• Microbiology and Biotechnology Letters
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• v.28 no.1
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• pp.26-32
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• 2000

Electrostatic forces contribute to the high degree of enzyme transition state complementarity in enzyme catalyzed reaction and such forces are modified by the solvent through its dielectric constant and polar properties. The contributions of electrostatic interaction to the formation of ES complex and the stabilization of transition state of the trypsin catalyzed reaction were probed by kinetic studied with high pressure and solvent dielectric constant. A good correlation has been observed between the increase of catalytic efficiency of trypsin and the decrease of solvent dielectric constant. Activation volume linearly decreased as the dielectric constant of solvent decreased, which means the increase in the reaction rae. Moreover, the decrease of activation volume by lowering the solvent dielectric constant implies a solvent penetration of the active with and a reduction of electrostatic energy for the formation of dipole of the active site oxyanion hole. When the 야electric constant of the solvents was lowered to 4.7 unit, the loss of activation energy and that of free energy of activation were 2.262 KJ/mol and 3.169 KJ/mol, respectively. The results of this study indicate that the high pressure kinetics combined with solvent effects can provide unique information on enzyme reaction mechanisms, and the controlling the solvent dielectric constant can stabilize the transition state of the trypsin-catalyzed reaction.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.4
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• pp.1154-1163
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• 1996

This paper presents a three dimensional modeling and dynamic anlaysis of a hydraulic excavator. An excavator is composed of a ground, an under-frame, two idlers, two spockets, an upper-frame, a boom, an arm, a bucket two yokes, two connecting rods, two boom cylinders, an arm cylinder, and a bucket cylinder. Each cylinder is modeled with two separate bodies which are linked to each other by a translational joint. The three dimensioanl model of the excavator consists of 22 bodies and each body is assumed as rigid. This paper suggested the maximum lifting capability, a critical load and reaction forces at joints form the DADS simulation. It was presumed that the reaction forces due to a critical load are three times bigger than those due to the maximum lifting capacity.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.194-200
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• 2000

Researches on the FRF-based substructuring method have been mainly focused on vibratory response analysis. Present study is concerned about the application of the method to the dynamic stress analysis of a compressor mounting bracket in a passenger car. This is performed by using reaction forces that can be obtained by the FRF-based substructuring method. The air-conditioner system, composed of a compressor, a bracket and a test jig, is analyzed by using the FRF-based substructuring method. The experimental and numerical FRFs are combined to calculate the system responses and reaction forces at the connection point. The dynamic reaction forces plugged into the bracket FE model to compute the compute the stresses of the bracket. Dynamic stresses by the present method are compared with those from FE model. The comparison shows possibility of practical usage of the method for the real problem.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.971-974
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• 1992

The mobile robot may be composed of a robot and an AGV. In this paper, the ynamics of a robot part, such as reaction forces or required torques, are studied with assumption of the AGV in motion. These forces of a mobile robot are different from those of an industrial robot. A new robot is deigned and manufactured for the mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.125-130
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• 1988

This study presents a method to determine the ground reation forces of a quadruped walking machine on its foot ends caused by the body weight and the inertia forces from the commanded acceleration. The method shows the same result as the Pseudo-Inverse Method when the 4 feet stand on a plane. However method can be applied even when the 4 feet stand on a non-planar surface for which, no feasible solution can be obtained by the Pesudo-Inverse Method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2719-2724
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• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.211-220
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• 2004

It is well known that the geometry of the articular surface has a major role in determining the position of articular contact and the lines of action for the contact forces. The contact force calculation of the knee joint under the effect of sliding and rolling is one of the most challenging issues in this field. We present a 3-D human knee joint model including sliding and rolling motions and major ligaments to calculate the lateral and medial condyle contact forces from the recovered total internal reaction force using inverse dynamic contact modeling and the Least-Square method. As results, it is believed that the patella, muscles and tendon affect a lot for the internal reaction forces at the initial heel contact stage. With increasing flexion angles during gait, the decreasing contact area is progressively shifted to the posterior direction on the tibia plateau. In addition, the medial side contact force is larger than the lateral side contact force in the knee joint during normal human walking. The total internal forces of the knee joint are reasonable compared to previous studies.

• Journal of the Ergonomics Society of Korea
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• v.11 no.1
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• pp.93-101
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• 1992

Gait parameters for the Korean normal adults were compared with sex and age. Time-distance measurements and ground reaction force parameters were studied in relation to walking speed. Regression analysis was performed to establish functional relations between walking speed and various gait parameters. It is found that cardence and stride length varied linearly with walking velocity whereas time of double support was inversely proportional to walking velocity. The amplitude of ground reaction force was increased with increasing velocities of gait due to the greater heel-strike force and toe-off forces associated with these higher velocities. The results of this study can be usefull utilized as basic data to design and evaluate prosthetic devices, and to detect abnormal gait performances.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.1
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• pp.55-63
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• 2022

A stranded ship means a ship which is stuck on a rock or a seabed, and cannot move by itself. The lightening plan is required to refloat the stranded ship. For this, we have to understand the forces and moments acting on the ship, which is composed of the gravity, buoyancy, and reaction force due to the touched area below the ship. This study defines those forces and moments, and proposed the calculation method to find the posture based on the static equilibrium. It is divided by two steps. In the first step, the magnitude and position of the reaction force are obtained based on the known information such as initial trim angle and draft of the ship. In the second step, the reaction force and the posture is calculated due to the three cases such as addition, reduction, and movement of the cargo. It is applied to three examples in order to calculate the reaction force, and the trim angle due to changes of the cargo. As a results, we successfully obtain the magnitudes and positions of forces acting on the stranded ship and to check the posture of the stranded ship.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.2
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• pp.145-151
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• 2011

Purpose: The study was designed to investigate the effects of landing heights on muscle activities and ground reaction force during drop landing. Methods: Sixteen healthy adults were recruited along with their written informed consent. They performed a drop-landing task at the height of 20, 40, and 60cm. They completed three trials in each condition and biomechanical changes were measured. The data collected by each way of landing task and analyzed by One-way ANOVA. Ground reaction forces were measured by force flate, muscle activities measured by MP150 system. Results: There were significant differences in ground reaction forces, and significant increases in muscle activities of tibialis anterior, medial gastrocnemius and biceps femoris with landing heights. Conclusion: These findings revealed that heights of landing increases risk factors of body damage because of biomechanical mechanism and future studies should focus on prevention from damage of external conditions.