• 대한의용생체공학회:의공학회지
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• 제31권1호
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• pp.67-73
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• 2010

The foot performs an important function in supporting the body and keeping body balance. An abnormal walking habit breaks the balance of the human body as well as the normal function of the foot. The influence of a flatfoot(pes planus) occupies a considerable portion of the various causes resulting in the wrong walking habit. But, little studies has been done by the functional foot orthotics for the flat foot. The object of this study, therefore, is to propose a new approach method to reveal the effects of the improvement of the foot function by using orthotics. The essential point of this study is to measure and analyze the change of ankle angle in the sagittal plane for flat foot subjects wearing the orthotics. Before and after wearing the functional orthotics, the gait analysis of flat foot subjects was conducted in three experimental aspects : the change of ankle angle, the change of the total Ankle ROM and the difference of left & right ankle angle in the sagittal plane. 1. The average ankle angle differences of before-and-after wearing the orthotics have declined like this; left : $2.71^{\circ}$, right: $1.91^{\circ}$ (p<0.05). 2. Total ankle ROM also showed decrease in both sides while the left side's is rather slight; left : $0.57^{\circ}$, right : $2.07^{\circ}$ (p<0.05). 3. The difference of left and right ankle angle in the sagittal plane decreased by $0.71^{\circ}$ (p<0.05). In result, it is confirmed that the functional foot orthotics have a significant effect on mechanical movement of ankle joint for flat foot. it is expected that this paper will be further studied and improved as a practical estimation method in the research on the effect of foot-orthotics.

• 대한전자공학회논문지SD
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• 제41권6호
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• pp.91-98
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• 2004

본 논문은 일반적인 SPICE 시뮬레이터에서 사용 가능한 PCB 평판 해석 모형을 제안한다. 제안된 모형은 주파수에 따라 증가하는 두 가지 손실, 즉, 표피 손실과 유전 손실의 영향을 반영한다. 평판은 메시(mesh) 구조로 조각을 낸 후, 각각의 단위모형은 전송선 소자와 손실 모형을 이용하여 모형화된다. 손실 모형은 DC 손실을 위해서 하나의 저항이 요구되고, 표피 손실을 위해 직렬 RL ladder 회로, 유전 손실을 위해서 직렬 RC ladder 회로가 요구된다. 제안된 모형의 검증을 위해 주파수 가변저항을 사용한 SPICE ac 해석결과를 통해 비교하고, 전형적인 데스크탑 PC용 FR4 4층 PCB 적층 구조를 만들어 VNA 측정치와도 비교할 것이다. 이 모형은 RLGC 수동 소자들로만 구성되므로 주파수 영역 및 시간 영역에서도 다양한 선형/비선형 소자들과 결합하여 과도 해석이 가능하다.

• 대한기계학회논문집A
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• 제27권11호
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• pp.1986-1996
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• 2003

Methodology based on the elastic-plastic fracture mechanics has been widely accepted in predicting the critical crack length(CCL) of pressure tubes of CANDU nuclear plants. A conservative estimate of CCL is obtained by employing the J-resistance curves measured with the specimens satisfying plane strain condition as suggested in the ASTM standard. Due to limited thickness of the pressure tubes the curved compact tension(CT) specimens taken out from tile pressure tube have been used in obtaining J-resistance curves. The curved CT specimen inevitably introduce slant fatigue crack during precracking. Hence, effect of specimen geometry and slant crack on J-resistance curve should be explored. In this study, the difference of J integral values between the standard CT specimens satisfying plane strain condition and the nonstandard curved CT with limited thickness (4.2mm) is estimated using finite element analysis. The fracture resistance curves of Zr-2.5Nb obtained previously by other authors are critically discussed. Various finite element analysis were conducted such as 2D analysis under plane stress and plane strain conditions and 3D analysis for flat CT, curved CT with straight crack and curved CT with slant crack front. J-integral values were determined by local contour integration near the crack tip, which was considered as accurate J-values. J value was also determined from the load versus load line displacement curve and the J estimation equation in the ASTM standard. Discrepancies between the two values were shown and suggestion was made for obtaining accurate J values from the load line displacement curves obtained by the curved CT specimens.

