• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.208-220
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• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• 한국전문물리치료학회지
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• 제19권1호
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• pp.10-18
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• 2012

The purpose of this study was to determine the effects of weight shift training with joint mobilization on the ankle joint passive range of motion (PROM), balance capacity and gait velocity in hemiplegic patients. Fourteen subjects were randomly assigned to either the experimental group (EG) or the control group (CG), with seven subjects in each group. The EG received weight shift training with joint mobilization in the paretic leg's subtalar joint in order to increase ankle dorsiflexion. The CG received general physical therapy training. Both groups received training five times a week over a period of two consecutive weeks. The figures for PROM of ankle dorsiflexion on the paretic leg, the functional reach test (FRT), the timed up and go (TUG) test, and gait velocity were recorded both before and after the training sessions for both groups. The EG's results in gait velocity, the FRT and the TUG test improved after training (p<.05). The PROM of ankle dorsiflexion improved both in the EG and the CG (p<.05), the EG demonstrated a significantly higher increase (p<.05) than that of the CG. The results of this study suggest that increased joint mobilization positively affects balance and gait velocity of hemiplegic patients. Further studies with a greater sample size are necessary in order further prove the accuracy of the results of this study.

• Imaging Science in Dentistry
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• 제48권3호
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• pp.153-160
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• 2018

Purpose: This study aimed to assess the reliability of ultrasonography (US) in comparison with cone-beam computed tomography (CBCT) as a tool for monitoring the healing of jaw lesions. Materials and Methods: Twenty-one radiolucent lesions in jaws referred to the Oral Surgery Department at our institution were selected for this study. All lesions underwent CBCT and US examinations. The anteroposterior, superoinferior, and mesiodistal dimensions of the lesions were measured on CBCT and US images before surgery and at 6 months after surgery. The dimensions were compared between the US and CBCT images. Blood-flow velocity around the lesions was measured by color Doppler before surgery and at 1 week and 6 months after surgery to assess the capability of US to show changes in blood-flow velocity around the lesion. Results: Before surgery, there were no significant differences between US and CBCT in the mesiodistal and anteroposterior dimensions, although a significant difference was found in the superoinferior dimension (P<.05). However, at 6 months after surgery, significant differences were found between US and CBCT in all dimensions, and it is likely that the US measurements more accurately reflected the extent of healing. The average blood-flow velocity increased at 1 week after surgery (5.84 cm/s) compared with the velocity before surgery (4 cm/s) (P<.05). Then, at 6 months after surgery, the blood-flow velocity significantly decreased (3.53 cm/s) compared to the velocity measured at 1 week after surgery (P<.05). Conclusion: US with color Doppler was confirmed to be a more efficient tool than CBCT for monitoring bone healing.

• 지질공학
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• 제13권3호
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• pp.293-308
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• 2003

북한 지역 60km 하부 지각구조에 관한 새로운 결과를 토모그래피 방법으로 연구하였다. 한반도와 주변에서 얻어진 1013개의 P파와 S파 주행시간이 사용된다. 또한, 이 연구에서 토모그래피 알고리즘에 의해서 모든 지진의 진원이 재결정 된다. 속도구조의 파라미터화는 지진파 밀도에 따라 분포된 Node에 의해서 결정된다. 4개 Level의 120 Node가 각각 P파와 S파의 속도 구조에 적용된다. 연구 결과로 깊이 8Km의 량림 육괴의 깊이에서 P파와 S파 속도 이상변화는 각각 높고 낮게 나타났다. 그 반면에 평남분지의 P파와 S파 속도는 24km 깊이까지 모두 낮게 나타났다 그것은 량림 육괴는 지하수나 온천 등으로 포화 된 단층 및 파쇄대를 많이 갖고 있는 시생대-초기 하부 원생대육괴로 되어 있고, 반면에 평남분지의 평양-사리원 일대는 상부 원생대, 실루리안, 상부 고생대와 하부 중생대 기원의 퇴적층으로 채워진 내부 플렛트 폼 함몰로 되어 있음을 의미한다. 특히 백두산 하부 8, 16. 24km 깊이에서 높은 P파와 5파의 속도이상은 고결된 마그마 물체의 천부 도랑일지 모른다. 그러나 38km에서 낮은 P파와 S파 속도이상은 용융상태의 저속도 마그마방과 관련 된 것으로 본다. 우리는 또한 사리원을 포함한 옹진 분지에서 Moho불연속면이 약 55km임을 발견하였다. 백두산의 모호불연속면은 38km가량 된다. 특히 백두산 Moho에서 V/sub p//V/sub s/의 높은 비율은 지각과 맨틀 경계에서 용융물체가 있는것으로 간주된다. 또한 본 연구는 또한 량림육괴 순상지(Shield)의 끝 가장자리인 묘향산 지역 하부 40km에서 매운 높은 P파와 S파 속도 구조를 갖는 물체가 있음을 보여 주었다.

• 산업기술연구
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• 제29권B호
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• pp.173-180
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• 2009

Simulations using two well-known commercial codes, WAsP and WindSIM, were performed to predict the wind resources in complex terrains of Korea. The predictions from the codes were compared with the measured data. Cross predictions were performed for two closely located measurement sites. The results from WindSIM were found to be more accurate than those from WAsP. The predictions for wind velocity and direction in five different sites of complex terrain from WAsP and WindSIM were also compared. It was found that if the self prediction of the wind velocity and direction from WAsP is close to the measured wind data, the discrepancies between WAsP results and WindSIM results are also close.

