• 비파괴검사학회지
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• 제15권2호
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• pp.378-385
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• 1995

초음파검사는 초음파 펄스가 한 방향으로 진행한다고 하는 지향성을 이용하고 있다. 초음파의 지향성은 전파 방향과 음압 분포의 관계를 나타내고 있으며 탐촉자의 배치, 탐상 감도 및 주사 간격, 결함의 위치 및 특성의 결정에 밀접한 관계가 있다. 본 논문은 초음파가시화법을 이용하여 pyrex glass로 만든 가상 맞대기 용접부내의 용접 금속부에 위치한 인공 결함으로부터 산란한 반사 횡파의 지향성을 측정하였다. 2 MHz와 4 MHz의 사각탐촉자가 인공 결함에서의 반사파의 지향성 조사에 사용되었다. 인공 결함으로부터 반사된 횡파의 지향성은 사각탐촉자의 위치 및 가상 용접부의 형상에 따라 달랐으며 2 MHz와 4 MHz의 사각 탐촉자에 따라 반사파의 지향성은 큰 차이를 나타내고 있었다. 또한 가상 용접부의 높이가 커짐에 따라 반사각과 입사각은 비슷하게 되었다.

• 대한족부족관절학회지
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• 제9권2호
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• pp.188-192
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• 2005

Purpose: It is to analyze the clinical utility of radiograhpic measurements for the insertional Achilles tendinitis patients who have Haglund's deformity and to evaluate the radiographic values related to Haglund's deformity in normal Korean population. Materials and Methods: We used the angle of Fowler and Philip, parallel pitch lines (PPL) and Chauveaux-Liet (CL) angle as radiographic measurements. We examined 50 cases of insertional Achilles tendinits patients and another 50 cases of normal foot as a control. Results: In normal feet, the mean value of angle of Fowler and Philip was $53.22^{\circ}$, CL angle was $-33.14^{\circ}$ and the PPL showed positive in 48%. In case of insertional Achilles tendinitis, the mean values were $55.39^{\circ}$, $-33.63^{\circ}$, positive in 56% respectively. There were not statistically significant differences (p>0.05). Conclusion: The radiographic values for Haglund's deformity between insertional Achilles tendinitis feet and the normal feet did not show significant difference. Therefore, it seems that the clinical utility of radiographic measurements for the insertional Achilles tendinitis with Haglund's deformity is not useful and the development of new diagnostic methods as MRI and ultrasonography is required.

• 대한족부족관절학회지
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• 제15권1호
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• pp.1-6
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• 2011

Purpose: The purpose of this study was to compare the clinical and radiological results of single and double fusions in the transverse tarsal joint. Materials and Methods: Between December 2000 and April 2009, 16 patients (16 feet) who had been treated by fusion of transverse tarsal joint were included in this study. In 8 patients, only talonavicular joint was fused and in the other 8 patients, both talonavicular and calcaneocuboid joints were fused simultaneously. We have measured talo-first metatarsal angle, calcaneal pitch angle, talonavicular coverage angle and presence of adjacent joint arthritis for radiological assessment at both preoperative and last visit. Furthermore, we have evaluated Visual Analogue Scale (VAS), American Orthopaedic Foot and Ankle Society (AOFAS) score and patient's satisfaction. Results: In a single fusion group, VAS was improved from $6.4{\pm}1.4$ to $0.8{\pm}1.0$ (p=0.0011) and AOFAS score was improved from $63.8{\pm}6.2$ to $89.4{\pm}9.8$ (p=0.0012). In a double fusion group, VAS was improved from $8.0{\pm}0.75$ to $2.0{\pm}1.8$ (p=0.0011) and AOFAS score was improved from $60.5{\pm}11.2$ to $89.5{\pm}6.0$ (p=0.0012). In the difference of talo-first metatarsal angle between two groups, a single fused group was more improved than a double fused group (p=0.04). Conclusion: Both single and double fusions are useful and attractive treatment for the transverse tarsal joint arthritis. Furthermore, a single fusion has advantages of less invasiveness and preserving some degree of hindfoot motion and could be an effective alternative to a double fusion if patient meets appropriate criteria through careful preoperative evaluation.

