• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1990년도 춘계학술대회
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• pp.1-6
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• 1990

A new version of moving actuator electromechanical total artificial heart was designed to improve total efficiency, durability, and fitting inside thoracic cavity. As compared with our present type of the rolling cylinder actuator, this new model has a pendulum-type actuator with reciprocating motion around the fixed circular path, connected through the gear mechanisms to the motor. By using this mechanism, the efficiency and durability could be improved by replacing sliding mechanism with rolling contact elements. Also, the height of the pump could be decreased from 9cm to 7cm with static stroke volume 65cc. With these improvements, we have implanted this new pump in human size animal (less than 70Kg weight).

• Journal of Mechanical Science and Technology
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• 제18권2호
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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.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.183-187
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• 2004

To predict rolling performance for a barge-type FPSO, the evaluation of correct nonlinear roll damping is critical. The squall section of FPSO causes a fair amount of viscous damping effect. Free roll decoy tests were conducted to estimate nonlinear roll damping for a barge-typ FPSO of three different loading conditions. The roll motion RAO was deduced by model tests in the wave condition of wideband spectrum. In numerical calculation, the quadratic damping was considered as equivalent linear damping using the results of free roll decay test. Tested roll performance in JONSWAP wave spectrum was compared with numerical results. These two results show good agreement, in spite of proximity in peak wave period and roll natural period.

• 한국항해학회지
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• 제18권2호
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• pp.19-40
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• 1994

Several factors can be chosen for evaluating seakeeping performance, such as deck wetness, propeller racing, slamming, rolling, vertical acceleration and vertical bending moment, in consi-deration of the safety of human being, cargo and ship. In fact, there are few developments for an evalua-tion method of seakeepting performance correponding with each ship's characteristics. The purpose of this paper is to develop an quantitative evaluation method of seakeeping performance according to ship types. The scope and the method of this study are as follow. (1) Obtain each response amplitude of ship's motion in waves by Ordinary Strip Method and apply it to short-crested, irregular wave for random process of the factors on seakeeping performance. (2) Define the evaluation index, the dangerousness, the maximum dangerousness and the evaluation diagram. (3) Figure out the different characteristics according to ship types by computer simulation of evaluating seakeeping performance. (4) Adopt vertical acceleration and one of rolling or lateral acceleration as the factors on seakeeping performance by clarifying the correlation of stochastic process. This study developed an evaluation method coincident with each ship's characteristics, and suggested a device for application to actual ship. This method might be useful in developing the practical system of seakeeping performance in accordance with ship types. The ship models for computer simulation are 175m container ship types, 93m tranning ship HANARA as passenger ship type, 259m bulk-carrier type and 164m pure car-carrier type.

• 한국생산제조학회지
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• 제25권2호
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• pp.132-137
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• 2016

Biomimetics involves the design of robotic platforms inspired from living creatures to achieve efficient operation under environmental conditions. A development within biomimetics involves investigating the function of a tail and applying it to robot design. This study aims to define the function of a static tail for water-running robots, and optimize its geometric and compliance parameters. The rolling angle of the tail is determined by the objective function, while the area and fillet ratio are used for geometric design and compliance parameters in the rolling and yawing directions. Repeated motion of the water-running robot's footpads at frequencies of 9 and 10 Hz is used as the operating condition. Robust design based on the Taguchi methodology is performed via orthogonal arrays. The optimized tail design derived in this study will be implemented in a robotic platform to improve steering and balancing functions in the pitching direction.

• 한국정밀공학회지
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• 제30권10호
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• 동력기계공학회지
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• 제10권1호
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• pp.96-101
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• 2006

In ship operation the consequence of roll and pitchingmotion can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization and trimming control system design have been performed and good results have been achieved where the stabilizing fins, tanks, rudders and flaps are used. However the ultimate objective of such approach should be focused on improving the boarding sensitivity. But there may exist many unsolved problems, for examples, ship control performance degradation and increasing of system complexity. So, the achieved control performance could not give us enough comfortable boarding sensitivity where the residual rolling and pitching motion are main drawbacks. To get rid of these disadvantages, the main hull control systems design approach has been considered using semiactive absorber. In this system, dampers, spring, dynamic dampers and control system with sensors are incorporated. In our system considered in this study, just two motors and control system with sensors are used for the bed. And the control system can be installed on each bed. So, we can control every bed on the specified control objective respectively. Above all, the good advantages of this system are the facts followed from simple idea and usefulness. Of course the structural modifications are needed. Considering disturbances, we design control system and verify the usefulness of developed system from the experimental study.

• 한국치위생학회지
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• 제13권6호
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• pp.1047-1055
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• 2013

Objectives : The purpose of this study was to evaluate the overall oral health knowledge and toothbrushing pattern of school dental clinic students in school dental clinics and to provide the basic data for the oral health. Methods : The subjects were 290 elementary school students visiting school dental clinics in Busan Metropolitan city. The data were collected from July 3, 2012 to July 19, 2013. Results : The visit rate of school dental clinics was 40.3%. Girl students brushing three times a day accounted for 47.3% and boy students brushing twice a day accounted for 58.5%(p<0.05). Students using rolling brushing method accounted for 35.4% and 8% of the students did not know the rolling method. Brushing method response consisted of circular motion(21.6%) and rolling method(30.8%). Brushing more than 3 minutes accounted for 46.5%(p<0.001) and 30.8% of the students chose rotation brushing method(p<0.001). Conclusions : It is very important for the elementary school students to learn the right oral health education and oral health knowledge.

• 과학교육연구지
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• 제42권2호
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• pp.120-131
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• 2018

본 연구의 목적은 구르는 물체에 작용하는 마찰력에 대한 과학 영재 학생들의 이해의 특징을 살펴보고, 이로부터 도출할 수 있는 교수 학습법적인 시사점은 무엇인지 살펴보는 것이었다. 이를 위해 수도권 소재 과학영재학교에서 고급물리학을 수강하는 3학년 학생 48명을 연구 참여자로 하여 구르는 물체에 작용하는 마찰력에 대한 세 가지 문항을 개인별로 풀어보게 하고, 이후 조별 토론을 실시하였다. 연구 결과 학생들의 응답은 규칙형, 비규칙형, 계산형의 세 유형으로 나눌 수 있었으며, 비규칙형으로 분류되는 학생들이 가장 많았다. 이중 규칙형의 학생들은 마찰력과 관련한 규칙을 활용하여 구르는 물체에 작용하는 마찰력에 대해 추론하는데 어려움을 겪고 있었다. 연구자는 접촉면에서의 상대 운동을 강조하는 전략과 더불어 마찰력에 대한 규칙을 사용하지 않고도 마찰력의 방향을 제대로 추론하도록 가르친다면 학생들이 마찰력에 대한 깊은 이해에 도달할 수 있을 것이라고 생각한다.