• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.28-34
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• 2012

Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 1995.11a
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• pp.110-114
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• 1995

This paper is dealing with speed control of Darrieus Wind Turbine, which can be figured out from torque equation. The operating point of Darrieus Wind Turbine can be found from speed-torque curve, which is either stable or instable. The transfer of operating point due to variation of wind speed and generating power is shown in this paper.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.1
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• pp.62-69
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• 2000

The strip tension as well as the line speed should be controlled tightly for the quality of products and productivity of the continuous strip processing line. In this paper, a new tension control algorithm with tension observer is proposed using observed tension as regulator feedback. The tension observer is based on the torque balance of a roller stand including the acceleration torque. Using this estimated tension, new tension controller can be constructed with faster dynamic response in case of line speed acceleration or deceleration. The proposed scheme needs no additional hardware because the inputs of observer, current and speed, are already being monitored by the motor drive system. Through the simulations and experiments with laboratory set up, performances fo conventional schemes and proposed one are compared. The results show the effectiveness of the proposed tension controller.

• Journal of Biosystems Engineering
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• v.32 no.4
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• pp.230-236
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• 2007

In this study, a tail rotor system for an agricultural RF controlled helicopter was developed and tested. This study concluded the mechanical development of the 'Agro-heli' by completing the tail rotor system and its radio console. The RF control system was closely related with the tail system for the control of flying attitude. The thrust of the tail system balance off the reaction torque, created by the main rotor. Lifting tests with and without the tail system were compared for estimating the consumption of power. The tail system would use $4{\sim}5%$ of the total power which was in an acceptable range. Flying performance and attitude was visually inspected. It showed reliable and safe control during the distance flying trials and could be adapted for utilization in aerial applications. Aerial application using an RF controlled agricultural helicopter may make precise and timely spraying possible.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.652-655
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• 2004

In gear-train design, power-flow analysis is a very important process. The method for power-flow analysis apply the power balance equation and torque balance equation to each fundamental circuit. Then, the equation are solved simultaneously to determine the power-flow in planetary gear train. In this paper we perform power-flow analysis of a 6-speed automatic transmission. With this results are used to represent block diagram. In addition, the efficiencies of epicyclic inversion of the 6-speed automatic transmission is obtained.

• Physical Therapy Korea
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• v.14 no.3
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• pp.41-47
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• 2007

Dance movements consist of combinations of movements such as jumping, rotation, maintaining balance, leg lifts, and plantar flexion with toe shoes. Dance movements require great muscle strength of lower extremities as well as muscular endurance. The purposes of this study were to investigate correlation between the anthropometric variables and the peak torque in young female dancers and to identify variables that affect isokinetic peak torque. Twenty-six female dancers ($19.7{\pm}1.2$ years of age) performed concentric maximum force efforts on the knee extensors and flexors at $60^{\circ}/sec$ and $120^{\circ}/sec$, the ankle plantar flexors (PF) and dorsiflexors (DF) at $30^{\circ}/sec$ and $120^{\circ}/sec$. Antropometric variables such as age, height, weight, body mass index (BMI), thigh girth, calf girth and duration of dance training were measured. To identify antropometric variables related to muscle strength, Pearson correlations were computed and a stepwise multiple regression analysis was performed. Pearson correlation coefficients of Knee extensor at $60^{\circ}/sec$ and $120^{\circ}/sec$ revealed moderate positive associations with BMI and thigh girth. Pearson correlation coefficients of ankle PF revealed low-to-moderate positive associations with height. Ankle DF also revealed moderate positive associations with BMI and calf girth. The main predictor variables of knee extensor at 60/sec, were stepwise multiple regression, age, height, thigh and girth.

• The Korean Journal of Emergency Medical Services
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• v.9 no.2
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• pp.129-136
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• 2005

The purpose of this study was to compare the level of physical fitness and isokinetic strength, between EMT student and physical education students. Nine a major in EMT student volunteers, and nine a major in physical education student volunteers participated in that study as subjects. The basic physical body composition, fitness and isokinetic strength were measured. The data obtained in the study was analyzed by SPSS PC+ for window version 10.0. The difference in the mean of each variable between the two groups was analyzed by using the independent t-test and the significance level for all analysis was set at <.05. The results were as follows ; 1. There was a significant difference in the basic physical fitness between the two groups with the exception flexibility. The difference showed the statistical significance on back strength, balance and power in physical education students. 2. There were significant difference in body composition between the two groups with the exception of lean body fat. The difference showed the statistical significance on body fat%, body fat mass in the physical education students. 3. There was significant defference in the isokinetic strength between the two group. The difference showed the statistical significance on peak torque, peak torque B/W%. It was concluded that the physical education students may not have an effect of flexibility; however, back strength, balance, power, body composition, isokinetic strength, could be enhanced due to the long-term period of training. Based on the findings of this study, the regular participation of regular exercise help the untrained men achieve health-related fitness.

• Korean Journal of Applied Biomechanics
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• v.22 no.3
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• pp.285-293
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• 2012

The aim of this study is to identify the appropriate movement for maintaining postural balance during Front Kick and Turning Side Kick motions. To do so, ten Taekwondo athletes: five skilled players(S, body mass: $65.0{\pm}5.8kg$, height: $172.3{\pm}3.7cm$, age: $20.0{\pm}1.2yrs$, career: $9.0{\pm}1.9yrs$) and five less-skilled players(LS, body mass: $67.1{\pm}5.5kg$, height: $173.2{\pm}5.1cm$, age: $19.4{\pm}1.7yrs$, career: $9.6{\pm}1.7yrs$) participated in this study. A three-dimensional motion analysis was performed on the participants using eight infrared cameras and two force plate(sampling frequency of 200 Hz and 2000 Hz for S and LS players, respectively). The participants' motions were divided into: a front-kick phase(P1) and a turning-side-kick phase(P2). For P2(p<.05), the range and root mean square(RMS) of the ground reaction torque and the M-L mean velocity of COP were greater for LS than for S; similarly, for P2(p<.05), the M-L range, A-P range, and velocity of the COP were greater for LS than for S. Further, the M-L range and maximum velocity of the COP was greater for failure than for success(p<.05). The femoral biceps muscle for bending the knee joint was significantly stronger in S than in LS(p<.05). It is expected that these results will be useful in developing a training program for improving the balance and stability of Taekwondo poomsae athletes and improve their front-kick and turning-side-kick motions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.599-601
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• 2001

This paper investigates the permanent magnet (PM) overhang effect on the characteristics such as cogging torque and torque in brushless DC motor (BLDCM). The overhang effect has been used to enlarge the performance of the radial flux density in BLDCM and balance the force in the axial direction for the reduction of the vibration. 3D equivalent magnetic circuit network method (3D EMCNM) is used for the accurate and efficient analysis. The characteristics of BLDCM are analyzed according to the variation of overhang length and the optimal length and ratio of overhang is determined.