• 한국항공우주학회지
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• 제42권1호
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• pp.37-46
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• 2014

본 논문에서는 지상 주행과 비행이 가능한 이중모드 PAV의 무인 축소모델 개념설계 및 개발시험 과정에 관하여 기술하였다. 운용 요구도를 검토한 결과 멀티로터 형상에 나셀틸트 기능을 결합한 쿼드 틸트 프롭형 비행체가 제안되었다. 프로펠러 추진을 위한 모터와 주행을 위한 구동장치를 하나의 나셀에 집적하고, 나셀 틸트 구조에 의해 비행 및 주행모드의 변경이 가능하도록 구현하였다. 개념설계를 통해 주요 설계변수와 초기 제원이 확정되었고, 비행모드 및 주행모드 시험용 플랫폼을 제작하여 기능시험을 수행하였다.

• 한국전문물리치료학회지
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• 제18권3호
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• pp.26-37
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• 2011

Although there have been various studies related to the body's movement from a sitting to a standing position (sit-to-stand task), there is limited information on the kinematic changes on the frontal and transverse planes. The purpose of this study was to ascertain how pelvic tilt affects kinematic changes in the frontal and transverse planes in the hip and knee joints during a sit-to-stand task. For this study, 33 healthy participants (13 female) were recruited. Each participant rose from a sitting to a standing posture at his or her preferred speed for each of three different pelvic tilt trials (anterior, posterior, and neutral), and the measured angles were analyzed using a 3-D motion analysis system. A one-way repeated measure analysis of variance was performed with Bonferroni's post hoc test. In addition, an independent t-test was carried out to determine the sex differences in hip and knee joint kinematic changes during the sit-to-stand tasks. The results were as follows: 1) The hip and knee joint angle in the frontal and transverse planes showed a significant difference between the different pelvic tilt postures during sitting in the pre-buttock lift-off phase (pre-LO) (p<.05). Compared to the posterior pelvic tilt posture, the anterior pelvic tilt posture involved significantly greater hip joint adduction and internal rotation, knee joint adduction, and reduced internal rotation of the knee joint. 2) Sex differences were found with significant differences for males in the initial and maximal angles in the frontal plane of the hip and knee joint (p<.05). Females had a significantly smaller initial abduction angle of the hip joint and a significantly greater maximal angle of the hip adduction joint. These results suggest that selecting a sit-to-stand exercise for pelvic tilt posture should be considered to control abnormal movement in the lower extremities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1775-1780
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• 2005

One of the most important factors so that mobile objects can achieve their purpose is the information about their positions. In this paper, we propose an improved beacon system, to which ultrasonic sensors are attached, for the indoor localization of mobile objects. We have researched so that it can cover the wider space and estimate more accurate positions than the existent beacon systems. The existent beacon systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of signal (beam-angle) on which their signal strength depends. Hence, we used the active beacon which consists of a pan-tilt mechanism and a beacon module. The active beacon system can always aim at mobile objects in order to transmit the strongest signal of the ultrasonic sensors into the objects using the pan-tilt mechanism. In addition, this system is inexpensive because it can decrease the number of beacons by about a half of the beacons of the existent system. Finally, the results show what is the difference between the active beacon system and existent beacon systems, and how accurate it is.

• The Korean Journal of Physiology
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• 제30권2호
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• pp.237-247
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• 1996

This study was carried out to determine the effect of $-6^{\circ}$ head-down bedrest on the cardiovascular and hormonal responses to orthostasis and to evaluate the mechanism of orthostatic intolerance. Ten healthy young men were changed the body position from $-6^{\circ}$ head-down or supine bedrest for 2 hr to $70^{\circ}$ head-up tilt for 20 min. During the bedrest, there were no differences in hemodynamic and hormonal changes between the head-down and the supine positions. However, the tendency of decreased end-diastolic volume and increased cardiac contractility during the later period of 2 hr showed that the cardiovascular adaptation could be accelerated within a relatively short period in the head-down bedrest. During the head-up tilt, presyncopal signs were developed in five subjects of the supine bedrest, and one of the same subjects of the head-down bedrest. In the tolerant subjects, the increase in cardiac contractility and plasma epinephrine level during the bend-up tilt was greater following the head-down bedrest than that following the supine bedrest to compensate for reduced venous return. The intolerant subjects showed the greater decrease in end-diastolic and stroke volume, and the greater increase in heart rate during the head-up tilt than the tolerant subjects. Cardiac contractility and plasma epinephrine level were remarkably increased. However, arterial pressure was not maintained at the level for the appropriate compensation of the reduced venous return. It seems that the tolerance to orthostasis is more effective after the short-term head-down bedrest than after the supine bedrest, and the secretion of epinephrine induces the higher cardiac performance as a compensatory mechanism fur the reduced venous return during the orthostasis following the head-down bedrest than the supine bedrest.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1033-1036
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• 2007

The optical disc drive has used a high NA objective lens and a shorter wavelength laser diode for high recording density. But high NA and shorter wavelength cause several margins to become short. Focusing and tracking servo has to be more accurate and active tilt compensation mechanism is also needed for coma aberration compensation. In this paper, we proposed 3-axis moving magnet type actuator. For 3-DOF motion, moving coil actuator has to equip 6 wires for supplying 3 independent signals. However, moving magnet type actuator doesn't need to change the configuration of wires because coils are in stator. So, we added tilting mechanism to 2-axis moving magnet actuator which is designed in previous research. Addition of the tilting mechanism cuts down the focusing sensitivity. So, maximization the tilting sensitivity and securing the focusing sensitivity are objectivities of this research. DOE (design of experiments) procedures of electromagnetic circuit are performed for parameter study and the optimization is also performed to maximize the tilt sensitivity. And then the final design is suggested and its performance is verified by FE simulation.

