• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1467-1470
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• 2008

An upper tibial opening wedge osteotomy is an operation to cure a malalignment and a degenerate arthritis. To prevent the postoperative malalignment caused by the upper tibial opening wedge osteotomy, the research to define the relationship between a Hinge Axis Angle and a Posterior Slope Angle is needed. The effect of the relationship between the hinge axis angle and the gap angle on the posterior slope angle is studied. After 3-D Compute Tomography (CT) scanning image is reconstructed, the virtual surgery is performed by the reconstructed 3-D tibia model. It was proved that the relationship between the hinge axis angle and the gap angle were constant and the simple mathematical model could be derived. To verify the suggested mathematical model, it compared with the measured data from the virtual surgery. In conclusion, while the deviation between the data from the virtual surgery and ones of the mathematical model under the gap angle<$10^{\circ}$ was less than 1%.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.263-264
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• 2008

• 한국의류산업학회지
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• 제22권1호
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• pp.87-93
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• 2020

This study provide basic data to develop a dress form reflecting body shape characteristics by age and to produce a 3D body form in a virtual fitting program. A comparative analysis was conducted on the size, section shape, and slope of side shape of the modeling form by the sizing of the basic female avatar in CLO 3D, one of the 3D apparel CAD programs and the body form of women in their 20s-50s by body shape in the 6th Size Korea (2010). First, all the differences were formed similarly in the direct measurements between the 3D avatar and the body form were within 1 mm. Second, in a comparison of the section form of the avatar and body form in Size Korea, the avatar was formed in straight body shape and did not reflect a spinal curvature according to age. As a result of an examination of the items with a difference over 5° in the slope of side shape, there were angle differences in numerous body shapes in the angles of the side upper abdomen, side upper back, and side upper bust, and the avatar's bust shape was expressed more flatly compared to body form. It will be possible to produce an avatar that can adequately reflect body shape characteristics by adding detailed length and angle items by the region like waist back length and front length in producing the avatar reflecting body shape characteristics, instead of a standard body shape.

• 대한기계학회논문집B
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• 제36권3호
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• pp.351-361
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• 2012

슬관절 내반슬과 외반슬의 부정정렬을 교정하는 방법 중 대표적인 수술법이 근위경골절골술이다. 개방형 쐐기 근위경골절골술(OWHTO)의 경우 근위비골 인접부의 경골외측 비골신경을 손상시킬 우려가 없고, 수술도중 교정각의 개방 정도를 임의대로 조절 변경 가능한 장점으로 최근 선호되고 있다. 그러나 술후 관상면에서의 외반 및 내반 교정은 바르게 이루어지는 반면, 시상면에서는 수술자가 의도하지 않은 경골내측고평부의 후방경사각(PSA) 변화가 발생한다는 문제점이 있다. 저자들은 이와 같은 문제의 극복을 위해 Computer Assisted Surgery를 이용한 근위경골절골술 기법을 자체적으로 개발하였고, 근위경골부의 CT 이미지 3차원 재건과 컴퓨터를 이용한 가상절골술을 수행하였다. 또한 술후에도 후방경사각(PSA)이 변화하지 않는 수술기법에 대해 제시하였다. 본 연구결과는 환자고유의 전내측피질골 경사각(ACOA)과 후방경사각(PSA)의 명확한 관계성에 대해 제시해줄 것이며 환자마다 다른 최적의 후방경사각 결정법에 대해 제시해 줄 것으로 판단된다.

• 한국CDE학회논문집
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• 제18권6호
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• pp.385-398
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• 2013

Opening wedge high tibial osteotomy (OWHTO) is widely used to treat unicompartmental osteoarthritis of the knee caused by degenerative deformations of the anatomical axes of the leg. However, since it is difficult to accurately plan the surgical degrees of adjustment such as coronal correction angle and tibial posterior slope angle to align the axes before the actual procedure, a number of studies have proposed analytical models to solve this problem. While previous analytical models for OWHTO were limited to specific cases, this study proposes an analytical osteotomy model (AOM) and a surgical planning system (SPS) that are suitable for a wide range of tibial morphologies and tibia conditions. The validity and generality of the model were verified in a total of 60 OWHTO cases. Results of the test showed that, as predicted, surgical degrees are affected quite significantly by tibia shape and slope of the resected surface. Comparison of the required surgical degrees and the degrees estimated from virtual surgery simulations using AOM showed a very small average difference of $0.118^{\circ}$. SPS, based on AOM, allows the operating surgeon to easily calculate surgical parameters needed to treat a patient.

