• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 한국CDE학회논문집
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• 제6권2호
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• pp.69-77
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• 2001

This paper describes a method of calculating the feedrate for the constant cutting speed at a CL-point in 5-axis machining. Unlike 3-axis machining, 5-axis machining has the flexibility of the tool motions due to two rotation axes. But the feedrate at joint space differs from the feedrate at a tool tip(the CL-point) of the 3D Euclidean space for the tool motions. The proposed algorithm adjusts the feedrate based on 5-axis NC data, the kinematics of a machine, and the tool length. The following calculations is processed for each NC block to generate the new feedrate; 1) calculating the moving distance at the CL-point, 2) calculating the moving time by the given feedrate, 3) calculating the feedrate of each axis, 4) getting the new feedrate. The proposed algorithm was applied to a 5-axis machine which had a tilting spindle and a rotary table. Totally, the result of the algorithm reduced the machining time and smoothed the cutting-load by the constant cutting speed at the CL-point.

• 대한기계학회논문집
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• 제18권2호
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• pp.260-270
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• 1994

With the prevalent use of robot, the interests in moving speed of robot have been increasing for the purpose of upgrading performance of production. But the faster robot manipulator moves, the worse working accuracies are. And mechanical vibration is more and more serious with the increment of the moving speed of robot. So, the study on the cause and control method of robot vibration is one of the points of issue in robotics. This paper focuses on the vibration of 3 DOF parallel link drive mechanism robot. We assume that links of robot manipulator are `rigid' and joints are `flexible elements'. Governing equations of robot system including controller, servo amplifier, D.C servo motor, transmission with elasticity, and manipulator dynamics are derived. On the basis of modelling, we define `controller stiffness' by the proportional gain of controller and `stiffness of transmission'. Numerical and experimental research is performed to study vibration phenomena of robot induced from the variation of these two defined stiffnesses, and its results are shown.

• 한국운동역학회지
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• 제14권2호
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• pp.69-83
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• 2004

The purpose of this study is searching for technical merits and demerits of each weight lifting player through qualitative motion analysis system. Moreover, It is also analysis the repeating the establishment of exercise purpose and studying for the effect of the field adaptation. The subject of this study was five male weight lifting players who have been engaged in Korean Delegation Team. The institution of exercise target was made through two times qualitative analysis and the result of studying for the effect of the field adaptation was produced before offering feedback. Moreover, two time analysis added after offering feedback. All analysis was based on 2-D visual analysis. The results of this study are as follows: 1. Maximal barbell moving speed in starting phase was decreased after offering feedback. This result implies advancement of technical skills after offering feedback. 2. From starting posture to 앉아받기, forward and backward moving distance of hip joint was decreased after offering feedback in all subjects. This result represents advancement of technical skills after offering feedback. 3. In terms of pull phase, forward and backward moving distance of hip and shoulder joint was decreased after offering feedback in all subjects. This result represents advancement of technical skills after offering feedback. 4. In terms of pull phase, the difference of horizontal value of coordinates was decreased after offering feedback in all subjects. This result represents advancement of technical skills after offering feedback. 5. In terms of pull phase, the motion range of hip joint was decreased after offering feedback in three of five subjects and this represents advancement of technical skills after offering feedback. However, the rest of them were not variable or narrow decreasing. This result represents that feedback system could not brought tremendous effects. 6. From apex point of barbell to 앉아받기, the difference of barbell height was decreased after offering feedback in three of five subjects and this represents advancement of technical skills after offering feedback. However, the rest of them weren't variable or narrow increasing. This result represents that feedback system could not brought tremendous effects. 7. In terms of last-pull phase, the angular velocity of knee joint was increased after offering feedback in four of five subjects and this represents advancement of technical skills after offering feedback. However, the rest of them, only one subject, decreased. This result represents that feedback system could not brought tremendous effects. 8. In terms of last-pull, the conversional tendency of maximal extension to flextion came out all but simultaneously without offering feedback in four of five subjects. This is well-performed technique. Only one subject, however, could not use power effectively because the fact that his maximal extension came out in serial, from ankle to knee and waist means dispersion of power. In addition to, after offering feedback, only one subject made increasing the maximal extension of knee in last-pull and this result represents advancement of skills after offering feedback. However, the rest of them could not make meaningful development after offering feedback. 9. It might be assumed that searching for technical merits and demerits of each weight lifting player through qualitative motion analysis system could improve player's skill.

