• Journal of the Society of Naval Architects of Korea
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• v.50 no.2
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• pp.95-103
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• 2013

Prediction of the running posture is important to evaluate the resistance by the numerical calculation for a high speed vessel. Especially for a planing craft having a large variation of running attitude it becomes more essential, but it can not be obtained easily because the running posture and the hydrodynamic forces including the resistance are interacted with each other. So iterative calculation to obtain the dynamic forces according to the changes in attitude is necessary, in this study, considering the calculated hydrodynamic force at the assumed draft as the additional buoyancy the corrected draft is calculated through satisfying the equilibrium between the buoyancy and the hull weight. To verify the derived method three kinds of hull forms were used with the results of model tests, R/V ATHENA and 150 tons class guide vessel for middle-speed semi-planing crafts, 28 feet fast boat for a high-speed planing boat. For all cases with several iterations the converged value of draft can be obtained, lastly the resistance and flow around hull were simulated by using VOF method.

• Journal of Ocean Engineering and Technology
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• v.23 no.4
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• pp.38-46
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• 2009

Two sets of numerical simulations were carried out for a planing hull model ship. In the first, the WAVIS 1.4 linear and nonlinear potential solver was utilized with the free support condition, in which the running posture was determined during calculation. The linear and nonlinear potential calculation results showed qualitative agreement in the trim and resistance coefficient with the MOERI towing tank test. However, the nonlinear potential calculation gave better results than the linear method. In the next simulation, Fluent 6.3.26 with a VOF model and the WAVIS 1.4 nonlinear potential solver were used with the given running posture from the measurement carried out in the MOERI towing tank. Fluent with the VOF method had substantially better agreement with model test results than the results from the WAVIS nonlinear potential calculation for the total resistance coefficient, and for the bow and stern wave patterns, in spite of the much greater computational costs. Both methods can be utilized in planing hull design when their limitations are perceived, and the running posture should be predicted correctly.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.1
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• pp.107-113
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• 2014

PURPOSE: The purpose of this study was to investigate the correlation between craniovertebral angle (CVA) and cardiorespiratory function ($VO_2max$ and $VCO_2max$) in young adults. METHODS: For this study, the students of D college were questioned and 50 members of D college were participated in our research.. Side-view pictures of each subject were taken in standing positions, in order to assess forward head posture (FHP) by measuring the craniovertebral angle. The craniovertebral angle was measured as the angle between a horizontal line at C7 and a line from the tragus of the ear to the spinous process of C7. And $VO_2max$ and $VCO_2max$ were measured by Quark CPET (cosmed co, USA) while the subjects were performed the treadmill running task of a intensity to set with respiratory mask. Subjucts were Then Pearson's correlation coefficient was calculated to estimate the relationship between craniovertebral and cardiorespiratory function ($VO_2max$ and $VCO_2max$) using SPSS for window. RESULTS: There was a significant positive correlation between craniovertebral angle and $VO_2max$ during treadmill running task (r=0.528, p<0.05). And there was a significant positive correlation between craniovertebral angle and $VO_2max$ during treadmill running task (r=0.566, p<0.05). CONCLUSION: Foreward head posture is related to cardiorespiratory function, and it has a negative correlation with cardiorespiratory function.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.5
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• pp.601-608
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• 2019

In this study, the effect of hull appendages on the high-speed catamarans with reverse bow shapes is compared and analyzed by numerical analysis and circulating water tank model test. The reverse bow shape showed an improved wave shape by shifting the generation position of forward divergent wave to the stern direction and was effective in resistance and stable running posture (Kim et al., 2019). In the model test results of the running performance as the wave patterns and the change of the running posture due to the fin fitted with the inner side of the inverted bow and the interceptor, 1) Trim characteristics of the inverted bow 2) Improvement of superposition of inner wave by Fin 3) The trim control by the fin and the interceptor is considered to be effective in reducing the impact of the two hull connection decks (wetdeck).

• Journal of the Korea Society of Computer and Information
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• v.27 no.2
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• pp.9-14
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• 2022

In this study, we propose a method for moving a device such as a flexible air sculpture while stably maintaining the user's desired posture. To accomplish this, a robot system with a structure of a mobile robot capable of running according to a given trajectory was studied by applying the PI algorithm and horizontal maintenance posture control using IMU. The air sculptures used in this study often use thin strings in a fixed posture. Another method is to put a load on the center of gravity to maintain the posture, and it is a system with flexibility because it uses air pressure. It is expected that these structures can achieve various results by combining flexible structures and mobile robots through the convergence process of digital sensor technology. In this study, posture control was performed by fusion of the driving technology of AGV(Automatic Guided Vehicle),, a field of robot, and technologies applying various sensors. For verification, the given performance evaluation was performed through an accredited certification test, and its validity was verified through an experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.87-91
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• 2004

High aged society is rapidly progressing in Japan. The rate of aged person more than 65 years old in the population are estimated 25 % in 2017 and rate of younger population will be decreased at same time. As a result, it is estimated that the human resources that is looking after or supporting for the aged person will be drained in Japan. In the other hand, the society has to provide high quality of life in order to be improved living environment for aged person. To decrease the share of nursing and caring for the aged person, it is required that new supporting systems for aged person have to build up as soon as possible. But it is required that various kind of measurement for posture and movement in activities with a simple and single detector for the aged person. The measurement instrument has to be lightweight and simple structure. The results give us a simple measurement method are classified that the posture of sitting down, lying down in stationary statuses and walking, running and going to up and down on the stairs in moving statuses. The detected data will plane to transmit to wireless mobile system to the host computer.

• Journal of KIISE:Software and Applications
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• v.41 no.8
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• pp.586-597
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• 2014

The next generation mobile computing technology is recently attracting attention that smartphone and wearable device imbedded with various sensors are being deployed in the world. Existing activity and posture recognition research can be divided into two different ways considering feature of one's movement. While activity recognition focuses on catching distinct pattern according to continuous movement, posture recognition focuses on sudden change of posture and body orientation. There is a lack of research constructing a system mixing two separate patterns which could be applied in real world. In this paper, we propose a method to use both smartphone and wearable device to recognize activity and posture in the same time. To use smartphone and wearable sensor data together, we designed a pre-processing method and constructed recognition model mixing signal vector magnitude and orientation pattern features of vertical and horizontal. We considered cycling, fast/slow walking and running activities, and postures such as standing, sitting, and laying down. We confirmed the performance and validity by experiment, and proved the feasibility in real world.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.587-593
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• 2017

In this paper, we propose a method to solve the difficulties in constructing an environment capable of practical training on the theoretical contents of robot control field. We make a two-wheeled mobile robot with Segway structure using LEGO block. In order to demonstrate the validity of using the developed robot as a practical application of advanced control theory of robotics education such as dynamic system and nonlinear system, the robot takes a stable posture while balancing the change of gravity during running. The results of the experiment are shown. By presenting the results, the robots made using the LEGO block are used for practical training of advanced control theory of robotics. It can be used as a tool.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.