• 로봇학회논문지
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• 제15권4호
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• 한국멀티미디어학회논문지
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• 제23권11호
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• pp.1388-1395
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• 2020

Daily monitoring of the heart rate can facilitate detection of heart-related diseases in their early stages. Therefore, providing an easy-to-use and noninvasive heart rate monitoring system has been a very popular research topic in the field of healthcare. One of good candidate methods is to use commonly available cameras and extract information that can help to estimate heart rate from a human face. Generally, such information can be retrieved using two different approaches: photoplethysmography (PPG) and ballistocardiography (BCG). PPG exploits slight color changes caused by blood volume variations during heartbeats; thus, it tends to be vulnerable to unstable lighting conditions. BCG exploits subtle head motions caused by pumped blood travelling through the carotid artery during heartbeats; thus, it is vulnerable to the voluntary head movements that are not related to heartbeats. Nevertheless, most related works use either to estimate the heart rate. In this paper, we propose to combine two approaches to be robust to challenging conditions. Specifically, we explore possible ways to combine raw signals obtained from two approaches and verify that the proposed combination shows better accuracies under challenging conditions, such as voluntary head movements and ambient lighting changes.

• 한국연소학회지
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• 제7권1호
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• pp.23-30
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• 2002

Instability of oblique detonation waves (ODW) at off-attaching condition was investigated through a series of numerical simulations. Two-dimensional wedge of finite length was considered in $H_2/O_2/N_2$ mixtures at superdetonative condition. Numerical simulation was carried out with a compressible fluid dynamics code and a detailed hydrogen-oxygen combustion mechanism. Present result reveals that there is a chemical kinetic limit of the ODW detachment, in addition to the theoretical limit predicted by Rankine-Hugoniot theory with equilibrium chemistry. Result also presents that ODW still attaches at a wedge as an oblique shock-induced flame showing periodically unstable motion, if the Rankine-Hugoniot limit of detachment is satisfied but the chemical kinetic limit is not. Mechanism of the periodic instability is considered as interactions of shock and reaction waves coupled with chemical kinetic effects. From the investigation of characteristic chemical time, condition of the periodic instability is identified as follows; at the detaching condition of the Rankine-Hugoniot theory, (1) flow residence time is smaller than the chemical characteristic time, behind the detached shock wave with heat addition, (2) flow residence time should be greater than the chemical characteristic time, behind an oblique shock wave without heat addition.

• 한국초전도ㆍ저온공학회논문지
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• 제2권1호
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• pp.19-23
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• 2000

We are developing a small-sized superconducting magnetic energy storge ($\mu$SMES) magnet with the storage capacity of a few megajoules, which provides electric power with high quality to sensitive electric loads. A kA class superconductor with a high coppe $r^erconductor ratio was selected as a candidate conductor. The superconductor was tested in two points of view, which are basic and important in development of the $\mu$SMES magnet. First, stabilities of the superconductor against localized disturbances such as wire motions were estimated by using a wire heater. Second, the quench current characteristics for different charge rates were also tested. The stability data showed that the short heat pulses made the conductor more unstable. The superconductor had relatively high recovery currents ranging between 40% and 50% of its critical currents. The quench tests indicated that the quench currents of the conductor were independent of current ramp rates up to 3000 A/s and nearly equal to its cuitical current data.ta.

• The Journal of Korean Physical Therapy
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• 제25권2호
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• pp.117-125
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• 2013

Purpose: The purpose of this study was to investigate changes in movement strategies of lower limb joints depending on the type of heel during sit-to-stand. Methods: Twenty healthy females participated in this study. All subjects performed sit-to-stand three times each with three different types of heels - bare feet, 9 cm high-heeled shoes, and unstable shoes. Trails were conducted in random order. Three-dimensional motion analysis systems were used for collection and analysis of the kinematic data of lower limb movements. Results: Results of this study showed kinematic differences in pelvis, hip joints, knee joints, and ankle joints during sit-to-stand based on the type of heels. At the initial sit-to-stand, hip joint flexion, knee joint flexion, ankle joint flexion, and ankle joint inversion showed significant differences. The maximal angles of hip joint flexion, hip joint adduction, knee joint flexion, ankle joint flexion, and ankle joint inversion were significantly different, while hip joint adduction, pelvic forward tilt, hip joint rotation, knee joint flexion, ankle joint flexion, and ankle joint inversion differed significantly during the terminal of sit-to-stand. Conclusion: Therefore, the type of heel played an important role in selection of lower limb movements during sit-to-stand which were essential parts of daily life movements.