• 한국자기학회지
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• 제26권4호
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• pp.142-148
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• 2016

자기공명영상에서 위상대조(phase contrast; PC) 기법으로 혈류 속도와 혈류량을 정량적으로 측정하기 위해 VENC(150 cm/s)에서 숙임각의 변화에 따른 혈류 속도와 혈류량을 측정하였다. 1.5T MRI로 지원자 17명(여: 8, 남: 9, 평균연령 $57.9{\pm}15.4$)을 대상으로 non-breath holding 기법을 적용하여 상행대동맥에서 VENC(150 cm/s)로 숙임각을 $20^{\circ}$, $30^{\circ}$, $40^{\circ}$ 변화하여 측정하였다. 혈류는 average velocity, peak velocity, net forward volume, net forward volume/body surface area를 획득하였다. 상행대동맥에서 AV(average velocity)의 평균값은 숙임각 $20^{\circ}$(9.87 cm/s), $30^{\circ}$(9.6 cm/s), $40^{\circ}$(10.05 cm/s)로 측정되었다. 숙임각을 $20^{\circ}$, $30^{\circ}$, $40^{\circ}$에서 peak velocity, average velocity, net forward volume, net forward volume/body surface area는 통계적인 유의한 차이가 없었다(p > .05). 혈류속도와 혈류량 측정은 매개변수를 조정하여 적용하면 심장혈관 질환의 진단 및 치료에 중요한 정보가 되는 혈류량을 정확히 계산하고, 혈류량 측정에 관한 연구에 도움을 줄 수 있다.

• KIEAE Journal
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• 제3권1호
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• pp.5-12
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• 2003

Using the wind, we can get a thermal comfort in summer. In winter we must shut out the wind. To achieve sustainable environmental building design, especially wind data is very important. The wind direction and wind velocity of 32 cities were analyzed to suggest the wind map of Korea. The weather data which was used in this paper was from National Weather Service(19711.1~2000.12.31). The results of this study are 1) The monthly wind velocity of Seoul is 1.1m/s-3.8m/s. 2) The maximum wind velocity could be estimated from the annual average wind velocity. The regression curve is Y(The maximum wind velocity)=6.369732 X(annual average wind velocity) + 6.391668 (P< 9.66E-12). 3) The wind velocity at the inland area which is far from 25km sea side is smaller than coastal area. The distance from the sea is major index of wind velocity. 4) The monthly wind direction was compared inland area with coastal area. 5) The uniform-velocity line on the Korean map was obtained.

• 대한물리치료과학회지
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• 제17권3_4호
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• pp.51-58
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• 2010

Purpose: The purpose of this study was to examine changes of postural sway between the normal group and treatment group of same people through COP movements. Methods: Fifty men with no history of sensory, neurological and orthopedic disorders were participated in this study. Participants were tested on single limb balance during 30 seconds on EMED system with bared foot. Each of them performed two methods and 5 trials totally each method: (1) non-treated group (2) treated group(with big toe flexion limitation). Data on the moving length, average velocity, instantaneous maximum velocity, mediolateral(x axis) maximum velocity, and anteroposterior(y axis) maximum velocity of COP were measured in single limb standing position. Results: The moving length and average velocity of COP were significant difference between normal and treatment group(p<0.05). On correlation of parameters, the faster average velocity of COP, the higher moving length, instantaneous maximum velocity, mediolateral maximum velocity, and anteroposterior maximum velocity of COP increase. The more Instantaneous maximum velocity of COP, the faster is anteroposterior maximum velocity of COP. Conclusions: Limitation of big toe flexors function affected single limb balance of the normal.

• 한국방사선학회논문지
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• 제14권7호
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• pp.965-973
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• 2020

본 연구의 목적은 TOF-MRA에서 유체속도의 변화와 신호소실의 상관성을 정량적으로 분석하고자 하였다. 유체속도를 제어할 수 있는 팬텀을 자체 제작하여 유체속도를 8.0 ~ 127.3 mc/s까지 총 16단계로 변화시켰다. 3.0T MRI장치를 이용하여 TOF-MRA검사를 하였고 신호소실의 길이와 영상을 유입부, 중간부, 유출부로 분류하여 각 신호강도를 측정하였다. 신호소실의 길이는 유체속도가 127.3 cm/s였을 때 가장 길게 측정되었고 신호강도는 유체속도가 증가할수록 감소하였다(p<0.05). 유입부(-.547)와 중간부(-.643)는 유체의 속도가 증가할수록 음의 상관성이 있었다(p<0.05). 결론적으로 유체속도의 증가는 TOF-MRA에서 신호소실을 야기하는 주요한 인자였음을 확인하였다. 추후 혈류속도가 빠른 모델에서 신호소실을 줄이는 시퀀스 및 파라메터를 연구할 때 본 연구가 기초자료를 제공할 것이라 사료된다.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2005년도 추계 학술대회논문집
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• pp.117-124
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• 2005

Splitting algorithms of the incompressible Navier-Stokes equations using P1P1/P2P1 finite element formulation are newly proposed. P1P1 formulation allocates velocity and pressure at the same nodes, while P2P1 formulation allocates pressure only at the vertex nodes and velocity at both the vertex and mid nodes. For comparison of the elapsed time and accuracy of the two methods, they have been applied to the well-known benchmark problems. The three cases chosen are the two-dimensional steady and unsteady flows around a fixed cylinder, decaying vortex, and impinging slot jet. It is shown that the proposed P2P1 semi-splitting method performs better than the conventional P1P1 splitting method in terms of both accuracy and computation time.