• 한국재난정보학회 논문집
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• 제13권1호
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• pp.73-80
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• 2017

이 논문에서는 프리캐스트 바닥판 위를 이동하는 차량하중에 의한 바닥판 접합거동 특성을 분석하였다. 하중 재하를 위하여 프레임을 제작하였고 각 측정 장치를 활용하여 거동을 파악하였다. 바닥판의 정적응답을 검토하여 이론값과 비교하였고 그 특성은 매우 합리적임을 알 수 있었다. 또한, 동적영향 평가를 위하여 가속도, 속도 및 변위를 측정하여 시험에서 이동하중의 특성을 분석하였다. 이동하중에 의한 동적응답을 위하여 바닥판 진동수를 측정한 결과 하중 범위 변화에 따라 진동 특성도 민감하게 반응하는 것으로 나타났다. 결과적으로 연결부의 동적 응답은 연결방법에 따라 특성이 다르므로 설계에 주의를 기울여야 할 것으로 판단된다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.656-665
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• 1993

Two types of baby corn silk detachment systems called fixing and moving baby corn and based on applying frictional force on the silk were developed and evaluated. In the fixing mode the baby corn was fixed on a pin and a hollow frictional cylinder was moved concentrically and vertically along the baby corn towards the branch end. In the moving mode the baby corn was forced vertically towards the tip to pass through the same silk detachment cylinder. Traveling speeds of the detachment cylinder and the baby corn were 44.5 and 166.9 mm/s. In the fixing mode at silk moisture content of 91 % (w.b) silk detachment efficiencies at low and high speeds were 99.1 and 99.2%. The silk detachment efficiencies in the moving mode at low and high speeds were 96.6 and 98.5%. Damaged baby corn at low speed was less than at high speed in both modes. Minimum damage was nil in the fixing mode at low speed and the maximum was 47.5% in the moving mode at high speed. The damaged was due to ovaries r moval at the base near the joint between the baby corn and the branch.

• 한국정보통신학회논문지
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• 제5권4호
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• pp.738-745
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• 2001

본 논문에서는 추적시스템이 3차원 공간을 움직이는 이동물체를 추적한다. 오차없이 추적하기 위하여 제어시스템은 인공지능을 가진 퍼지제어기를 사용하였다. 추적시스템은 요(yaw)운동과 롤(roll) 운동을 통해 3차원 공간을 추적한다. 추적시스템으로는 2링크 매니플레이터를 사용하였고, 매니플레이터의 관절각 $\theta_1는 0^{\circ}에서\; 360^{\circ}$까지 회전 할 수 있으며, 관절각 $\theta_a는 0^{\circ}에서\; 180^{\circ}$까지 회전할 수 있다. 퍼지제어기의 퍼지화 방법은 싱클톤방법, 제어 규칙은 25개, 추론법은 간략화된 Mamdani의 추론법, 비퍼지화 방법은 간략화된 무게 중심법을 사용하였다. 시뮬레이션은 퍼지제어기의 성능을 평가하기 위해 같은 조건하에 CTM제어기와 비교하였다. 매니플레이터에 외란 토크를 적용하지 않았을 때 두 제어기 모두 추적오차가 0에 가까웠으며, 외란토크가 0.4N 일 때 CTM제어기를 사용한 경우에는 퍼지제어기를 사용한 경우보다 시뮬레이션결과 절대 오차 합이 10배 이상 큼을 알 수 있다. 퍼지 제어기가 CTM제어기보다 외란토크의 추가시 강함을 검증하였다.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1418-1423
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• 2004

