• 한국정밀공학회지
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• 제16권9호
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• pp.166-171
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• 1999

An overhead crane system consists of trolley, girder, rope, object, trolley motor, girder motor, and hoist motor. An analytic model which derived from the modelling of the overhead crane system is nonlinear model which includes the swing and the twist angle of the object. this model consists of the equation of motion for motors and object. If the swing angle and the acceleration of Z for the object are small, this model becomes a simple nonlinear model which doesn't include the swing and the twist angle of the object. From the results of computer simulation, the characteristics of an actual overhead crane system could be predicted by the simple nonlinear model.

• 디지털융복합연구
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• 제12권11호
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• pp.451-459
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• 2014

본 연구는 정상 성인의 팔 흔들기 종류에 따른 보행 시 운동역학적인 변화를 알아보기 위해서 실시하였다. 정상 성인 대학생 45명을 대상으로 정상 팔 흔들기, 한 팔 흔들기, 두 팔 움직임 없음 보행, 인위적인 팔 흔들기의 4가지 팔 흔들기 종류에 따라 실험을 진행하였다. 이들의 운동역학적인 변화를 알아보기 위해 3차원적 관절 운동역학적 변화 검사인 6-camera Vicon MX motion analysis system을 통해 보행 변수를 측정하였다. 팔 흔들기에 따른 운동역학적인 매개 변수들인 각 관절에서 보행속도, 엉덩관절 일률, 말기 디딤기의 수직 지면반발력에서 유의한 차이를 보였다(p<.05). 이러한 연구결과는 팔 흔들기 종류에 따라서 정상인과 환자들의 치료와 평가를 위한 지침으로서 임상에서 사용할 수 있을 것으로 생각된다.

• 한국운동역학회지
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• 제19권1호
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• pp.37-47
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• 2009

본 연구는 체조 철봉종목의 국가대표선수 2명을 대상으로 고난도 공중 비행 기술인 콜만 동작의 완성도를 높이기 위한 기술훈련 프로그램을 개발하여 8주간 적용하고 향상도를 3차원 영상분석을 통해 제시함으로써 경기력 향상에 도움을 주고자 하였다. 훈련 프로그램은 휘돌기 손 놓기, twist, 봉잡기로 구성하여 실시하였으며, 그 결과 다음과 같은 결론을 얻었다. 동작이 처음 시작되는 크게 휘돌기의 물구나무 경과 시 신체를 지면과 수직에 가깝도록 치켜세운 다음 수직하강에 가깝게 신체를 다운시켜서 깊은 추기기 운동을 수행케 하고, 고관절과 견관절의 굴신 폭을 크게 하는 추기기보다는 우선적으로 동체 회전을 중시하면서 신체중심을 충분히 끌어 올리는 봉 이탈, 그리고 비행 시 신체 각 관절의 상대각을 작게 하도록 주문하여 연습케 하였다. 그 결과 철봉의 탄성을 크게 유발하구 신체의 후방 진행속도를 증가시켜서 휘돌기의 구심력을 증가시키면서 높은 위치에서 봉을 이탈하였으며, 비행 시 신체를 빠르게 지면과 수직이 되도록 세울 수 있게 되어 여유로운 공중회전과 비틀기 운동을 수행할 수 있었다. 또한 상승할 때 손 놓는 타이밍을 맞추는데 특별히 신경 쓰지 않더라도 비행방향의 조절을 용이하게 할 수 있어서 봉잡기 시 철봉과 적정한 거리를 유지함과 동시에 충분한 동체의 회전과 비틀기 거리를 확보할 수 있었다.