• 재활복지공학회논문지
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• 제9권2호
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• pp.137-144
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• 2015

본 논문은 하지의 움직임을 측정하고 분석할 수 있는 관성센서 기반 보행분석 시스템에 관한 것이다. 본 시스템 구현을 위해 자이로스코프, 가속도계 및 지자계 신호를 이용한 자세 방위 측정장치 모듈을 일체형으로 개발하였으며, 다수의 모듈을 환자의 분절에 부착하여 공간상에서 각 분절의 방위각을 제공할 수 있도록 하였다. 또한 재활과 관련된 많은 응용에 있어 중요한 생체역학 측정값인 신체 분절간의 관절각을 추출하는 알고리즘을 제안하였다. 개발한 자세 방위 측정장치 모듈의 성능을 평가하기 위하여 3차원 공간상의 변위 및 방위를 밀리미터 해상도로 제공할 수 있는 Vicon을 참조 측정 시스템으로 이용하였으며, yaw와 pitch에서 1.08, 1.72도의 평균 제곱근 오차를 얻을 수 있었다. 보행 분석 시스템의 성능 검증을 위하여 7개의 AHRS 모듈을 하지에 부착하고 고관절, 무릎, 발목에 대한 관절각을 계산하여, Vicon과의 비교 실험을 수행하였다. 실험 결과 본 연구에서 개발한 시스템은 뇌졸중 후 회복단계 동안 사지 및 보행 동작을 실시간으로 분석, 제공함으로서 재활의 효과, 난이도 조절 및 피드백 요소를 제공할 수 있을 것으로 판단된다.

• 한국항행학회논문지
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• 제9권1호
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• pp.28-33
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• 2005

적외선 열 센서와 GPS를 이용하여 무인항공기의 세로운동과 가로운동을 제어하는 알고리즘을 만들어 시뮬레이션을 수행하였다. 기본적으로 일정한 고도를 유지하면서 동시에 수평비행과 일정한 옆놀이 각으로 선회하는 비행을 제어하는 알고리즘을 작성하였다. 연구 결과 저가의 장치 구성으로서 가로운동에 대해서는 옆놀이 각을, 세로운동에 대해서는 키놀이 각과 고도를 동시에 제어할 수 있는 제어기를 개발할 수 있었다.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• 대한족부족관절학회지
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• 제11권1호
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• pp.8-12
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• 2007

Purpose: The purpose of this study was to investigate the differences in simple radiographic parameters and results of 3-D scan among normal and patient groups. Materials and Methods: Seventy subjects in each group were studied. Control group consisted of subjects without plantar foot pain (normal group), and two patient groups were one with plantar forefoot pain (metatarsalgia group), the other with plantar heel pain (heel pain group). Simple radiographic parameters were obtained and 3-D scan was done with foot scanner (Nexscan, K&I, Korea) and The height and volumn of the space under the medial longitudinal arch was analyzed (Enfoot, K&I, Korea). These parameters were compared and correlation between radiological parameters and results of the 3-D scan were studied. Results: The results of all parameters istributed normally. There was no signigicant differences among the groups in radiological parameters (talo-first metatarsal angle, calcaneal pitch angle and height of the talar head in standing lateral radiograph) and arch height and arch volumn on 3-D scan. There were statistically significant correlations between radiological and 3-D scan results. Conclusion: This study revealed that there is no significant differences in medial longitudinal arch height and volumn among normal and different patient groups and there are variety of arch height in patients with similar symptoms.

• 한국정밀공학회지
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• 제2권2호
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• pp.69-75
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• 1985

The object of this study is to discuss the effect of cutting fluid on the mechanism of chip formation in orthogonal cutting. Rehbinder effect has been known as a phenomenon, the reduction of mechanical strength, when the metal is exposed in a polar organic environment or the surface of metal is coated with some polar organic substances. About the cause of Rehbinder effect there have been many different ideas by Rehbinder, Merchant, Shaw, Sakakida and etc. In this report, the effects of surface active medium (magic ink) upon the mechanism of chip formation on the orthogonal cutting of copper and the mechanical properties of the work material are experimentally discussed with constant rake angle. Under the condition of polar organic environment the experimental results are as follows; 1) The chip thickness becomes thinner and slip line pitch on the free surface of chip becomes smaller than that of dried cutting area. 2) The order of alternation of cutting ratio was changed. 3) The friction angle on the tool face is not affected by the depth of cut. 4) The cutting force and shear strain on the shear plane decrease remarkably, therefore the work material must be embrittled under polar organic environment.

• 한국해양공학회지
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• 제30권3호
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• pp.221-226
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• 2016

An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.

• 전기학회논문지
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• 제67권10호
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.