관절형 로봇은 바퀴구동로봇에 비해 인간과 비슷한 형태를 갖추고 있어 친화성이 높고 관절로 인하여 자유도가 높으며 접지점을 임의로 설정할 수 있다. 또한 접지위치와 본체와의 상대위치를 자유로이 설정할 수 있으며 관절을 매니플레이터로서 사용할 수도 있는 장점을 가지고 있다. 이에 반해 많은 자유도를 가지고 있어 기구가 복잡하고 이동속도가 바퀴구동로봇에 비해 늦으며 이동시 진동이 일어나기 쉽고 로봇이 넘어지지 않도록 하는 특별한 제어가 필요하게 된다. 많은 생물들의 기본다리인 4족형 구조는 동적안정을 유지하면서 이동을 계속할 수 있고, 또 보행중에도 기구적으로 쓰러짐을 회피할 수 있는 완전보행을 실현하는 최소한의 관절수로 구성되어 있는 보행형태이다. 이러한 보행실험을 위해 4족 보행로봇인 TITAN-VIII을 이용하여 Trot 보행 알고리즘을 연구하여 보행 실험을 행하였다.

• Safety and Health at Work
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• 제11권3호
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• pp.307-313
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• 2020

Background: Many tasks in industrial and health care setting are involved with pushing and pulling tasks up or down on a ramp. An efficient method of moving cart which reduces the risk of low back pain should be concerned. This study aimed to investigate the effects of handling types (HTs) and slope on lumbar spinal load during moving a cart on a ramp. We conducted a 2 × 2 × 4 factorial design with three main factors: 2 HTs, 2 handling directions of moving a cart and 4 degrees of ramp slope. Methods: Thirty healthy male workers performed 14 tasks consist of moving a cart up and down on the ramp of 0°, 10°, 15°, and 20° degrees with pushing and pulling methods. Joint angles from a 3D motion capture system combined with subject height, body weight, and hand forces were used to calculate the spinal load by the 3DSSPP program. Results: Our results showed significant effect of HT, handling directions and slope on compression and shear force of the lumbar spine (p < 0.001). When the ramp gradient increased, the L4/5 compression forces increased in both pushing and pulling (p < 0.001) Shear forces increased in pulling and decreased in pushing in all tasks. At high slopes, pulling generated more compression and shear forces than that of pushing (p < 0.01). Conclusion: Using the appropriate technique of moving a cart on the ramp can reduce the risk of high spinal load, and the pushing is therefore recommended for moving a cart up/down on ramp gradients.

• 대한정형도수물리치료학회지
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• 제29권2호
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• pp.69-75
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• 2023

Purpose: This study examined the distance between the coracoid process and the humeral head using an ultrasonography device when shoulder active contraction were applied according to the guided direction in the end range of shoulder mobilization. This study aims to provide essential data on treating shoulder disease patients. Methods: The subjects of this study were 20 adults with healthy shoulder joints. ultrasonography (US) equipment was used to examine shoulder joint mobilization under two conditions: (1) anteroposterior (AP) joint mobilization and (2) superoinferior (SI) joint mobilization. Shoulder active contraction was assessed in the end range. The distance between the coracoid process and the humeral head was measured. A linear probe was used for US; the frequency was set to 7.5MHz, and the US image display method was set to B-mode. The US measurement values were measured in (1) the starting position, (2) the end range position, and (3) the end range position of the shoulder active contraction, and the moving distance was drawn in a straight line through the US image. The distance was determined as the measurement value, and the average values were compared. Reults: The results were as follows: (1) the measured AP Joint mobilization increased by an average of .52cm from the end range of the joint mobilization with shoulder active contraction; (2) the measured SI Joint mobilization increased by an average of .49cm from the end range of the joint. Conclusion: When shoulder mobilization is applied, the distance between the coracoid process and the humeral head increases when muscle contraction occurs through shoulder active contraction in the end range, according to the therapist's guidance. Therefore, shoulder mobilization combined with shoulder active contraction is an effective treatment method for patients with shoulder injuries.