• Journal of Sensor Science and Technology
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• v.22 no.1
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• pp.28-37
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• 2013

This paper presents a fault-tolerant control technique for wind turbine systems with sensor and actuator faults. The control objective is to maximize power production and minimize turbine loads by calculating a desired pitch angle within their limits. Any fault with a sensor and actuator can cause significant error in the pitch position of the corresponding blade. This problem may result in insufficient torque such that the power reference cannot be achieved. In this paper, a fault-tolerant control technique using a robust dynamic inversion observer and control allocation is employed to achieve successful pitch control despite these faults in the sensor and actuator. The observer based detection method is used to detect and isolate sensor faults by checking whether errors are larger than threshold values. In addition, the control allocation technique is adopted to tolerate actuator fault. Control allocation is one of the most commonly used fault-tolerant control techniques, especially for over-actuated systems. Further, the control allocation method can be used to achieve the power reference even in the event of blade actuator fault by redistributing the lost torque due to erroneous pitch position into non-faulty blade actuators. The effectiveness of the proposed method is demonstrated through simulations with a benchmark model of the wind turbine.

• Journal of Biomedical Engineering Research
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• v.22 no.3
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• pp.293-301
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• 2001

A patient-specific musculoskeletal model, whose parameters can be identified noninvasively, was developed for the automatic generation of patient-specific stimulation pattern in FES. The musculotendon system was modeled as a torque-generator and all the passive systems of the musculotendon working at the same joint were included in the skeletal model. Through this, it became possible that the whole model to be identified by using the experimental joint torque or the joint angle trajectories. The model parameters were grouped as recruitment of muscle fibers, passive skeletal system, static and dynamic musculotendon systems, which were identified later in sequence. The parameters in each group were successfully estimated and the maximum normalized RMS errors in all the estimation process was 8%. The model predictions with estimated parameter values were in a good agreement with the experimental results for the sinusoidal, triangular and sawlike stimulation, where the normalized RMS error was less than 17%, Above results show that the suggested musculoskeletal model and its parameter estimation method is reliable.

• The Journal of Advanced Prosthodontics
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• v.7 no.3
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• pp.207-213
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• 2015

PURPOSE. The purpose of this study was to examine the abutment screw stability of screw- and cement-retained implant-supported dental prosthesis (SCP) after simulated cement washout as well as the stability of SCP cements after complete loosening of abutment screws. MATERIALS AND METHODS. Thirty-six titanium CAD/CAM-made implant prostheses were fabricated on two implants placed in the resin models. Each prosthesis is a two-unit SCP: one screw-retained and the other cemented. After evaluating the passive fit of each prosthesis, all implant prostheses were randomly divided into 3 groups: screwed and cemented SCP (Control), screwed and non-cemented SCP (Group 1), unscrewed and cemented SCP (Group 2). Each prosthesis in Control and Group 1 was screwed and/or cemented, and the preloading reverse torque value (RTV) was evaluated. SCP in Group 2 was screwed and cemented, and then unscrewed (RTV=0) after the cement was set. After cyclic loading was applied, the postloading RTV was measured. RTV loss and decementation ratios were calculated for statistical analysis. RESULTS. There was no significant difference in RTV loss ratio between Control and Group 1 (P=.16). No decemented prosthesis was found among Control and Group 2. CONCLUSION. Within the limits of this in vitro study, the stabilities of SCP abutment screws and cement were not significantly changed after simulated cement washout or screw loosening.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• Journal of Korean Academy of Nursing
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• v.36 no.3
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• pp.571-580
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• 2006

Purpose: This study was to compare the effects among Tai-Chi exercise, aquatic Exercise, and a self-help program for knee osteoarthritis patients on symptoms of arthritis, muscle strength, balance, and difficulty of performing activities. Method: There were 50 final subjects50. A non-equivalent pretest-posttest design was used. The collected data was analyzed using SPSS for Window. One-way ANOVA and Scheffe's multiple comparison test were used 8weeks after each program. Result: There were significant differences in joint pain(p=.000), stillness (p=.001), knee extensor peak torque(p=.006), knee flexor(p=.002), and difficult of performing activity (p=.000), but there was no significant difference in balance(p=.648). The Tai-Chi group was significantly different from the self-help group for knee extensor peak torque, knee flexor and stiffness on Scheffe's multiple comparison tests. In addition, the Tai Chi group or aquatic group were significantly different from the self-help group for difficulty of performing activities(p<0.05). Conclusion: There are significant differences in the effects of the nursing intervention among the three groups. The Tai Chi group and aquatic group were significantly different from the self-help group. However, it seems that Tai-chi exercise may be more suitable than aquatic exercise in osteoarthritis exercise programs. Further studies with a longitudinal study are necessary to confirm the longer exercise period.

