• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• PNF and Movement
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• v.20 no.1
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• pp.135-145
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• 2022

Purpose: The purpose of this study was to investigate the association between cognitive and motor inhibition by comparing muscle activity and ground reaction force during unplanned gait termination according to reaction time measured through the stop-signal task. Methods: Sixteen young adults performed a stop-signal task and an unplanned gait termination separately. The subjects were divided into fast and slow groups based on their stop-signal reaction time (SSRT), as measured by the stop-signal task. Electromyography (EMG) and ground reaction force (GRF) were compared between the groups during unplanned gait termination. The data for gait termination were divided into three phases (Phase 1 to 3). The Mann-Whitney U test was used to compare spatiotemporal gait parameters and EMG and GRF data between groups. Results: The slow group had significantly higher activity of the tibialis anterior in Phase 2 and Phase 3 than the fast group (p <0.05). In Phase 1, the fast group had significantly shorter time to peak amplitude (TPA) of the soleus than the slow group (p <0.05). In Phase 2, the TPA of the tibialis anterior was significantly lower in the fast group than the slow group (p <0.05). In Phase 3, there was no significant difference in the GRF between the two groups (p >0.05). There were no significant difference between the two groups in the spatiotemporal gait parameters (p >0.05). Conclusion: Compared to the slow group, the fast group with cognitive inhibition suppressed muscle activity for unplanned gait termination. The association between SSRT and unplanned gait termination shows that a participant's ability to suppress an incipient finger response is relevant to their ability to construct a corrective gait pattern in a choice-demanding environment.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.919-925
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• 2023

Modern drones are equipped with miniaturized mission equipment capable of performing various tasks such as surveillance and reconnaissance. Consequently, these mission equipment are exposed to disturbances like wind loads and motor rotations, which can lead to instability in the operation of the Electro-Optical Targeting System (EOTS). Specifically, simple step inputs for changing the line of sight in EOTS can cause abrupt changes in speed, inducing overshoot and potentially creating instability along with other disturbances. To address this, a velocity profile was designed so that the angular velocity moves in a trapezoidal shape when changing the EOTS line of sight. A Double-loop controller was designed to apply this profile as an input to the external loop receiving position feedback. The system's stability was then compared, and the velocity profile was optimized within a stable range by varying maximum speed and acceleration.

• Journal of Aerospace System Engineering
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• v.18 no.3
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• pp.76-85
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• 2024

Recently, from a global perspective, the use of small unmanned aerial vehicles in terrorism and warfare is increasing, and the need for anti-drone shooting training targeting small UAVs is increasing. However, in reality, there are many cases in Korea where anti-drone shooting training is restricted, due to complaints such as noise. In this paper, we describe the development and testing of an electric-powered direct strike type high-speed, low-noise small aerial target drone. To achieve the flight speed and endurance required for shooting training, target drone sizing was performed, and aerodynamic performance analysis was conducted using a CFD program. Based on the performance analysis, the motor propulsion system was selected and a variable pitch propeller system was designed, and performance tests were performed on a ground test rig. Finally, the target flight speed, flight time, and flight noise level were confirmed through flight tests.

• The Journal of the Convergence on Culture Technology
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• v.10 no.1
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• pp.465-470
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• 2024

Kitchen cabinets are widely used for their spacious storage and efficient use of space, but their high installed location makes it difficult for the elderly and disabled to access. Therefore, in this paper, we propose a new height-adjustable kitchen cabinet that can be used more easily and safely. The lift-down range of cabinet was set considering the installation location of cabinet for efficient use of kitchen space and the maximum height accessible to the elderly and disabled, and the link geometry and driving method of the complex link mechanism were determined through the mechanism design procedure to ensure that the selected floor come down safely along the optimal descend path. In addition, the appropriate motor and control algorithm were added to allow the user to descend to the desired height with a simple button operation. It was confirmed through actual production that the proposed linkage mechanism performs the desired lift-down motion.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2004.11a
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• pp.122-125
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• 2004

In radiotherapy of tumors in liver, enough planning target volume (PTV) margins are necessary to compensate breathing-related movement of tumor volumes. To overcome the problems, this study aims to obtain patients' body movements by using a moving phantom and an ultrasonic sensor, and to develop respiration gating techniques that can adjust patients' beds by using reversed values of the data obtained. The phantom made to measure patients' body movements is composed of a microprocessor (BS II, 20 MHz, 8K Byte), a sensor (Ultra-Sonic, range 3 cm ${\sim}$3 m), host computer (RS232C) and stepping motor (torque 2.3Kg) etc., and the program to control and operate it was developed. The program allows the phantom to move within the maximum range of 2 cm, its movements and corrections to take place in order, and x, y and z to move successively. After the moving phantom was adjusted by entering random movement data(three dimensional data form with distance of 2cm), and the phantom movements were acquired using the ultra sonic sensor, the two data were compared and analyzed. And then, after the movements by respiration were acquired by using guinea pigs, the real-time respiration gating techniques were drawn by operating the phantom with the reversed values of the data. The result of analyzing the acquisition-correction delay time for the three types of data values and about each value separately shows that the data values coincided with one another within 1% and that the acquisition-correction delay time was obtained real-time (2.34 ${\times}$ 10$^{-4}$sec). This study successfully confirms the clinic application possibility of respiration gating techniques by using a moving phantom and an ultra sonic sensor. With ongoing development of additional analysis system, which can be used in real-time set-up reproducibility analysis, it may be beneficially used in radiotherapy of moving tumors.

