• The Journal of Korea Robotics Society
• /
• v.5 no.4
• /
• pp.326-331
• /
• 2010

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.894-900
• /
• 2005

A new approach to the straightforward implementation of the unscented filter in a unit quaternion space is proposed for spacecraft attitude estimation. Since the unscented filter is formulated in a vector space and the unit quaternions do not belong to a vector space but lie on a nonlinear manifold, the weighted sum of quaternion samples does not produce a unit quaternion estimate. To overcome this difficulty, a method of weighted mean computation for quaternions is derived in rotational space, leading to a quaternion with unit norm. A quaternion multiplication is used for predicted covariance computation and quaternion update, which makes a quaternion in a filter lie in the unit quaternion space. Since the quaternion process noise increases the uncertainty in attitude orientation, modeling it either as the vector part of a quaternion or as a rotation vector is considered. Simulation results illustrate that the proposed approach successfully estimates spacecraft attitude for large initial errors and high tip-off rates, and modeling the quaternion process noise as a rotation vector is more optimal than handling it as the vector part of a quaternion.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.951-952
• /
• 2008

This paper proposes a new method for image composition which estimates the rotation angle of human hand and uses the reserved image in real-time camera images. First, we capture a background image and extract a interesting region by background subtraction. Next, we estimate the skin region from the interesting region and calculate the rotation angle of estimated skin region using PCA(Principal Components Analysis). Finally, we composite the reserved image for the calculated rotation angle in camera images. The proposed method can be applied to control the 3D avatar for marker-less augmented reality.

• Journal of Korea Foundry Society
• /
• v.18 no.3
• /
• pp.262-270
• /
• 1998

Gravity tilt pour casting can effectively guarantee the reduction of various casting defects by controlling the rotation speed and the tilting angle of the mold during tilt pouring. The relationship between casting process parameters and the soundness of castings has been investigated in order to determine the optimum process variables in the gravity tilt pour casting process. In order to evaluate the effect of rotation speed on mold filling patterns, a video camera was employed to visualize the in-situ fluid flow behavior of the molten metal, and the relevant fluid velocity was also estimated. X-ray and mechanical tests were also performed to evaluate the effect of fluid velocity on casting quality. With the rotation speed lower than 0.5 r.p.m., which is nearly corresponding to the critical velocity of stability in the fluid flow, sound castings were obtained without having any casting defects. It can be concluded that the gravity tilt pour casting process is an effective process for manufacturing sound casting products with enhanced physical and mechanical properties.

• Journal of Sensor Science and Technology
• /
• v.14 no.2
• /
• pp.85-90
• /
• 2005

In this study, we have fabricated a three branches vertical Hall sensor for detecting three phases rotation informations of miniaturized brushless motor. The sensor gives three position signals phase shifted by $120^{\circ}$, corresponding to the motor driving signals. The branch has one Hall output and one input each other. The central part acts as common driving input. Sensor has branch width of $150{\mu}m$ and distance from central electrode to Hall electrode of $100{\mu}m$. The sensitivity of sensor is 250 V/$A{\cdot}T$ at magnetic field of 0.1 T. It has also showed three sine waves of Hall voltages with $120^{\circ}$ phase over a $360^{\circ}$ rotation. A packaged sensing part are $2{\times}2mm^{2}$ and has been successfully tested on a motor rotation at a speed up to 60,000 rpm.

• Journal of the Semiconductor & Display Technology
• /
• v.16 no.2
• /
• pp.79-84
• /
• 2017

This paper outlines the Taguchi optimization methodology, which is applied to optimize cutting parameters in end milling when machining STS304 with TiAlN coated SKH59 tool under up and down end milling conditions. The end milling parameters evaluated are depth of cut, spindle speed and feed rate. An orthogonal array, signal-to-noise (S/N) ratio and analysis of variance (ANOVA) are employed to analyze the effect of these end milling parameters. The Taguchi design is an efficient and effective experimental method in which a response variable can be optimized, given various control and noise factors, using fewer resources than a factorial design. An orthogonal array of $L_9(33)$ was used. The most important input parameter for cutting force, however, is the feed rate, and depending on the cutter rotation direction. Finally, confirmation tests verified that the Taguchi design was successful in optimizing end milling parameters for cutting force.

• Journal of Convergence for Information Technology
• /
• v.10 no.5
• /
• pp.188-197
• /
• 2020

This study was to investigate the effects of joint mobilization with two different electrotherapy methods on shoulder external rotation range of motion and pain in mastectomy patients. Thirty mastectomy patients were divided into STMG (joint mobilization+pain scrambler therapy, n=15) and TENMG (joint mobilization+transcutaneous electrical nerve stimulation, n=15). The measurements were performed shoulder external rotation range of motion (ROM), pain (VAS). In both groups, there was a significant difference in the shoulder external rotation ROM, pain after intervention (p <.05). STMG was more decrease in VAS score than TENMG (p <.05). There was no significant difference in shoulder external rotation ROM between the two groups. In order to decrease the pain of mastectomy patients, it was confirmed that STMG was more effective than TENMG.. It is thought that a control group is added to confirm various differences, and more subjects are needed.

