• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.65-74
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• 2006

This study was attempted to Kinematical characteristics of the Endo $360^{\circ}$El-grip Swing on the horizontal bar. To do this, we selected and analyzed the performance of two athletes who did Endo $360^{\circ}$El-grip Swing in the horizontal bar competition of male artistic gymnastic in the 22nd Universiad Games 2003 Daegu. We drew the conclusions from the kinematical factors that were came out through analyzing three-dimensional cinematography of the athletes' movements, by using two video cameras. In point of analyzing the actual competition situation, it is expected that gymnastics and coaches have the effective informations, and the following conclusion had resulted. 1. When performing Endo $360^{\circ}$El-Grip, the average for entire required time was $1.93{\pm}0.06sec$. The average for descent phase time was $0.24{\pm}0.02sec$, ascent phase time was 0.22${\pm}0.07sec$, connecting phase time was $0.87{\pm}0.07sec$, and El-Grip phase time was $0.61{\pm}0.02sec$. The descent phase need short period of time but however to have a stable performance, ensuring ascent and connecting phase time are needed. El-Grip phase need short period of time to have a stable re-grasp. 2. To have a convenient preparation for El-Grip in descent and ascent phase, lowering CM, and ease up in sway and plunge from the High Bar would make descent and ascent even more faster and would have increase effect in trunk rotation. 3. In descent and ascent phase, if shoulder angle and arm slope is dwindling then it would effect rotation angle so might risk it from hitting a Bar when putting legs in and out. 4. In connecting phase, it requires some time to show stable performance when El-Grip phase is continued by using hip angle which would make trunk rotation angle bigger and make descent and ascent time slower. 5. In El-Grip phase, when doing motions like hand standing. using hip angle more than maximum would make CM even faster and it is stable position while performing.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.32 no.3
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• pp.207-217
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• 2010

The purpose of this study was to evaluate the effects of the stress distribution and displacement in mandible according to treatment modalities of mandibular angle fractures, using a three dimensional finite element analysis. A mechanical model of an edentulous mandible was generated from 3D scan. A 100-N axial load and four masticatory muscular supporting system were applied to this model. According to the number, location and materials of titanium and biodegradable polymer plates, the experimental groups were divided into five types. Type I had a single titanium plate in the superior border of mandibular angle, type II had two titanium plates in the superior tension border and in the inferior compression border of mandibular angle, type III had a single titanium plate in the ventral area of mandibular angle, type IV had a single biodegradable polymer plate in the superior border of mandibular angle, type V had a single biodegradable polymer plate in the ventral area of mandibular angle. The results obtained from this study were follows: 1. Stress was concentrated on the condylar neck of the fractured side except Type III. 2. The values of von-Mises stress of the screws were the highest in the just-posterior screw of the fracture line, and in the just-anterior screw of Type III. 3. The displacement of mandible in Type III was 0.04 mm, and in Type I, II, IV, and V were 0.10 mm. 4. The plates were the most stable in the ventral area of mandibular angle (Type III, V). In conclusion, the ventral area of mandibular angle is the most stable location in the fixation of mandibular angle fractures, and the just- posterior and/or the just-anterior screws of the fracture line must be longer than the other, and surgeons have to fix accurately these screws, and the biodegradable polymer plate also was suitable for the treatment of mandible angle fracture.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.8
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• pp.1285-1295
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• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.7
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• pp.647-651
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• 2005

We studied the external pressure-stable advanced frnge field switching (FFS) pixel design with 3 slit sructue. In this mode, a patterned pixel slit is partitioned into 3 areas, namely, two edges and a center, where the edge slit angle is larger than the center slit angle. Thus the reverse twist region in the pixel edge is reduced comparing to the conventional FFS mode so that the LC dynamics in this region becomes very stable. And also, when the external pressure is applied to the panel at the high voltage, the disclination lines (DLs) were barely intruded into active area. Therefore, the structure is use for the pen based system such as the tablet personal computer (PC), personal digital asistant (PDA).

• Korean Journal of Applied Biomechanics
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• v.20 no.3
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• pp.311-318
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• 2010

This study examined the double piked dismount among the landing techniques of parallel bars based on three-dimensional motion analysis. Four male national gymnasts were the subjects. This study was performed to provide quantitative data highlighting players strengths and weaknesses to enable more stable landing technique. The variables analyzed were the position and velocity of center of gravity(CG) and angles of shoulder joints, hip joints, and trunk. The results are as follows: S1 secured the height of flight with fast vertical rise. After the easy spin in the air, he conducted a stable landing maintaining a proper hip joints angle. S2, S3, and S4, however, began the backward somersault already before leaving the bars, so they moved backward greatly making it more difficult to achieve a higher flight path. As a result, they couldn't control the velocity of their backward movement at landing. For a stable landing, they have to maintain the negative shoulder angle when rising, minimize both antero-posterioror side-to-side movements by doing a strong tap using hip joints, to secure the height of flight before the somersault. Results also show that at the descent, they should conduct rapid spinning by increasing their shoulder and hip joints to the maximum while controlling their velocity.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.609-615
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• 2010

Angular contact ball bearings in a high speed spindles are under the extreme conditions, such as high temperature, big centrifugal force and thrust cutting forces. So, the assembly contacts between spindle shaft and inner ring bearings, bearing housing and outer ring of bearings are occasionally unstable at high speed revolution. Furthermore, the ball contact angle of a bearing, which influence stiffness and lifetime of bearings, are changed according to loads and rotational speed. To analyze internal forces of a bearing under high speed revolution, the ball contact are calculated using nonlinear equations in consideration of rotational speed, thrust loads and raceway form. Diameter increase of inner and outer ring by influence factors, such as internal forces to inner and outer ring, centrifugal force and temperature of inner and outer rings are calculated to establish stable state in bearing assembly in high speed spindle. Finally, contribution ratio of influence factor to assembly design tolerance of inner and outer rings are shown and the stable assembly design tolerance are proposed.

• Proceedings of the KIEE Conference
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• 2001.07e
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• pp.127-133
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• 2001

In SRM drive, the ON OFF angles of each phase switch should be accurately controlled in order to control the torque and speed stably. The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor, that are used to provide the information of the rotor position and to control the SRM power circuit, respectively. However, as the speed increases, the amount of the switching angle deviation from the preset values is also increased. Therefore, the low cost encoder suitable for the practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. As a result, a stable high speed SRM drive can be achieved by the high resolution switching angle control and it is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate for the practical low cost SRM drive.