• Proceedings of the KSR Conference
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• 2003.10b
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• pp.397-402
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• 2003

Infiltration of rainfall causes railway embankment to be unstable and may result in failure. Basic relationship between the rainfall and stability of railway embankment are defined to analyze the stability of embankment by rainfall. An experimental study for defining of infiltration rate of rainfall into slope is conducted in the lab. The results of Rainfall infiltration show that rainfall infiltration is not equal to infiltration as like reservoir because rate of rainfall infiltration is controlled by slope angle. Based on these results, boundary condition of rainfall is altered and various numerical analysis are performed. The variation of shear strength, the degree of saturation and pore-water pressure for railway slope during rainfall can be predicted and the safety factor of railway slope can be expressed as the function of rainfall amount, namely rainfall index. Therefore, it is judged that this rainfall index can be a good tool for the rail-transport operation control.

• Journal of The Korean Society of Integrative Medicine
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• v.7 no.4
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• pp.301-309
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• 2019

Purpose : The purpose of this study was to provide an effective method of exercise therapy for patients with cervicogenic headache. Methods : The subjects were divided into the following two groups according to the intervention received: cervical stretch exercise (n=15, control group) cervix-stabilizing exercise (n=15, experimental group) tone (Hz) and stiffness (N/m) of the suboccipital and upper trapezius muscles were measured. T1 slope angle and neck tilt angle were measured. After the exercise program intervention, a greater amount of change in muscle tone and stiffness of suboccipital and upper trapezius muscles was found in the experimental group, as compared to the control group. Greater amount of change in posture was found in the experimental group, as compared to the control group (p<0.05). Results : After the exercise program intervention, a greater amount of change in muscle tone and stiffness of suboccipital and upper trapezius muscles was found in the experimental group, as compared to the control group. Greater amount of change in posture was found in the experimental group, as compared to the control group (p<0.05). Conclusion : The neck-stabilizing exercise were shown to be effective in decreasing the tone of the cervical muscles by stabilizing the cervical bone and improving muscle activity, and in improving the posture by decreasing muscle tone and stiffness.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1164-1169
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• 2014

This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.5 no.4
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• pp.19-30
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• 2002

The stability of slope using root-pile like to the reinforcements is affected by the interaction behavior mechanism of soil-reinforcements. Through the studying on the interaction in joint of its, therefore, the control roles can be find out in installed slope. In study, the stress level ratio based on the insert angle of installed reinforcements in soil used to numerical analysis, which was results from the duty direct shear test in Lab. The maximum shear strain variation on the reinforcements was observed at insert angle, which was approximately similar to the calculated angle based on the equation proposed by the Jewell. The elasto-plastic joint model on the contact area of soil-reinforcements was presumed, the reinforced soil assumed non-linear elastic model and the reinforcements supposed elastic model, respectively. The finite element analysis of assumed models was performed. The shear strain variation of non-reinforced state obtained by the FEM analysis including elasto-plastic joint elements were shown the rationality of general limit equilibrium analysis for the slope failure mode on driving zone and resistance zone, which based on the stress level step according to failure ratio. Through the variation of shear strain for the variation of inserting angle of reinforcements, the different mechanism on the bending and the shear resistance of reinforcements was shown fair possibility.

• Journal of Drive and Control
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• v.19 no.3
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• pp.39-46
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• 2022

In South Korea, to evaluate the rollover safety of domestic vehicles, the maximum slope angle of the vehicle is specified, which is verified by the rollover safety test of driving vehicles. However, the domestic rollover safety test is not suitable for buses, because the small amount of static stability factor (SSF) will invalidate the rollover experimental equation due to the high center of mass position of buses. To solve the above problems, a dynamic model of the bus is prepared with assumptions of mass and suspension spring properties. Subsequently, the maximum slope angle of the model was computed by using the simulation of multi-body dynamics, and the result was compared with actual test results to validate the dynamics model. Also, the rollover Fishhook (roll stability) test was conducted in the simulation for driving model. During the simulation, roll angle and roll rate were calculated to check if a rollover occurred. Through the rollover simulation of buses, the domestically regulated formula for rollover safety and the procedure of rollover test for driving vehicles are evaluated. The conclusion is that the present regulation of rollover test should be reconsidered for buses to ensure to get the valid results for rollover safety.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.131-136
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• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.225-232
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• 2009

Infiltration of rainfall causes railway slopes to be unstable and may result in failure. Basic relationship between the rainfall and stability of railway embankment is defined to analyze its stability by rainfall. An experimental study for defining of infiltration rate of rainfall into slope is conducted in the lab. The results of Rainfall infiltration show that rainfall infiltration is not equal to infiltration as like reservoir because rate of rainfall infiltration is controlled by slope angle. Based on these results, boundary condition of rainfall is altered and various numerical analysis are performed. The variation of shear strength, the degree of saturation and pore-water pressure for railway slope during rainfall can be predicted and the safety factor of railway slope can be expressed as the function of rainfall amount, namely rainfall index. And suggested rainfall index is compared with the rail transport operation control which is used in KORAIL. It is judged that this rainfall index can be a good tool for the rail-transport operation control.

• Geomechanics and Engineering
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• v.10 no.3
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• pp.257-267
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• 2016

Charts are used extensively in slope practical application to meet the need of quick assessment of rock slope design. However, Charts for estimating the shear strength of the rock mass of a slope are considerably limited. In this paper, based on the Hoek-Brown (HB) criterion which is widely used in rock slope engineering, we present charts which can be used to estimate the Mohr-Coulomb (MC) parameters angle of friction ${\phi}$ and cohesion c for given slopes. In order to present the proposed charts, we firstly present the derivation of the theoretical relationships between the MC parameters and ${\sigma}_{ci}/({\gamma}H)$ which is termed the strength ratio (SR). It is found that the values of $c/{\sigma}_{ci}$ and ${\phi}$ of a slope depend only on the magnitude of SR, regardless of the magnitude of the individual parameters ${\sigma}_{ci}$(uniaxial compressive strength), ${\gamma}$(unit weight) and H (slope height). Based on the relationships between the MC parameters and SR, charts are plotted to show the relations between the MC parameters and HB parameters. Using the proposed charts can make a rapid estimation of shear strength of rock masses directly from the HB parameters, slope geometry and rock mass properties for a given slope.

• Journal of Power Electronics
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• v.13 no.2
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• pp.264-274
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• 2013

A new sensorless position estimation method for switched reluctance motor (SRM) drives is presented in this paper. This method uses the change of the slope of the phase inductance to detect the aligned position. Since the aligned positions for successive electrical cycle of each phase are apart by a fixed mechanical angle $45^{\circ}$ in the case of 12/8 SRM, the speed of the machine can be calculated to estimate the rotor position. Since no prior knowledge of motor parameters is required, the method is easy for implementation without adding any additional hardware or memory. In order to verify the validity of this technique, effects such as changes in the advanced angle and phase lacking faults are examined. In addition, an inductance threshold based sensorless starting scheme is also proposed. Experimental results demonstrate the validity of the proposed method.