• 전기의세계
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• v.30 no.11
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• pp.734-746
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• 1981

This paper suggests on-load torque measurement for 3 phase induction motors by input -voltage and current utilizing symmetric coordinate analysis technique on the basis of the induction motor equivalent circuit. In this paper, two cases are treated with, i.e, one is the case where the motors' exciting current and primary leakage impedance voltage drop are compensated automatically, adopting the ideal wattmeter whose current coil impedance and voltage coil impedance are 0 and .inf. respectively, and the other is the case where non-ideal wattmeter is adopted and the compensation above is made by computation. As a result of the case study, following conclusions are obtained. 1) By proper combination of the error propagation law and the limit of power consumption, the desirable overall measurement error of the apparatus can be obtained on the basis of the inherent errors of CT and PT. 2) The measurement error is larger in current simulation circuit than in voltage simulation circuit. 3) Between the two cases, the latter is more advantageous than the former from the viewpoint of feasibility and the measurement error. 4) As the attachment of Ammeter in the current simulation circuit influences the measurement error considerably, its internal impedance should be large considerably. 5) The larger the consumption power of the apparatus is, the easier the feasibility is.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.12
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• pp.5878-5904
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• 2017

This paper proposes a novel intelligent wheelchair vehicle system that enables upper limb exercises, lower limb standing exercises and rehabilitation training in a daily life. The proposed system, which can be used to prevent at least the degeneration of body movements and further atrophy of musculoskeletal system functions, considers the characteristics and mobility of the old and the disabled. Its main purpose is to help the old and the disabled perform their daily activities as much as they can, minimizing the extent of secondary disabilities. In other words, the system will provide the old and the disabled with regular and quantitative rehabilitation exercises and diagnosis using the wheelchair-based upper/lower limb rehabilitation vehicle system and then verify their effectiveness. The system comprises an electric wheelchair, a biometric module to identify individual characteristics, and an upper/lower limb rehabilitation vehicle. In this paper the design and configuration of the developed vehicle is described, and its operation method is presented. Moreover, to verify the tracking performance of the proposed system, dangerous situations according to biosignal changes occurring during the rehabilitation exercise of a non-disabled examinee are analyzed and the performance of the upper/lower limb rehabilitation exercise function depending on muscle strength is evaluated through a neural network algorithm.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.45-55
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• 2007

We investigated the biomechanics and characteristics of shoulder rotator muscles for professional woman volleyball players. The purpose of this study was to analyze the isokinetic peak torque and range of motion for shoulder joint rotation. We measured the strength and ROM of the internal rotation(IR) and external rotation(ER) of shoulders joint for nine professional woman Volleyball players and nine University students with Biodex and Simi-motion. 1. We measured peak torques for the shoulder joint rotator at angular velocities of 60/s and 180/s. It was found that the peak torques were significantly different between the two groups and also between the hands used. 2. At angular velocity of 60/s, IR/ER ratio of the shoulder joint was significantly different depending on the groups and the hands in use. There was a significant difference for 'Dominant side' at angular velocity of 180/s, but no significant difference for 'Non-dominant side' and the controls group. 3. Regarding the ROM of rotation of the shoulder joint group, IR was significantly different between the groups and the hands in use. 4. IR/ER ratio of the shoulder joint for Dominant side was quite different between the groups.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.3
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• pp.231-236
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• 2015

In this study, we propose a non-contact circular eddy current load brake using permanent magnet that can be applied to the rehabilitation exercise equipment. The circular eddy current load brake is manufactured and is evaluated for performance. This has the torque value of 49% compared to a "ㄷ" type eddy current load brake having a fixed load. And we confirmed that load is regulated due to the conductivity and air gap. Proposed load brake is adjustable according to the user's condition and can be applied to the equipment having advantages such as miniaturization and cost reduction.

• Journal of Magnetics
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• v.21 no.1
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• pp.94-101
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• 2016

This paper shows a new magnetic field analysis of an interior permanent magnet (IPM) machines with an axial overhang structure wherein the rotor axial length exceeds that of the stator. The rotor overhang used to increase torque density of the radial flux machine is difficult to analyze because of extra consideration of axial direction, and thus it is general for machine designer to take 3-D finite element analysis (FEA) capable of considering both radial and axial complicated geometry in the machine. However, it requires too much computing time for preliminary design especially for optimization process. Therefore, in this paper a 2-D analytic method using a lumped magnetic circuit model (LMCM) is proposed to overcome the problem. For the analysis of overhang effect, the magnetic circuit is separated and solved from overhang and non-overhang regions respectively. For the validation of proposed concept, 3-D finite element analysis (FEA) is performed. From the analysis results, it is shown that our new proposed method presents good performance in terms of calculating electromotive force (EMF) and torque within a short time. Therefore, the proposed model can be useful in design of IPM with an overhang structure.