• 한국운동역학회지
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• 제17권1호
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• pp.41-52
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• 2007

The present study analyzed the two hand backhand stroke motion of six female high school tennis players who won the championship at the National Athletic Meeting in 2006, and drew conclusions as follows. The open angle of the racket at the moment of impact was 90 degree without significant difference among the players, making a wide contact between the ball and the racket. The racket angle was 43 degree at take back and 91 at impact, showing a style of holding the racket rather upright in general. In back swing from the top to the impact, the shoulders and the hips turned by 97 degree and 40 degree, respectively. At the moment of impact, the height of the impact was 54%H, and the position of the impact was 10%H ahead of and 37%H left from the central axis of the body. The right hand made a continental grip and the left hand made a Western or semi Western grip. Through the entire swing motion, the grip angle of the left hand was smaller than that of the right hand, and those who maintained a large grip angle of the right hand at the moment of take back put the racket head slightly farther from the body. In the swing of the racket head from the lowest point to the impact, the vertical length of movement was 11%H and the horizontal length of movement was 60%H, quite long.

• 대한의용생체공학회:의공학회지
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• 제18권1호
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• pp.71-78
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• 1997

Kinematic and kinetic studies were performed to investigate the walking characteristics on a treadmill with various slopes at the same speed of 1.25m/sec. Six different slopes of the treadmill were selected . -4%(-$2.3^{\circ}$), 0%($0^{\circ}$), 5%($2.9^{\circ}$), 10%($5.7^{\circ}$), 15%($8.6^{\circ}$), and 20%($11.3^{\circ}$). With increased slopes of the treadmill, both hip and knee flexion angles significantly increased at initial contact, and the maximum hip flexion during swing phase and the maximum knee flexion during stance phase also significantly increased Ankle dorsiflexion angle at initial contact and the maximum dorsiflexion increased with increased slopes. However, the maximum plantarflexion in early swing was slightly reduced with increased slopes. Hip extension in late stance and the maximum knee flexion in early swing was not changed sigilificantly with increased slopes. As for the vertical ground reaction force, compared to the yond level walking, both the first and the second peak forces increased, but the mid-support force decreased.

• 드라이브 ㆍ 컨트롤
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• 제14권3호
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• pp.40-49
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• 2017

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.196-198
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• 2004

In this paper, the container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• Journal of Advanced Marine Engineering and Technology
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• 제22권4호
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• pp.498-504
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• 1998

This paper presents an optimal control algorithm for the overhead crane. To control the swing motion and the position tracking of the payload of the overhead crane a state feedback control algorithm is applied. by using a hybrid genetic algorithm the feedback gains of the state feedback is optimized to minimize the cost function composed of position errors and payload swing angle under unknown constant disturbances. Computer simulation is performed to demonstrate the effectiveness of the proposed control algorithm.

• 제어로봇시스템학회논문지
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• 제2권2호
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• pp.96-101
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• 1996

In this paper, a simulator is designed along with S/W package for crane controllers. Due to trolley's acceleration or deceleration, cranes inherently cause swing motion of the objects in transporting heavy objects. This swing not only deteriorates the crane handling safety but also increases the processing time. To overcome these drawbacks, the fuzzy rule-based simulator is developed with inhibitory swing at final action. The computer simulation shows that the swing at initial and final positions is removed fast with small position error. The proposed simulator can be used for handling object stabley and the study of effectiveness in unmanned operation of cranes.

• 한국기계가공학회지
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• 제19권8호
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• pp.43-49
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• 2020

The growth of the AR/VR market due to the advent of the 4th Industrial Revolution begins with the development of the display industry. The development of OLED and flexible displays is further accelerated by the development of R2R technology. Micro-processing technology using a fast tool servo (FTS), the core technology in R2R processes, is making technological progress in increasingly diverse ways. This paper proposes a method to develop an FTS for horizontal driving and presents this method through experiments and analyses. To develop a swing-type FTS based on a seesaw motion, a rotational moment hinge structure was designed for each type, and research was conducted to determine an effective design method. A cantilever-based swing-type FTS was developed in two variations: one with single-side hinges and another with dual-side hinges. The parameters in the design of the swing-type FTS are rotational moment, natural frequency, and material selection. In conclusion, an FTS with a single-side hinge demonstrates the high performance required for micro processing.