• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• 대한인간공학회지
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• 제15권2호
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• Journal of Electrical Engineering and Technology
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• 제9권5호
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• pp.1774-1779
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• 2014

It is known that muscle strength of human body can alter or deteriorate as aging. In this study, we present an inverse dynamics simulation to investigate the effect of muscle strength on performing the daily activities. A 3D musculoskeletal model developed in this study includes several segments of whole body, long and short muscles, ligaments and disc stiffness. Five daily activities such as standing, flexion, finger tip to floor, standing lift close and lifting flexed were simulated with varying the maximum muscle force capacities (MFC) of each muscle fascicles from 30 to $90N/cm^2$ with an increment of $30N/cm^2$. In the result, no solution can be obtained for finger tip to floor and lifting flexed with $30N/cm^2$. Even though the solution was available for standing lift close activity in case of $30N/cm^2$ capacity, many of muscle fascicles hit the upper bound of muscle strength which means that it is not physiologically possible to perform the acvities in reality. For lifing flexed, even the case of $60N/cm^2$ capaciy, represents the moderate healthy people, was not able to find the solutions, showing that 18 muscles among 258 muscle fascicles reached 100% of muscle capacity. The estimated results imply that people who have low muscle strength such as elders or rehabilitation patients were required higher muscle work to perform and maintain the same daily activities than healthy one.

• 산업경영시스템학회지
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• 제20권44호
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• pp.323-332
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• 1997

This study evaluated the compression force at the L5/S1 disc using EMG(Electromyography). EMG signals were analyzed under the condition of fixed vertical factor (20Cm∼80Cm), two horizontal factors (35Cm, 55Cm), and two weight factors (10Kg, 25Kg) 2 times per minute for each posture. Also, the result was compared with the compression force of each posture which computated by the equation of NIOSH(National Institute for Occupational Safety and Health) guide to manual lifting(1991). The experimental result show that EMG signals have more an effect on the Weight than the Horizontal factors. Also, there are not significant differences on the analysis result of EMG signals between Health members and not, because the body buildings which doing Health members are not enhanced the motor unit due to the MMH(Manual Material Handing).

• 한국안전학회지
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• 제10권4호
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• pp.103-108
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• 1995

This study was performed to investigate a relationship between a biomechanical analysis of compressive force at L5/S1 and electromyographic analysis of erector spinae muscle during lifting task. In the experiment, isometric contractions at 25, 50, 75, 100%MVC for short duration and sustained isometric contractions at 50%MVC were performed. For muscle recruitment patten and compressive force analysis, rectified EMG amplitudes analysis and computerized biomechanical analysis were used. To achieve data, angles of neck, shoulder, elbow, wrist, hip, knee, ankle and length of body segments were measured. Results shows that trends of initial EMG rectified amplitude were similar to those of biomechanical calculation value and for sustained isometric contraction at 50%MVC EMG rectified amplitude of erector spinae muscle after 40seconds was increased up to level of 75%MVC. Based on the results of this study, biomechanical analysis should be supplemented considering muscle fatigue, and it is also suggested that work-rest cycle critera and the evaluation of back-pain injuries should include muscle fatigue.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.300-303
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• 2006

The rotor blade of a helicopter is the key structural units and provides three components such as vertical lifting force, horizontal propulsive force and control force. With advancements in aerospace technology, composite materials have been widely used in lightweight structures. In addition, composites show great potential on the design of rotor blades due to the advantages of strength, durability and weight of the materials. In the operational condition of a helicopter, it is required the vibration characteristics of the rotating blades for avoiding resonance and analysis of efficient performance prediction et al. In this study, the CAMRAD-II is used for analyzing the vibration characteristics of rotating composite blades. The effects of rotating speed and collective angles are investigated. Also, the numerical results are compared with experimental data.

• 한국해양공학회지
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• 제19권1호
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• pp.77-86
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• 2005

Over the last 10 years, significant changes have taken place in the world of container shipping. The size and the speed of the quay-side crane have been increased considerably. As a result, the stiffness of a crane is decreased and the sway oscillation of cargo may become violent. The purpose of this paper is to determine the design force caused by the sway oscillation of the cargo, lifted by four ropes, with an initial fleet angle, and the governing equations of the lifting system for an anti-sway control system design.

