• Journal of the Ergonomics Society of Korea
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• v.28 no.3
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• pp.33-39
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• 2009

Impact force to a body during walking depends on walking speed, walking steps, the condition of the floors and shoes, and weight. The ground reaction force and the foot pressure can be measured instantaneous force easily, but it's difficult to find out the amount of transferring forces to the body. On the other hand, the acceleration has an advantage for analyzing the amount of transferring forces. However, most of studies about impact forces to the ground reaction during exercise have been limited to analyze instantaneous forces. The important thing is to evaluate characters and the amount of the impact force rather than the magnitude. Therefore, this study analyze the impact force using 3 axis acceleration in three dimensions (x; anterior-posterior, y; left-right and z; longitudinal axis) using three axis acceleration. As working speed increased, impact forces increased significantly. Impact forces on x axis and z axis are higher at lower limb than that of upper limb. However, impact force at the knee is higher than that of other parts on y axis regardless of walking speed significantly. In addition, relations of the impact forces as interaction of experiment factors as well as effect of each factor are analyzed.

• Journal of Biosystems Engineering
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• v.30 no.5 s.112
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• pp.293-298
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• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

• The Pure and Applied Mathematics
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• v.24 no.2
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• pp.69-77
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• 2017

If q(z) is a polynomial of degree n with all zeros in the unit circle, then the self-reciprocal polynomial $q(z)+x^nq(1/z)$ has all its zeros on the unit circle. One might naturally ask: where are the zeros of $q(z)+x^nq(1/z)$ located if q(z) has different zero distribution from the unit circle? In this paper, we study this question when $q(z)=(z-1)^{n-k}(z-1-c_1){\cdots}(z-1-c_k)+(z+1)^{n-k}(z+1+c_1){\cdots}(z+1+c_k)$, where $c_j$ > 0 for each j, and q(z) is a 'zeros dragged' polynomial from $(z-1)^n+(z+1)^n$ whose all zeros lie on the imaginary axis.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.2
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• pp.142-149
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• 2004

PMLSM(Permanent Magnet linear Synchronous Motor) has widely applied to industrial automations, machine tools and semiconductor equipments due to the merit on the reduction of noise, vibration and the superior dynamic characteristics in comparison to the conventional method, which uses mechanical transfer equipments. Especially, in the case of applying to Z-axis operation structure, control system needs the method of an initial angle setting and the improvement of up/down operation characteristics. This paper proposes an initial angle setting algorithm and a variable gain schedule using real speed and moving direction to improve up/down operation characteristics. The effectiveness of proposed algorithms Is demonstrated by comparing to a conventional gain system via 4-point absolute positions profile with each velocity, acceleration and deceleration.

• Journal of the Korean Society of Radiology
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• v.16 no.1
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• pp.67-75
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• 2022

The aim of this study is to establish a new QC method that can simultaneously evaluate the resolution of the x/y plane and the z-axis by producing a phantom that can reflect exposure and reconstruction parameter of MDCT system. It was used with Aquilion ONE(Cannon Medical System, Otawara, Japan), and the examination was scanned using of 120 kV, 260 mA, and the D-FOV of 300 mm². It produced new SSP phantom modules in which two aluminum plates inclined at 45° to a vertical axis and a transverse axis to evaluate high contrast resolution of x/y plane and z axis. And it changed factors such as the algorithm, distance from gantry iso-center. All images were reconstructed in five steps from 0.6 mm to 10.0 mm slice thickness to measure resolution of x/y plane and z-axis. The image data measured FWHM and FWTM using Profile tool of Aquarius iNtusion Edition ver. 4.4.13 P6 software(Terarecon, California, USA), and analysed SPQI and signal intensity by ImageJ program(v1.53n, National Institutes of Health, USA). It decreased by 4.09~11.99%, 4.12~35.52%, and 4.70~37.64% in slice thickness of 2.5 mm, 5.0 mm, and 10.0 mm for evaluating the high contrast resolution of x/y plane according to distance from gantry iso-center. Therefore, the high contrast resolution of the x/y plane decreased when the distance from the iso-center increased or the slice thickness increased. Additionally, the slice thicknesses of 2.5 mm, 5.0 mm, and 10.0 mm with a high algorithm increased 74.83, 15.18 and 81.25%. The FWHM was almost constant on the measured SSP graph for evaluating the accuracy of slice thickness which represents the resolution of x/y plane and z-axis, but it was measured to be higher than the nominal slice thickness set by user. The FWHM and FWTM of z-axis with axial scan mode tended to increase significantly as the distance increased from gantry iso-center than the helical mode. Particularly, the thinner slice thickness that increased error range compare with the nominal slice thickness. The SPQI increased with thick slice thickness, and that was closer to 90% in the helical scan than the axial scan. In conclusion, by producing a phantom suitable for MDCT detectors and capable of quantitative resolution evaluation, it can be used as a specific method in the management of research quality and management of outdated equipment. Thus, it is expected to contribute greatly to the discrimination of lesions in the field of CT imaging.