• 한국소음진동공학회논문집
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• 제12권1호
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• pp.21-28
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• 2002

This paper intends to investigate the effects of speed fluctuation caused by the cogging torque in permanent magnetic motors on the stability of the transverse vibration for a spinning disk. Based on the Kirchhoff\`s plate theory and the assumed mode methods, a set of discretized equations of motion were derived for an annular disk rotating with a harmonically varying speed. Then, a perturbation method using the multiple time scales was employed and stability boundaries were determined explicitly in terms of the magnitude and frequency of speed fluctuation, a nominal sped and the modal characteristics of the disk. It is found that parametric resonance occurs at several speed ranges and a single mode or a combination of two modes are involved to cause instability. It is also observed that unstable regions become broadened as the spinning speed increases or two modes are combined in parametric instability. As numerical simulations, stability analysis of a conventional CD-ROM drive was performed. Results of this work can e used as guidelines for motor design and operations with low vibration.

• 천문학회보
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• 제35권2호
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• pp.73.2-73.2
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• 2010

In order to understand internal dynamics of starless cores, molecular line emissions are usually observed. From profiles of the molecular lines, internal motions of starless cores have been deduced using a simple radiative transfer model such as the two-layer model (Myers et al.1996). This brings complexities arising from the chemical evolution. The motivation of this study is to follow the chemical evolution of a starless core that goes through gravitational contraction. For this purpose, we have performed hydrodynamical simulations with a marginally unstable Bonnor-Ebert sphere as an initial condition. We follow the chemical evolution of this core with changing conditions such as the chemical reaction rate at the dust surface and the strength of radiation field that penetrate into the core. At the core center, the molecules suffer from a higher degree of molecular depletion on the dust covered by ice rather than on the bare silicate dust. The stronger radiation field dissociates more molecules at the core envelope. From analysis on the line profile using the two-layer model, we found that the speed of inward motion deduced from the HCN F = 2-1 line adequately traces the true infall speed, when the dust is covered by ice and the core is exposed to the diffuse interstellar radiation field. Under different conditions, the two-layer model significantly underestimate the infall speed.

• 한국해양공학회지
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• 제11권4호
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• 대기
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• 제16권3호
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• pp.235-246
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• 2006

Remote sensing techniques using satellites or the scanning weather radars depend mostly on the presence of clouds or precipitation, and leave the extensive regions of clear air unobserved. But wind profilers provide the most direct measurements of mesoscale vertical air motion in the troposphere, even in the context of heavy precipitation. In this paper, the precipitation events during the Changma period was classified into 4 precipitation types - stratiform, mixed stratiform/ convective, deep convective, and shallow convective. The parameters for the classification of analysis are the vertical structure of reflectivity, Doppler velocity, and spectral width measured with the wind profiler at Haenam for a three-year period (2003-2005). In addition, the synoptic fields and total amount of precipitation were analyzed using the Global Final Analyses (FNL) data and the Global Precipitation Climatology Project (GPCP) data. During the Changma period, the results show that the stratiform type was dominant under the moist-neutral atmosphere in 2003, whereas the deep convective type was under the moist unstable condition in 2004. The stratiform type was no less popular than the deep convective type among four seasons because the moist neutral layer was formed by the convergence between the upper-level jet and the low-level jet, and by the moisture transport along the western rim of the North Pacific subtropical anticyclone.

• 한국소음진동공학회논문집
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• 제17권12호
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• pp.1223-1229
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• 2007

Flow traveling over a cavity opening forms a vortex due to unstable shear layer and induces an aerodynamic pressure excitation from the diffusion of the vortex convecting out of the trailing edge of the opening. The interaction between the excitation force and the cavity response sustains resonance in the resonator(cavity) and locked-in vortex shedding at the leading edge of the opening. The aerodynamic excitation force can be described from the diffusion of the vortex over the trailing edge and the level of its diffusivity is related to the strength of vorticity seeded at the leading edge. In this study, the control scheme of the internal pressure oscillation was proposed from regulating the vorticity at the leading edge by use of an oscillating spoiler. It was found that the relative motion between the spoiler and the air mass at the cavity opening influenced vorticity strength and the control was achieved by direct feedback of the cavity pressure fluctuation to the actuator.