• Journal of Ocean Engineering and Technology
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• v.32 no.5
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• pp.393-401
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• 2018

This paper reports a novel mobile-type wave energy harvesting system. The proposed system adopts a wave glider's propulsion mechanism. A wave glider's blades were mounted on a circular layout and generated a rotational motion. Combining the wave converting system with the wave glider, a mobile floating-type robotic buoy system was developed. It enabled the relocation of the buoy position, as well as station-keeping for long term operation. It had a small size and could efficiently harvest wave energy. A feasibility study and modeling were carried out, and a prototype system was constructed. Various tank tests were performed to optimize the proposed wave energy harvesting system.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.469-472
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• 2016

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.

• Journal of Auto-vehicle Safety Association
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• v.14 no.1
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• pp.20-25
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• 2022

This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.15 no.4
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• pp.329-337
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• 1993

Improvement of orthognathic surgical techniques make it possible to design esthetic surgical correction for total esthetic face. In order to find the esthetic line which guide esthetic surgical correction in patients of orthognathic surgery, cephalometric soft tissue analysis of esthetic faces were performed. In esthetic Korean young adults, 25 males and 25 females who were within 1 S.D. of E-line, ANB, P/A facial height ratio, were analyzed in natural position keeping their face eye level. 1. Sn position is constant in males and females. The Sn-N'-N' Vertical plane angle is $5.3^{\circ}$ in both sexes. Sn is positioned in front of 5 mm in female 7 mm in male from the N' vertical plane. 2. The Sn-Ls line make constant angle to horizontal plane with $72.5^{\circ}$ in both sexes, which is called "upper esthetic line". The Ls-Pg' line makes constant angle to $72.4^{\circ}$ (range $72.2^{\circ}$ in female to $72.6^{\circ}$ in male), which is called "lower esthetic line". 3. When inter-esthetic line angle (the Sn-Ls line to Ls-Pg' line) has $144.9^{\circ}$, lower third face has esthetic upper and lower lip. 4. In treatment planning, Sn is first corrected in proper position, and then upper and lower esthetic line are established with the angle of 144.9. The maxilla is moved to tangent Ls to the upper esthetic line, and mandible is moved to tangent Li and Pg' to the lower esthetic line, according to the "y"-shaped esthetic lines, then lower third face showes esthetics.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.139-149
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• 2006

This study is to analyze the kinematic variables of inward $1{\frac{1}{2}}$ somersault in platform diver. For the manner, 3 people form the national diving team in the year 2000were chosen as the subjects and two S-VHS video cameras set in 60frames/sec were used for recording their motions. Coordinated raw positions data through digitizing are smoothing by butter-worth's low-pass filterin method at a cut off frequency 6.0Hz. and the direct linear transformation(DLT) method was employed to obtain 3-D position coordinates. The conclusions were as follows. However, horizontal distance which is the change of the COG, form the point of the jump to the point of Event 3 where the player is out of the board range completely, Subject B showed 105.1cm and 71.1cm of the vertical distance which are shorter horizontal distance and higher vertical distance, thus, took a great advantage of the position to prepare for the entry. Therefore, if a player takes higher position by speeding up the vertical velocity at the moment of the jumping off the board, and stays in the air longer, the player can have more time to show his skill. Because of the use of the characteristics of the inward somersault, keeping the safe distance form the board is important but in order to higher the completeness, it is ideal to keep the horizontal distance little over 100cm. Also, the angles of shoulder and elbow from Event 1 to 4, depending on swing of the arms, motions in the air, getting ready for the entry, showed some difference individual by individual, according to the velocity of the thigh and shank showed much difference while getting ready and take-off, and it's because of the individual's different bending and straightening for horizontal and vertical distance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.2
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• pp.328-338
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• 2017

In this paper, a zero torque control scheme adopting current sharing function (CSF) used in integrated Switched Reluctance Motor (SRM) drive with DC battery charger is proposed. The proposed control scheme is able to achieve the keeping position (KP), zero torque (ZT) and power factor correction (PFC) at the same time with a simple novel current sharing function algorithm. The proposed CSF makes the proper reference for each phase windings of SRM to satisfy the total charging current of the battery with zero torque output to hold still position with power factor correction, and the copper loss minimization during of battery charging is also achieved during this process. Based on these, CSFs can be used without any recalculation of the optimal current at every sampling time. In this proposed integrated battery charger system, the cost effective, volume and weight reduction and power enlargement is realized by function multiplexing of the motor winding and asymmetric SR converter. By using the phase winding as large inductors for charging process, and taking the asymmetric SR converter as an interleaved converter with boost mode operation, the EV can be charged effectively and successfully with minimum integral system. In this integral system, there is a position sliding mode controller used to overcome any uncertainty such as mutual inductance or DC offset current sensor. Power factor correction and voltage adaption are obtained with three-phase buck type converter (or current source rectifier) that is cascaded with conventional SRM, one for wide input and output voltage range. The practicability is validated by the simulation and experimental results by using a laboratory 3-hp SRM setup based on TI TMS320F28335 platform.