• Korean Journal of Applied Biomechanics
• /
• v.26 no.4
• /
• pp.369-375
• /
• 2016

Objective: The purpose of this study was to investigate the possibility of injuries and the types of movement related to damage by body parts, and to prepare for prevention of injuries and development of a training program. Method: For this study, the experiment was conducted according to levels of 60 percentages (ST) and 85 percentages (MA) and 10 subjects from the Korean elite national weightlifting team were included. Furthermore, we analyzed joint moment and muscle activation pattern with three-dimensional video analysis. Ground reaction force and EMG analyses were performed to measure the factors related to injuries and motion. Results: Knee reinjuries such as anterior cruciate ligament damage caused by deterioration of the control ability for the forward movement function of the tibia based on the movement of the biceps femoris when the rectus femoris is activated with the powerful last-pull movement. In particular, athletes with previous or current injuries should perceive a careful contiguity of the ratio of the biceps femoris to the rectus femoris. This shows that athletes can exert five times greater force than the injury threshold in contrast to the inversion moment of the ankle, which is actively performed for a powerful last pull motion and is positively considered in terms of intentional motion. It is activated by excessive adduction and internal rotation moment to avoid excessive abduction and external rotation of the knee at lockout motion. It is an injury risk to muscles and ligaments, causing large adduction moment and internal rotation moment at the knee. Adduction moment in the elbow joint increased to higher than the injury threshold at ST (60% level) in the lockout phase. Hence, all athletes are indicated to be at a high risk of injury of the elbow adductor muscle. Lockout motion is similar to the "high five" posture, and repetitive training in this motion increases the likelihood of injuries because of occurrence of strong internal rotation and adduction of the shoulder. Training volume of lockout motion has to be considered when developing a training program. Conclusion: The important factors related to injury at snatch include B/R rate, muscles to activate the adduction moment and internal rotation moment at the elbow joint in the lockout phase, and muscles to activate the internal rotation moment at the shoulder joint in the lockout phase.

• Physical Therapy Korea
• /
• v.26 no.1
• /
• pp.67-74
• /
• 2019

Background: Uncontrolled lumbopelvic movement leads to asymmetric symptoms and causes pain in the lumbar and pelvic regions. So many patients have uncontrolled lumbopelvic movement. Passive support devices are used for unstable lumbopelvic patient. So, we need to understand that influence of passive support on lumbopelvic stability. It is important to examine that using the pelvic belt on abdominal muscle activity, pelvic rotation and pelvic tilt. Objects: This study observed abdominal muscle activity, pelvic rotation and tilt angles were compared during active straight leg raise (ASLR) with and without pelvic compression belt. Methods: Sixteen healthy women were participated in this study. ASRL with and without pelvic compression belt was performed for 5 sec, until their leg touched the target bar that was set 20 cm above the base. Surface electromyography was recorded from rectus abdominis (RA), internal oblique abdominis (IO), and external oblique abdominis (EO) bilaterally. And pelvic rotation and tilt angles were measured by motion capture system. Results: There were significantly less activities of left EO (p=.042), right EO (p=.031), left IO (p=.039), right IO (p=.019), left RA (p=.044), and right RA (p=.042) and a greater right pelvic rotation angle (p=.008) and anterior pelvic tilt angle (p<.001) during ASLR with pelvic compression belt. Conclusion: These results showed that abdominal activity was reduced while the right pelvic rotation angle and anterior pelvic tilt angle were increased during ASLR with a pelvic compression belt. In other words, although pelvic compression belt could support abdominal muscle activity, it would be difficult to control pelvic movement. So pelvic belt would not be useful for controlled ASLR.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
• /
• v.20 no.2
• /
• pp.15-20
• /
• 2014

Objective: The purpose of this study was to investigate the effects of sling exercise on the cervical lordotic angle, craniovertebral angle, and head rotation angle among adolescents in the forward head posture. Methods: The subjects include 22 adolescents that recorded a mild level or higher on the posture evaluation index by New York State. They were randomly divided to the hand exercise group (n=11) and the control group (n=11). The former group participated in the sling exercise program three times a week over four weeks in total with each session lasting 60 minutes, whereas the latter group was not included in the program. The cervical lordotic angle, craniovertebral angle, and head rotation angle were measured before and after the intervention. Results: The study compared the cervical lordotic angle between the two groups before and after sling exercise and found that the sling exercise group made an increase of $7.36^{\circ}$ from $21.91^{\circ}$ to $29.27^{\circ}$ after the intervention(p<.05). As for the comparison results of the craniovertebral angle, the sling exercise group made an increase of $5.64^{\circ}$ from $48.91^{\circ}$ to $54.55^{\circ}$ after the intervention (p<.05). As for the comparison results of the cranial-rotation angle, the sling exercise group made an decrease of $-7.73^{\circ}$ from $148.82^{\circ}$ to $141.09^{\circ}$ after the intervention (p<.05). The control group showed no differences before and after the intervention (p>.05). Conclusion: Those findings indicate that the application of sling exercise in the forward head posture can be a good program to maintain the right posture and improve or prevent an abnormal posture and raise a need for more clinical applications and ongoing researches.