• 수산해양기술연구
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• 제44권4호
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• pp.273-281
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• 2008

In this study, the effect of slope length and angle at the entrance to fishing pots on the size of captured shrimp was examined to determine the optimal design of pots for use in Hokkaido, Japan. The purpose of the current study was to optimize the design of shrimp pots to allow greater control over the size of captured individuals for the purposes of shrimp resource management. Tank experiments were conducted to determine the optimal slope length and slope angle by analyzing the sizes of shrimp entering 10 model pots with combinations of five different slope lengths on slope angle of current shrimp pot, and five different angles on slope length of current shrimp pot. The results showed that, as the slope length of the pot increased, the size of individuals which entered the pot increased. In addition, as the slope angle was elevated in each of the five different slope angle treatments, the size of individuals entering was also increased.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.334-340
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• 2013

Using a relationship between step length and accelerometer output, step length can be estimated. In this paper, we propose a new step length estimation algorithm, which can be used both for the plane and the slope by compensating the slope angle. The slope angle is estimated using a barometer and the slope angle is compensated by observing how the slope affects the step length estimation. The proposed algorithm is verified using five adult man walking data, where the average length error is about 3% regardless of the slope.

• Fisheries and Aquatic Sciences
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• 제12권4호
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• pp.342-349
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• 2009

The purpose of the current study was to optimize shrimp-pot design to allow greater control over the size of captured individuals for the purposes of shrimp resource management. Tank experiments were conducted to determine the optimal slope length and slope angle by analyzing the sizes of shrimp that entered 25 model pots with combinations of five different slope lengths and five different angles. Shrimp size was measured using carapace length. The results showed that as the slope angle of the pot increased, the size of individuals that entered the pot increased. Furthermore, as the slope length increased, each of the five different slope angles of the pot increased, and the size of individuals entering also increased. The data indicated that the optimum pot design for reducing the capture of immature individuals had a $75^{\circ}$ slope angle and a 35.4 cm slope length.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Journal of Oral Medicine and Pain
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• 제47권1호
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• pp.27-37
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• 2022

Purpose: This study aimed to broaden our understanding of the predisposing factor and treatment of dislocation by analyzing and evaluating the morphology of the articular eminence (AE) in subjects with temporomandibular joint (TMJ) dislocation using cone beam computed tomography (CBCT). Methods: The subjects were divided into two groups: dislocation (31 subjects) and control (32 subjects). CBCT was used to examine 126 TMJs in 63 subjects (26 males, 37 females). The height, width, and posterior slope of the AE were measured in the parasagittal plane. The posterior slope was measured using the "top-roof line angle (TR angle)" method and the "best-fit line angle (BF angle)" method. The AE on the left side (AEL) and the AE on the right side (AER) of the subjects in the dislocation group were separately analyzed and compared with the control group after taking measurements. The average value of both sides was used when comparing with subjects with bilateral dislocation. Results: Dislocations were more frequent in females (67.7%) than in males (32.3%). The dislocation group showed a gentler TR angle than the control group in the AER and in the average of AE on the both sides (AEB). The same group also showed a wider AE in the AEL and the AER (p<0.05). In subjects with unilateral dislocation, the width of the AE with dislocation was narrower and the TR angle and BF angle was steeper than the other side without dislocation (p<0.05). Conclusions: In subjects with unilateral TMJ dislocation, the posterior slope of the AE is steeper, and the width is narrower at the site of dislocation compared to the site without dislocation. However, in subjects with bilateral TMJ dislocation, AEB were wider, and the mean value of the posterior slope of AEB was gentler than that of the control group.

• Journal of Biosystems Engineering
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• 제27권3호
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• pp.203-210
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• 2002

In this study, the leveling control system for a tractor has been developed. The experimental model showed that the implementation of the proposed hydraulic control system fur the prototype design of a slope land tractor was feasible. The front axle was designed as a center pin type and the rear axle was designed as a trailing arm type. The leveling control of the body on the slope land was accomplished by controlling the height of the right and left trailing arms using the electronic controlled hydraulic cylinder. The maximum leveling control angles were ${\pm}$15$^{\circ}$ for roll angle and 7$^{\circ}$far pitch angle. The front and rear wheel drives were transmitted by gears from the main shaft to the final drive. The adaptability of the hydraulic control system was tested and investigated by analyzing the system response in time and frequency domain. The hydraulic control system on a step input showed a linearly increasing trend without any overshoot state. The hydraulic control system on a frequency input showed a little phase differences and gain drops within the range of 0.3Hz.

• 한국가시화정보학회지
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• 제19권1호
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• pp.12-17
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• 2021

A three-dimensional slope valve component is used for controlling micro volume of liquid on a centrifugal force-based microfluidic disk platform, also called a lab-on-a-disk. The modeling factor of the slope valve component is determined to centrifugal force for liquid passing the crest of a slope valve via variation of slope length and angle as well as the radius to start point of slope valve. The centrifugal force is calculated by the equilibrium equation of the capillary and gravitational forces according to the microchannel surface roughness and the liquid volume, respectively. As a result, the slope valve is analyzed by the minimum angular velocity for liquid passing at crest point and the ratio between the length of micro liquid and slope length to obtain the factors for optimal slope angle modeling.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.

• Journal of Biosystems Engineering
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• 제30권1호
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• pp.1-7
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• 2005

When a slope tractor works on the slope land, it travels usually along the contour and slope line. In that case, the efficiency of work generally decreases and the safety of the operator caused by the overturn of the tractor should be considered. Maintaining the tractor body being horizontal during the travel is crucial to solve problems. To overcome such a problem, an automatic leveling control system for slope tractor has been developed. The system composed of sensor for measuring rolling and pitching inclination of the slope tractor chassis, controller, hydraulic control system and mechanism. The limit angle of the leveling control was set up to be ${\pm}15^{\circ}C$ for rolling, ${\pm}7^{\circ}C$ for pitching. The proposed control and hydraulic power system was implemented to the prototype slope tractor. This paper shows results about development of the automatic leveling mechanism and response properties for slope tractor.

• 한국군사과학기술학회지
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• 제15권6호
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.