• Radiation Oncology Journal
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• v.22 no.4
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• pp.316-324
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• 2004

Purpose : In radiotherapy of tumors in liver, enough planning target volume (PTV) margins are necessary to compensate breathing-related movement of tumor volumes. To overcome the problems, this study aims to obtain patients' body movements by using a moving phantom and an ultrasonic sensor, and to develop respiration sating techniques that can adjust patients' beds by using reversed values of the data obtained. Materials and Methods : The phantom made to measure patients' body movements is composed of a microprocessor (BS II, 20 MHz, 8K Byte), a sensor (Ultra-Sonic, range $3\~3$ m), host computer (RS232C) and stepping motor (torque 2.3 Kg) etc., and the program to control and operate it was developed. The program allows the phantom to move within the maximum range of 2 cm, its movements and corrections to take place In order, and x, y and z to move successively. After the moving phantom was adjusted by entering random movement data (three dimensional data form with distance of 2 cm), and the phantom movements were acquired using the ultra sonic sensor, the two data were compared and analyzed. And then, after the movements by respiration were acquired by using guinea pigs, the real-time respiration gating techniques were drawn by operating the phantom with the reversed values of the data. Results : The result of analyzing the acquisition-correction delay time the three types of data values and about each value separately shows that the data values coincided with one another within $1\%$ and that the acquisition-correction delay time was obtained real-time $(2.34{\times}10^{-4}sec)$. Conclusion : This study successfully confirms the clinic application possibility of respiration gating techniques by using a moving phantom and an ultrasonic sensor. With ongoing development of additional analysis system, which can be used in real-time set-up reproducibility analysis, it may be beneficially used in radiotherapy of moving tumors.

• Journal of Korean Society of Forest Science
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• v.97 no.1
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• pp.61-70
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• 2008

This study was conducted to develop a mobile tower-yarder with tractor for agriculture and forestry that is the efficient yarder in steep terrains, thinning operation and small scale logging operation. It was designed and manufactured that the power source of tower-yarder is equiped three hydraulic pump connected to PTO of tractor, and three hydraulic pump is used to operate the four motor for drum, the cylinder for clutch of interlocker, the cylinder for tower expanding and the out-rigger cylinder. It was to adopt the running skyline system and the inter-lock function, and to equip the double capstan drum, the storage drum and the clutch for interlock in the development of tower-yarder. It was to develop the tower-yarder which the winch torque of double-capstan drum, the traction force of double-capstan drum, the number of rotation of double-capstan drum and the line speed is $191kg{\cdot}m$, 1,910 kgf, 220.5 rpm and 138.5 m/min, respectively. And it was known that the optimum flange diameter of the main and haulback storage drum is about 360 mm and about 460 mm in order to storage the main line length of 250m and the haulback line length of 450 m. The carriage was made to adopt the running skyline system and to equip the lock function in order to the convenience of chocking and the fall down preventing of tree. It was provided to develop the wire remote controller for the inter-lock function, the convenience of control and the efficiency of yarding. In development process, this tower-yarder was attached the 3-point linkage hitch equipment and the tire wheel for the traction and moving of tower-yarder. Also, it was equipped that the out-rigger and the guy line in order to raise the safety and efficiency of yarding of tower-yarder.

• Journal of the Korea Convergence Society
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• v.9 no.4
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• pp.1-7
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• 2018

Electric motors for electric vehicles differ in efficiency characteristics depending on the operation modes, studies for evaluating high efficiency characteristics in low speed and high speed operation modes are very important. Therefore, it is necessary to design method that can change the high torque, high output density, and high efficiency characteristics of driving motors for electric vehicles. In this paper, the diameter ratio of stator and rotor for the interior permanent magnet synchronous motor is change of designed 0.62, 0.65, and 0.68, respectively, and the efficiency characteristics of the entire operation section, average efficiency characteristics of the city driving modes and express highway driving modes are analyzed. As a result of analyzing the efficiency characteristics of the entire operating section, it was confirmed that as the diameter ratio increases, the high efficiency section moves to the low speed and low torque section and the high efficiency section moves to the high speed and low torque neighborhood as the diameter ratio decreases. As a result of analyzing the average efficiency characteristics in the city driving modes and express highway driving modes, the average efficiency of 0.68 model is analyzed to be more efficient than the 0.63 and 0.65 model ratio, and it is confirmed that it is suitable for city driving modes and express highway driving modes.

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.4
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• pp.52-60
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• 2015

Operation area of corps was expanded under military reformation, and extending range of 155 mm howitzer became important issue. New approach is needed to extend range to 80 kim. Ramjet engine is air breathing engine, and it can provide specific impulse several times more than solid rocket motor so that range is extended using same weight of propellant. If the ramjet engine is gun-launched system, it does not require any other booster because muzzle velocity is near Mach 3. Especially solid fuel ramjet (SFRJ) does not have any moving part so that it is favorable for gun-launching system which is under high stress during launching. In this paper, we design air intake, combustion chamber, and nozzle of 155 mm gun launched ramjet propelled artillery shell with inviscid flow assumption. We conduct parameter study to have range more than 80 km, and maximum high explosive volume.