• 방사성폐기물학회지
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• 제2권3호
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• pp.189-199
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• 2004

기계식 마스터-슬레이브 매니퓰레이터의 결점인 접근 지역의 제한을 극복하기 위해 차세대관리 공정장치 원격 유지보수용 천정이동 서보 매니퓰레이터(Bridge Transported Servo Manipulator, BTSM) 시스템을 개발하고 있다. 서보 매니퓰레이터는 핫셀 내 천정이동 브릿지(bridge)에 부착되는 슬레이브 매니퓰레이터와 핫셀 밖 운전지 역에 설치되는 마스터 매니퓰레이터로 구성된다. 각각의 매니퓰레이터는 몸체 회전, 상부 팔 틸트(tilt), 하부 팔 틸트, 하부 팔 회전, 손목 팬/틸트(pan & tilt) 및 잡는 운동(grasp motion)의 7 자유도를 갖는다. 하부 팔 회전, 손목 팬/틸트 및 잡는 운동은 매니퓰레이터의 무게에 비해 취급 용량을 크게 하고, 마찰을 작게 하기 위하여 와이어 구동 메카니즘을 채택하였다. 그러나, 와이어 구동 메카니즘은 한 축이 움직일 때 다른 축도 영향을 받을 수 있는 단점이 있다. 본 논문에서는 이와 같은 단점을 극복하기 위해 와이어 구동 링크(link) 사이의 전달 특성을 수식화 하였다. 와이어구동 링크들간의 전달특성 분석 및 실험을 통해서 이들의 기대하지 않은 동작 특성을 확인하였다. 또한, 제안한 보상식을 통해서 기대하지 않은 동작을 크게 줄일 수 있음을 확인하였다.

• 대한기계학회논문집 C: 기술과 교육
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• 제1권2호
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• pp.153-165
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• 2013

기존의 보행분석 연구들은 하지를 하나의 스프링으로 간주하였다. 만약 슬관절 신전을 보조할 수 있는 슬관절 액추에이팅 메커니즘을 개발할 수 있다면 보행에 필요한 탄성-변형률에너지를 혁신적으로 저장-방출할 수 있고, 그 결과 보행 중 하지강성은 더욱 증가할 것이다. 게다가 족관절 액추에이팅 메커니즘까지 추가되어 있다면 슬관절 액추에이터에 의한 과도한 인공하지강성을 능동적이고 적절한 수준으로 보상해주는 기전으로 작동할 것이다. 만약 가속도에 의한 보행속도 증가를 방지하기 위해 인위적 감속통제를 작동시킨다면 불필요한 운동에너지의 방출이 발생되고 하지강성 액추에이터의 실효성은 의심을 받게 된다. 따라서 본 저자는 보행속도를 2개의 세그먼트에 의한 상대 각속도 조절기법을 이용하여 하지강성을 증가시킨다는 기본개념으로 슬-족관절 액추에이터 시스템을 개발하였다. 또한 족관절에 슬관절 액추에이팅에 대한 보상기전이 존재하는 경우, 족관절의 보상기전이 중족지절관절 경사각 및 보행속도 변화에 미치는 상호영향을 연구하였다.

• International Journal of Aerospace System Engineering
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• 제5권2호
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• pp.8-15
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• 2018

For small earth observation satellites, alignment between the optical components is important for precise observation. However, satellite cameras are structurally subject to misalignment in the launch environment where vibration excitations and impacts apply, and in space environments where zero gravity, vacuum, radiant heat and degassing occur. All of these variables can cause misalignment among the optical components. The misalignment among optical components results in degradation of image quality, and a re-alignment process is needed to compensate for the misalignment. This process of re-alignment between optical components is referred to as a refocusing process. In this paper, we proposed a 3 - axis focusing mechanism to perform the refocusing process. This mechanism is attached to the back of the secondary mirror and consists of three piezoelectric inertia-friction actuators to compensate the x-axis, y-axis tilt, and de-space through three-axis motion. The fabricated focus mechanism demonstrated excellent servo performance by experimenting with PD servo control.

• 한국소음진동공학회논문집
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• 제21권1호
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• pp.3-8
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• 2011

This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning and tilting, are driven by a pair of wires. The main feature of the module is that each wire can generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull motion is produced even when the end point of wire is moved by eye rotation. This mechanism helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced in detail, and the required motor angles for a certain direction of eye line are investigated analytically and experimentally.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.384-388
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• 2004

This study presents parametric studies for design of tiling mechanism to be used in 180km/h tilting train. The titling mechanism is composed of 4 links, a tilting bolster and an electro-mechanical actuator. First we have determined the installation height of tilting actuator using 3D tilting bogie modeling. Secondary, we verified movements of the tiling center and train body CG along variation of upper and lower span length. From this study, we obtained the upper and lower span length to minimize the lateral and vertical motion of CG of train body. Finally, we evaluated the tilting actuator force and power required to tilt the train body to $\pm$8$^{\circ}$.