• The Journal of Korean Institute of Information Technology
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• v.16 no.12
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• pp.49-56
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• 2018

As the era of the 4th industrial revolution comes, there is a growing interest in the use of UAVs. While various technologies are being developed using drones, controlling flight of drones is the most basic. Hovering control is essential in order to enable autonomous flight, especially during flight control of drones. In this paper, we design drones based on ATmega2560, Sonar, Optical Flow, and acceleration / gyro 6 axis sensor for drones hovering control, and developed horizontal control, altitude control, position tracking and fixed algorithm based on PID control. In this research, in order to measure the objective result of the drone, keeping the altitude immediately after the drone takes off according to the time, measure the movement value until the position is fixed and stable hovering is maintained and compared analyzed. Experimental results show that the drones can stably hover within 4cm horizontal and 2cm vertical from 50cm above the reference coordinates.

• Journal of Technologic Dentistry
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• v.30 no.2
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• pp.47-56
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• 2008

This is a research for thickness change of denture base according to the shape of sprue & investment position of denture base in flask when injecting polyamid base resin for flexible partial denture as a part of study for Valplast among the flexible partial denture with a nylon base. It has been introduced several kinds of flexible partial denture product with a nylon base, but Valplast is the most widely used product among them. Valplast has been the most generally used material today since developed in 1950s in the United States as a material for flexible partial denture. Valplast is much more aesthetic than general metal-acrylic partial denture due to its translucent pink color and biocompatibility in terms of material characteristic. It keeps its flexibility for a long time after production, imposes a less burden on the teeth used as abutment, and it can be easily insert and remove due to its particular suppleness. Moreover, it is felt like real teeth more than metal-acrylic partial denture when being put in and takes alveolar bone under good protection since it receives occlusal force equally under the denture base. The most outstanding feature of Valplast is flexibility. The extent of its flexibility is determined by width & thickness of denture base. Considering general working procedure of Valplast, it can be seen that the thickness of denture base formed out of wax is increasing by the pressure while injecting resin. This research is to decide and test on the thickness increasing of Valplast by injecting pressure and the hypothesis upon that and is to prepare the basis estimating the increasing extent of thickness of denture base on the basis of the test result. In this test, it is expected occlusal malposition & thickness increasing of denture base by injecting pressure according to 4 kinds of test data which are to select 3 types of sprue method settling the forefront position at which the test material of fixed standard can be invested and to position the test material at the rearmost part keeping the minimum distance to set sprue. For 4 kinds of injecting test by investment position & sprue type, 20 test materials, 5 for each test were produced and a pressure of 1,180Kg was given with automatic injector of air cylinder type. The results are as follows: 1. For the amount of thickness increasing of denture base by investment position, the thickness of front investment is less increasing than the one of rear investment. 2. For the amount of thickness increasing of denture base by sprue type, the thickness of straight decompression sprue type which can absorb the injecting pressure after injecting polyamide base resin is less increasing than the other sprue types.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.1
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• pp.67-75
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• 2023

In this study, the dynamic characteristics of an offshore platform being installed and physical phenomena are analyzed from the perspective of interaction between operation and maneuvering simulation using a real-time Maneuvering & Operation simulator of Shipbuilding & Marine Simulation Center at Tongmyong University. It was simulated to install the semi-submersible drilling rig moored by 8 mooring lines according to a scenario that is similar to it on the real sea, and 4 tug boats for position keeping of the rig and an offshore support vessel for hook-up of the mooring lines were operated. During the simulation, the motion, trajectory, tension of the objects were output in real time, and they were analyzed at each work procedure. This study about the simultaneous simulation of operation and maneuvering showed the detailed motion of the offshore platform and ships on the operation procedure and the interaction between operation and maneuvering in specific environment condition. Also, it confirmed that the simulation can be utilized to determine the possibility of offshore platform installation in specific situations.

• Journal of Bio-Environment Control
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• v.8 no.4
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• pp.223-231
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• 1999

The one of basic functional conditions of suspended overhead sprayer, which is openly made use of irrigating on bedding plants in greenhouse, is to be kept the growing uniformity of bedding plants by making uniformly the spraying irrigation depending on the distribution of sprayed water. This study was performed to find out the optimum position of sector formed injection nozzle which is placed from the top of plant 0 the tip of the nozzle to keep spraying uniformity. The test of spraying distribution using a overhead sprayer, which was installed in a row of sector formed injection nozzles, was performed The measuring factor to represent spraying distribution was the water weight filled in each cup when the overhead sprayer was moving across the upside of the cups which were placed directly under the nozzles on keeping the distance from nozzle tip. The test results were as following , The standard mr of weights of each cup filled with spraying water was lower values at Position far from more than 60cm under nozzle tip. The driving speed variation of sprayer was not effected on spraying uniformity but the spraying water weight was inversely proportioned to the speed. To make best spraying uniformity, it was represented that the tip of the nozzle is positioned to keep the distance which the top of plants is placed at the second cross point of each injection sector of nozzles.