• Journal of Electrical Engineering and Technology
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• v.7 no.2
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• pp.184-192
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• 2012

The torque and unbalanced magnetic forces in permanent magnet machines are resultants of the tangential, axial and normal magnetic forces, respectively. Those are in general influenced by pole-teeth-winding configuration. A study of the torque and unbalanced magnetic forces of a small flux concentrating permanent magnet transverse flux machine (FCPM-TFM) in segmented compact structure is presented in this paper. By using FLUX3D software from Cedrat, Maxwell stress tensor has been solved. Finite element (FE-) magneto static study followed by transient analysis has been conducted to investigate the influence of unsymmetrical winding pattern, in respect to the rotor, on the performance of the FCPM-TFM. Calculating the magnetic field components in the air gap has required an introduction of a 2D grid in the middle of the air gap, whereby good estimations of the forces are obtained. In this machine, the axial magnetic forces reveal relatively higher amplitudes compared to the normal forces. Practical results of a prototype motor are demonstrated through the analysis.

• Physical Therapy Korea
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• v.22 no.2
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• pp.1-10
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• 2015

The common features of walking in patients with stroke include decreased gait velocity and increased asymmetrical gait pattern. The purpose of this study was to identify important factors related to impairments in gait velocity and asymmetry in chronic stroke patients. The subjects were 30 independently ambulating subjects with chronic stroke. The subjects' impairments were examined, including the isokinetic peak torque of knee extensors, knee flexors, ankle plantarflexors, and ankle dorsiflexors. Passive and active ranges of motion (ROM) of the ankle joint, ankle plantarflexor spasticity, joint position senses of the knee and ankle joint, and balance were examined together. In addition, gait velocity and temporal and spatial asymmetry were evaluated with subjects walking at their comfortable speed. Pearson correlations and multiple regressions were used to measure the relationships between impairments and gait speed and impairments and asymmetry. Regression analyses revealed that ankle passive ROM and peak torque of knee flexors were important factors for gait velocity ($R^2=.41$), while ankle passive ROM was the most important determinant for temporal asymmetry ($R^2=.35$). In addition, knee extensor peak torque was the most significant factor for gait spatial asymmetry ($R^2=.17$). Limitation in ankle passive ROM and weakness of the knee flexor were major contributors to slow gait velocity. Moreover, limited passive ROM in the ankle influenced the level of temporal gait asymmetry in chronic stroke patients. Our findings suggest that stroke rehabilitation programs aiming to improve gait velocity and temporal asymmetry should include stretching exercise for the ankle joint.

• The Journal of Korean Physical Therapy
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• v.12 no.2
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• pp.95-105
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• 2000

Glenohumeral internal and external rotation with shoulder abducted in the frontal plane often causes impingement of the supraspinatus tendon. whereas similar activity in scapular plane does not cause impingement. The Purpose of this study was to determine if assessment among the three positions as 30 degrees, 60 degrees, 90 degrees abduction in the sitting position of the scapular plane could be affected the comparison between intemal and external peak torque, total work, average power. In this study, Isokinetic shoulder rotational strength was evaluated in twenty healthy male university students, using the Cybex NORMTM System (CYBEX Division of LUMEX, Inc., Ronkonkoma, New York). Test data was gathered in the plane of the scapular, 30 degrees of horizontal flexion anterior to coronal plane, and the subjects performed the test with the arm 30, 60, and 90degrees abducted in the sitting position. also, test speed was set at deg/sec. Statistical analysis was performed using SPSS 7.5 for Windows software and mean and standard deviations were calculated. ANOVA was used to analyze the difference of the values in the three test positions. A paired t-test was used of examining the difference in the means peak torque between external and internal rotation. Not any significant difference was found among three abduction positions in scapular plane, even though there was a consistent pattern of greater strength in the abducted position of 60 degrees. Internal relation strength peak torque and total work were greater than those of external rotation in every test positions.

• 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.

