-joint, used in box type girder and other welding structure, was investigated by stress analysis and bending fatigue test without edge preparation, with variation of joint shape. The purpose of this study is to give the welding condiltion and design standard on manufacturing one side fillet welded T-joint. As a result, the following conclusions were obtained. 1) In one side fillet welded T-joint, the larger the leg length and the penetration depth, the greater the bending fatigue strength because reduction of stress and strain on toe and root. The increase of the longitudinal leg length rather than vertical leg length contributed to the increase in bending fatigue strength. 2) In one side fillet welded T-joint without edge preparation, both general manual welding and general automatic welding were carried out with same condition. In this case, automatic welding showed deeper penetration and more increased longitudinal leg length than manual welding, so that automatic welding offers greater bending fatigue strength. 3) For one side fillet welded T-joint without edge preparation with automatic welding, the ratio(h/t) of the leg length(h) and the main plate thickness(t) in which toe crake can occur was 1.0 over.

• Journal of Power Electronics
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• 제14권5호
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• pp.1069-1078
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• 2014

This study presents the design and implementation of a web-based remote laboratory for a multi-mode single-leg power converter, which is a topic in advanced power electronics course. The proposed laboratory includes an experimental test rig with a multi-mode single-leg power converter and its driver circuits, a measurement board, a control platform, and a LabVIEW-based user interface program that is operated in the server computer. Given that the proposed web-based remote laboratory is based on client/server architecture, the experimental test rig can be controlled by a client computer with Internet connection and a standard web browser. Although the multi-mode single-leg power converter can work at four different modes (main boost, buck-boost, boost-boost, and battery boost modes), only the buck-boost mode is used in the experiment because of page limit. Users can choose the control structure, control parameters, and reference values, as well as obtain graphical results from the user interface software. Consequently, the feedbacks received from students who conducted remote laboratory studies indicate that the proposed laboratory is a useful tool for both remote and traditional education.