• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.1
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• pp.81-87
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• 2015

In order for a Power Assisted Wheelchair (PAW) to maintain a straight driving direction, the same force must be delivered to both wheels. However, a human has different strength between the right and left arms, and cannot control the force uniformly at all times. Therefore, appropriate assist torque shall be generated from unbalanced human torque inputs by detecting the user intention, in order to maintain direction uniformly in straight sections or change direction quickly in curved sections. In this study, a special function is proposed to detect the intention of drivers on the basis of temporal similarity between the input torque signals, and a torque balancing technique based on this function is proposed. In the experiments, the effectiveness of the proposed torque balancing method are verified.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.1026-1034
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• 2012

The purpose of this study was to verify the validation of effect on improvement of muscle strength unbalance according to exercise load deviation during rowing exercise. We performed evaluation of muscular activity and joint torque before the test. We recruited twenty subjects who one side's muscle strength is bigger in more 20% than other side. Subjects divided two groups. One is dominant left side and the other was dominant right side. Subjects performed rowing exercise in electric load deviation rowing equipment (Robo.gym, Humonic Co., Ltd., Daegu, Korea). Exercise performed four sets a day including 25 times a set, and three days a week. Measurements consist of evaluation of muscular activity and joint torque. Exercise load deviation adapted that different value of muscle strength in both arms multiplied 1RM% and added 1RM 50%. The results in adapted load deviation showed that the differences of maximal peak torque in 22.75% were getting increase significantly during exercise in 5.72%. This interpreted that rowing exercise with loading deviation types could provide muscle strength and muscular endurance exercise in same time for balance. Our study found out that loading deviation could provide muscle strength and muscular endurance exercise for improving muscle unbalance.

• Journal of Aerospace System Engineering
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• v.15 no.5
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• pp.60-71
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• 2021

Propeller performance measurement system for commercial propeller was designed and applied to the wind tunnel test for 3 commercial propeller models with diameters of 30 inch. The thrust and torque of the propeller was directly measured by using 6-components balance installed on the rotating axis. The measurement system was validated by using wind tunnel balance calibration equipment. Propeller test stand including measurement and rotating system was validated by using QTP propeller. In the hovering condition, we compared the performance test results and the specifications of the commercial propeller provided by the manufacturer and confirmed that there are differences in the thrust and the torque. We measured the propeller performance with various wind speeds, propeller models and angles of attack and was summarized by thrust coefficients. We confirmed that the trend of the thrust coefficients was different in the low angle of attack and high angle of attack. An aerodynamics database that can be used for future aerodynamic design of an unmanned aerial vehicle was secured.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.55-63
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• 2012

The purpose of this study was to investigate the balance differences between skilled players and less-skilled players during Hakdariseogi motion of Keumgang Poomsae in Taekwondo. To achieve the study goal, total of 10 Taekwondo athletes; 5 skilled players(S, body mass: $67.0{\pm}5.7$ kg, height: $174.0{\pm}4.8$ cm, age: $20.0{\pm}2.0$ yrs) and 5 less-skilled players(LS, body mass: $73.0{\pm}4.9$ kg, height: $176.4{\pm}6.1$ cm, age: $20.8{\pm}1.3$ yrs) participated in this study. A three-dimensional motion analysis with 8 infrared cameras and one force plate whose sampling frequency as 30 Hz and 300 Hz, respectively, were performed. Participants' motion were divided into three phases which were preparation phase(P1), performing phase(P2) and maintaining phase(P3). The range and velocities of COP, the range and RMS of ground reaction torque and displacement between COM and center of BOS of each phase were computed. In this study, at P1 and P3 which were double and single stance, respectively, the range and M-L velocities of COP revealed significantly higher in LS compared with those of S(p<.05). At P2 which was single stance, LS indicated significantly higher in range of COP and ground reaction torque, and M-L velocities of COP than those of S(p<.05). The significantly shorter displacement between COM and center of BOS, however, was found in LS compared with that of S(p<.05). The results from our study indicated that S revealed more stable performance and a better posture control ability during performing Hakdariseogi motion.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• The Journal of Korean Physical Therapy
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• v.33 no.6
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• pp.278-285
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• 2021

Purpose: This study investigated the effects of open kinetic chain (OKC) exercise for the gastrocnemius (GCM) and tibialis anterior (TA) muscles on static and dynamic balance and muscle strength. Methods: We recruited 21 healthy participants, dividing them into 3 groups (GCM, TA, and non-exercise). Each group contains 7 participants. Two exercise groups (GCM and TA) performed OKC exercise with elastic bands twice per week for 4 weeks, while non-exercise group did nothing. We obtained the data for static and dynamic balance and muscle strength before and after the intervention. We used the Kruskal-Wallis test to compare and analyze the pre-post-intervention differences among the groups. Results: For static balance, the stability index of the TA group was the lowest for the dynamic platform (p<0.05). The dynamic balance of the TA group increased for the anterior and posteromedial directions (p<0.05). The peak torque increased in the TA group for dorsiflexion (D/F) movement and in the GCM group for plantar flexion movement compared with the other groups, except for the left direction during D/F (p<0.05). Conclusion: OKC exercises with elastic bands were effective for selectively increasing muscle strength. It is clinically thought that strength training for TA muscles will be effective among the muscles of the ankle.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.5
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• pp.88-94
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• 2012

Development trend of modern HSDI diesel engine is now focusing on low fuel consumption and emission because of strong interest in global environmental protection. Two big branches of criteria for modern diesel engine development are down sizing and down speeding. Down sizing keeps engine operation condition to the direction of higher load and thus pursuing for better thermal efficiency. But this may cause degraded vehicle dynamic performance because of reduced back up torque. Down speeding keeps engine operation condition to the direction of slightly higher load and lower engine speed. Therefore reduction of back up torque can be limited within flat torque area. This study analyzed fuel economy effect of down speeding on a vehicle powered by HSDI diesel engine in aspect of engine friction work, intake and exhaust pumping work, exhaust hat loss and thermal loss of fuel leakage of fuel injection system. Contribution factor of each engine and vehicle related parameters under basic and down speeding condition were compared and work balance of down speeding during NEDC was analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1941-1948
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• 2004

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.196-201
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• 2008

This paper is about electromagnetic vibration source in outer rotor type of BLDC motors. Experiments are carried out with three pole-slot combinations which are 6 slots, 12 slots, and 24 slots with 4 poles rotor. According to results, vibration sources separate into electromagnetic and mechanical factors. Using the finite element method (FEM), It is analyed that vibration characteristics of electromagnetic source in each type. This paper shows electromagnetic sensitivity to vibration, and introduces necessary point in lower vibration motors. Also rotor balance is important to prevent uneven distribution of magnetic flux between rotor and stator.