• The Journal of Korean Academy of Prosthodontics
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• v.50 no.2
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• pp.92-98
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• 2012

Purpose: The aim of this study was to evaluate the effects of different abutment materials on abutment screw loosening and settling-down effect in conical connection type implant system. Materials and methods: Three types of abutment, cementation, gold UCLA, and metal UCLA abutment were used. Two UCLA groups were fabricated in a similar pattern to cementation abutment. Type III gold alloy and Nickel-Chromium alloy was used for casting gold UCLA abutment and metal UCLA abutment, respectively. Fixture and abutment were tightened to 30 Ncm by using digital torque controller and re-tightening was conducted with same force after 10 minutes. Digital torque gauge was used to measure loosening torque and fixture/abutment length was measured by digital micrometer. Dynamic loads between 25 N and 250 N were applied with $0^{\circ}$ angle to the abutment axis. After loading, fixture/abutment length was re-measured and amount of settlement was calculated. Loosening torque value was also measured for comparison Results: All three groups showed significant differences of length when comparing before and after loading, but there was no significant difference of settling amount in all groups. Loosening torque values were significantly decreased when comparing before and after loading in all groups($P$<.05). However, there was no significant difference in loss of loosening torque values when compared to groups. Conclusion: In internal conical connection type implants, dynamic load affected on settlement and loosening torque of implant, but there was no differences between abutments materials. Likewise gold UCLA abutment, metal UCLA abutment might be able to withstand functional load.

• Wind and Structures
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• v.18 no.2
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• pp.195-213
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• 2014

Recently, the horizontal axis rotor performance optimizer (HARP_Opt) tool was developed in the National Renewable Energy Laboratory, USA. This innovative tool is becoming more popular in the wind turbine industry and in the field of academic research. HARP_Optwas developed on the basis of two fundamental modules, namely, WT_Perf, a performance evaluator computer code using the blade element momentum theory; and a genetic algorithm module, which is used as an optimizer. A pattern search algorithm was more recently incorporated to enhance the optimization capability, especially the calculation time and consistency of the solutions. The blade optimization is an aspect that is highly dependent on experience and requires significant consideration on rotor control strategies, wind data, and generator type. In this study, the effects of rotor control strategies including fixed speed and fixed pitch, variable speed and fixed pitch, fixed speed and variable pitch, and variable speed and variable pitch algorithms on optimal blade shapes and rotor performance are investigated using optimized blade designs. The effects of environmental wind data and the objective functions used for optimization are also quantitatively evaluated using the HARP_Opt tool. Performance indices such as annual energy production, thrust, torque, and roof-flap moment forces are compared.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• Journal of Biosystems Engineering
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• v.35 no.5
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• pp.302-309
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• 2010

Aerial application using an unmanned agricultural helicopter would allow precise and timely spraying. The attitude of a helicopter depends on a number of dynamic variables for roll-balanced flight. Laterally tilting behavior of a helicopter is a physically intrinsic phenomenon while hovering and forwarding. In order to balance the fuselage, the rotor should be counter-tilted, resulting in the biased down-wash. The biased spraying toward right side causes uneven spray pattern. In this study, a raised tail rotor system for the roll-balanced helicopter was studied. Thrust of the tail rotor system was measured and theoretically estimated for the fundamental database of the roll-balanced helicopter design. The estimated tail thrust and roll-moment would be used to design the raising height of tail rotor and roll balancing dynamics. The unmanned agricultural helicopter required the tail rotor thrust of about 39.2 N (4.0 kgf) during hovering with a payload of 235.4 N (24 kgf). A raised tail rotor system would compensate for the physical tilt phenomena. A further attitude control system of helicopter would assist roll-balanced aerial spray application.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.3
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• pp.263-272
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• 1990

In the variable speed driving system of a three phase induction motor controlled by a PWM inverter, the output terminal contains considerable amount of harmonic components of the voltage waveform due to the switching action of semiconductor devices, causing torque ripples, acoustic noise and oscillation of the motor. This paper describes a new algorithm which eliminates the harmonics and controls the fundamental voltage in three phase PWM inverter output waveform. The new algorithm utilizes the technique of particular harmonics elimination (PHE) by walsh series in three phase PWM inverter output waveform. A microprocessor (8086 CPU)-controlled three phase induction motor system is described to realize this algorithm. The system is designed for 3 phase output voltage in the 1-60Hz interval where 5th and 7th harmonics, and 5th, 7th, 11th, and 13th harmonics are eliminated. Also, the fundamental wave amplitude is designed to be proportional to the output frequency. The performance of the proposed method shows sufficient elimination of the harmonics and also reduction of computation time which determines switching pattern. The proposed PWM pattern by Walsh series, is effective not only to induction motors but also to other electromagetic equipments such as voltage regulators and UPS.