• 대한의용생체공학회:의공학회지
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• 제22권1호
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• pp.109-117
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• 2001

본 연구는 요통재해를 일으킬 수 있는 위험요소를 많이 내포한 운수유통업의 인력운반방법(Manual Material Handing)에 대한 요통발병의 위험정도를 측정하였다. 운수유통업에서 이루어지고 있는 운반작업은 우리나라의 제반환경특성상 도구를 사용하지 않고 대부분 사람에 의해 이루어지고 있다. 운반방법도 짊어지는 형태인 등짐작업이 많이 이용되고 있다. 그러나 이에 대한 체계적인 연구가 수행되고 있지 않은 실정이다. 본 연구의 목적은 등짐자세로 물건을 운반할 때와 물건을 하역하여 정리하는 작업이 요추에 미치는 물리적 힘이 어느정도인지 규명하여 위험수준을 파악하는데 그 목적이 있다. 등짐운반과 정리작업(비대칭형 작업)에 대한 역학적인 연구를 수행하기 위하여 몸통근육에 미치는 internal force을 규명하여 정량화한 Han's (1991) model을 이용하여, 이들 작업에 대한 역학적인 분석을 실시하였다.

• 한국강구조학회 논문집
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• 제15권1호
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• pp.77-85
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• 2003

기존 강상자형 연속교의 단점을 보완하고 보다 경제적인 단면의 설계를 위한 지점 상승 하강 강상자형교는 내측 지점의 부모멘트 구간에 전단 연결재를 설치하고 콘크리트를 충진시켜 단면의 강성을 높이고 지점의 상승 및 하강 과정을 통하여 바닥판 콘크리트에 선압축력을 도입한다. 본 공법을 사용하면 한국도로공사 도로설계실무편람(1996)이 제시한 강상자형교의 설계 및 표준 단면의 형고에 비해 약 12%를 낮출 수 있으므로 형하 공간 확보에 유리하고, 같은 형고를 가지는 경우 상 하 플랜지 두께를 줄여 전체 강재량을 14%가량 감소시킬 수 있다. 평판의 강성을 크게 하기 위해 두께를 증가시키는 것보다 보강재로 보강하는 것이 일반적인 방법이므로 강상자형교 주형의 상 하부 플랜지 및 복부판은 각종 보강재로 보강된 얇은 판의 형태로 구성되어 있다. 이와 같이 보강된 평판의 탄성 좌굴계수(k)는 작용력의 종류, 형상비, 경계조건 외에도 보강재로 수, 배치 간격, 강성비와 면적비에 따라 각기 다른 특성을 가진다. 기존의 강상자형 연속교와 달리 지점 상승하강 강상자형교의 하부 플랜지 및 복부판은 내측 지점의 상승 과정에서 큰 압축력을 받게 되므로 전체 주형의 좌굴이 발생하기 전에 구성 판이 먼저 좌굴을 일으킬 가능성이 크다. 그러므로 본 연구에서는 내측 지점의 상승력과 보강된 판의 강도를 고려하여 일부 정모멘트 구간의 하부 플랜지 및 복부판의 종방향 보강재 수를 증가 시키고 수평 보강재를 연장하여 배치한다.

• 한국자기학회지
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• 제6권1호
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• pp.40-47
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• 1996

본 논문에서는 영전식 magnetic lifter의 최적 설계 방법을 제시하였다. 등가 자기회로법으로 흡착시와 탈착시의 자장 해석 및 전자역 계산을 행하였고, 최적 설계를 위해 등가 자기회로법으로 해석된 흡착시의 전자력을 최대로 하는 lifter의 치수를 구하였다. 또한 흡착시의 전자력을 제한 조건으로 하여 lifter 전체의 부피를 최소로 하는 치수를 찾았다. 위 최적 설계를 위한 최적화 알고리즘으로는 (1+1) Evolution Strategy(ES)를 이용하였다. 또한 상용 자장해석 프로그램(MAXWELL)을 사용하여 얻은 결과와 위의 최적화 결과를 비교하여 본 논문의 최적화방법의 타당성을 검증하였다.