• 한국지반공학회논문집
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• 제30권4호
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• pp.47-63
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• 2014

육상 및 항만 구조물 설계시 적용되고 있는 토압 이론(Rankine, Coulomb, 시행쐐기법, 개량시행쐐기법)을 정리하였고, 구조물 형태에 따라 가상배면(Vitural back, wall, plane)과 구조물 벽면에 작용하는 토압 특성 등을 제시하였다. 토압 특성을 검토하기 위해 육상구조물의 경우 배면토 경사에 따른 캔틸레버식 옹벽과 벽경사에 따른 중력식 옹벽, 해상구조물은 케이슨식 안벽과 블록식 안벽을 적용하였다. 여러 가지 토압이론을 적용하여 뒷굽 길이에 따른 토압, 작용각(벽면마찰각), 벽면측으로의 활동각 등을 분석한 결과 뒷굽이 긴 경우 가상배면에서의 작용토압은 Rankine 토압과 작용각은 지표경사각, 뒷굽이 짧은 경우 Coulomb 방법과 작용각은 벽마찰각으로 산정하는 것이 가장 합리적임을 알 수 있었다. 벽면측으로의 활동각은 Rankine 이론에 의한 활동각보다 큰 것으로 나타났다. 또한, 본 논문에서는 현재 적용되고 있는 여러 가지 토압 산정법 및 작용각 중에서 항만 구조물 설계시 적용할 수 있는 적정 토압 산정방법을 제안하였다. 제안방법은 뒷굽장단 결정과 이에 따른 적정 토압산정법을 결정하고 벽면 측으로의 활동각에 따른 옹벽자중 고려 방법을 설정하도록 하였다.

• 제어로봇시스템학회논문지
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• 제7권8호
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• pp.675-679
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• 2001

This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.

• 대한기계학회논문집A
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• 제35권8호
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• pp.835-846
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• 2011

최근 보편화 되고 있는 내측개방형절골술 시에 의도하지 않은 경골후방경사각의 변화로 인한 문제점들이 보고되었다. 이를 해결하기 위해 많은 연구들이 진행되어 왔지만 환자의 다양한 경골의 형상 및 절단면의 기울기에 적용될 수 있는 일반적 해석 모델은 아직 제안되지 못하고 있다. 따라서 본 논문에서는 일반적인 케이스에 적용할 수 있는 근위경골절골술의 해석 모델을 제안한다. 이를 위해 내반교정각만을 조정할 수 있는 가상경골축을 정의하고, 이를 통해 절단면과 경골개방축이 내반교정각에 주는 영향을 나타내는 수학적 모델을 제안하고, 기존의 수술적인 변수들간의 상관관계를 명확히 나타내었다. 또한 내반교정각과 경골후방경사각에 추가로, 새로운 각도인 경골뒤틀림각의 존재를 도입함으로써 수술 시 발생하는 모든 기하학적 변수들간의 관계를 완성된 형태로 표현하였다.

• Journal of Biosystems Engineering
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• 제5권2호
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• pp.26-39
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• 1980

A study was investigated to find out the mechanical optimum conditions of power tiller-plow system on both paddy field and upland. Mathematical model was developed for the theoretical analysis of this system and the experimentation on the field was carried out with two different sizes of 5PS and 8PS power tiller equipped with rubber tire. 1) The relationship between the plowing depth and draft resistance of the power tiller-plow system was a quadratic function. 2) The minimum point of the specific draft resistance of the 5 PS plow was found at the smaller plowing depth than that of 8 PS plow, therefore we can find that the curved surface of 5PS plow bottom should be improved for the effective plowing operation. 3) As the improvement of the mechanical balance by the desirable change of the curved surface of plow bottom, the relative position of hitch point and dimension of plow beam would be realized, the 5 PS power tiller could be used to plow deeply (about 16-17cm). 4) The virtual acting point of the total draft resistance on the plow bottom approached to the land side as the plowing depth increased. 5) The resultant of vertical reaction force $R_2$ on the landside was increased with the plowing depth, while the vertical reaction force $R_1$ on the wheel was decreased as the slope angle of the body of power tiller increased. 6) For the effective plowing operations ; a) The slope angle of the body should be as small as possible. b) The diameter of the wheel should be as small possible. c) The horizontal and vertical distances $l_2, h_1$ between the wheel axis and plow bottom should be as large as possible. 7) To use the 5PS power tiller as the major unit of agricultural machinery, the curved surface of the 5 PS plower bottom and the mechanism of attachment between the power tiller and the plow should be changed as the indications of this study, and in addition to these, the new operation method of the field work should be developed.