• 대한기계학회논문집
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• 제10권6호
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• pp.937-946
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• 1986

본 논문에서는 이와 같은 점을 고려하여 두께가 얇은 평면응력 상태의 CT 시 험편을 이용하여 W와 z의 변화에 따른 파괴인성치와 J저항곡선의 거동 및 크랙성장을 고려한 J적분식도 검토하였다. 또한, 재료를 변형경화 재료로 가정하고 HRR 응력변 형율장의 특성을 이용하여 컴퓨터 프로그램을 작성하여 J적분을 구한 후 실험치와 상 호 비교 검토하였다. 이 때 사용한 입력자료는 실험치의 그것과 동일하게 하였다.

• 한국재료학회지
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• 제11권6호
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• pp.508-511
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• 2001

사파이어 단결정의 취성-연성전이에 대한 실험을 행하였다. 사파이어 단결정의 취성-연성전이온도는 변형율 3.3$\times$ $10^{-5}$/sec에서 $1000\pm$$25^{\circ}C$ 그리고 변형률 3.3$\times$$10^{-5}$/sec에서는 1100$\pm$26$^{\circ}C$이었다. 취성-연성전이모델을 이용하여 Prism Plane slip {1120} <1100> 전위속도의 활성화에너지를 계산하였으며, 그 결과 활성화에너지는 4.6$\pm$2.3eV의 범위를 가졌다. 이 활성화에너지는 에치-퍼트법을 이용하여 전위속도측정으로부터 구한 결과치 3.8eV와 유사하였다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제4권10호
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• pp.465-472
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• 2015

본 논문에서는 시차공간상의 평면검출 방법을 제안하고 그 성능을 평가한다. 다양한 표면을 평면으로 근사하고 검출함으로써 시차공간에 나타난 장면을 간소화하고 수식화하여 다루기 쉽도록 한다. 또한 시차공간에서 근사적으로 구한 평면은 3차원 공간상에서 실측 크기로 표현 가능하고 장애물 검출 및 카메라 위치 추정에 활용할 수 있다. 먼저 스테레오 매칭 기술을 이용해 두 개의 영상으로부터 2차원 공간상에 좌표쌍마다 시차값을 가지는 시차공간을 생성한다. x 또는 y축의 전체적인 추이를 반영하도록 돕는 선 단순화 기법을 이용하여 시차값의 접선 기울기를 추정한다. 기울기 쌍의 조합에 따라 10개의 라벨을 시차공간의 좌표쌍에 부여한다. 상하좌우 방향으로 인접하고 동일한 라벨을 가지는 좌표쌍을 연결하여 군집을 생성하고 최소자승법을 이용해 각 군집에 대한 평면식을 추정한다. 시차공간 내에서 평면식을 만족하는 점들이 가장 많은 평면을 검출하고 이를 시차공간을 가장 잘 간소화한 N개의 평면으로 선택한다. 평면검출의 성능을 정량적으로 평가하였고 그 결과는 3차원 원뿔과 원통에서 각각 97.9%, 86.6% 품질을 보였다. 스테레오 비전 알고리즘의 성능을 평가하기 위해 대표적으로 이용되는 Middlebury와 KITTI 실험데이터로부터 제안된 평면검출 방법은 훌륭하게 평면을 검출하였다.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.659-665
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• 2000

In this paper a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. in the system it is common to encounter situations where a single decision maker controls a large number of subsystems and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise there is a constraint that the observation must be coded and transmitted over a digital communication channel with fintie capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. in this paper we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons the lead vehicle of the following platoon is controlled by a remote control station. Using the observation transmitted over communication channel the remote control station designs the feedback controller. The simulation results show that the intervehicle spacings and the deviations from the desired intervehicle spacing are well regulated.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2014년도 춘계학술발표대회
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• pp.904-907
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• 2014

In this work we present a robust and fast approach to estimate 3D vehicle pose that can provide results under a specific traffic surveillance conditions. Such limitations are expressed by single fixed CCTV camera that is located relatively high above the ground, its pitch axes is parallel to the reference plane and the camera focus assumed to be known. The benefit of our framework that it does not require prior training, camera calibration and does not heavily rely on 3D model shape as most common technics do. Also it deals with a bad shape condition of the objects as we focused on low resolution surveillance scenes. Pose estimation task is presented as PnP problem to solve it we use well known "POSIT" algorithm [1]. In order to use this algorithm at least 4 non coplanar point's correspondence is required. To find such we propose a set of techniques based on model and scene geometry. Our framework can be applied in real time video sequence. Results for estimated vehicle pose are shown in real image scene.