• Archives of Plastic Surgery
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• v.33 no.2
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• pp.135-143
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• 2006

The characteristics of the cleft lip nasal deformity is defined in this article in three planes. The alar flaring is explained in X axis, the lower positioning of the alar free margin is imagined in Y axis and the short hemicolumella is in Z axis. Most cleft surgeons have focused on the malposition of the lateral crus of alar cartilage while the author defined it in X and Y axises and tried to correct that deformity of short hemicolumella in Z axis. For the last 13 years the author applied that method in 818 cases of secondary cleft lip nose deformity. Through the columellar splitting incision extended to free margin of the alar not beyond the nasal dorsum, the skin and soft tissue of the webbing deformed the nasal tip was excised in crescent fashion. The dissected short hemicolumella including the medial crus was thus elevated and advanced into the space of the deformed nasal tip after the crescent excision. This procedure should be followed by the correction of the deformities in X and Y axis. The medial crus elevation is more effective and critical way to have the constant and nice outcome than the lateral crus reposition in secondary cleft lip nasal deformity

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.78-84
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• 2009

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.

• Journal of the Korean Ceramic Society
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• v.49 no.3
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• pp.205-215
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• 2012

It has been studied the crystal and block structures of the hexagonal ferrites with M, W, Y and Z types prepared by various coprecipitation-oxidation method. The structures have been refined with a Rietveld analysis of the powder X-ray diffraction pattern with high precision ($R_{WP}$ <0.09, $R_I$ <0.03). The density difference between the S-blocks was proportioned to the cobalt contents in hexagonal ferrites, but that between the R or T-blocks was relatively small. Compared with the blocks and cation-oxygen polyhedra in BaM ($BaFe_{12}O_{19}$), those were bulky to the normal direction for the c-axis in $Co_2W$ ($BaCo_2Fe_{16}O_{27}$) and to the parallel direction for the c-axis in $Co_2Y$ ($Ba_2Co_2Fe_{12}O_{22}$) and $Co_2Z$ ($Ba_3Co_2Fe_{24}O_{41}$). The S-blocks of $Co_2W$, $Co_2Y$, and $Co_2Z$ were unstable and distorted. Because the T-block of $Co_2Z$ was unstable, the T-block was decomposed into the Ba-rich phase and $Co_2W$ at high temperatures above $1200^{\circ}C$. A standard powder X-ray diffraction pattern for $Co_2Z$ was proposed as well.

• Journal of Ocean Engineering and Technology
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• v.8 no.1
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• pp.33-40
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• 1994

Welding of structure produces welding residual stresses which influence buckling strength, brittle fracture strength and cold crack on the weld parts. Therefore, it is very important to accurately analyze the residual stress before welding in order to guarantee the safety of weldment. If the weld length is long enough compared to the thickness and the breadth of plate, thermal and mechanical behaviors in the middle portion of the plate are assumed to be uniform along the thickness direction(z-axis). Thus, the following conditions(so-called plane deformation) can be assumed for the plate except near its end;1) distributions of stress and strain are independent on the z-axis;2) plane normal to z-axis before deformation remains plane during and after deformation. In this paper, plane-deformation thermal elasto-plastic problem is formulated by being based on the finite element method. Moreover special regards and paid to the fact that material properties in elastic and plastic region are temperature-dependence. And the method to solve the plane-deformation thermal elasto-plastic problem is shown by using the incremental technique. From the results of analysis, the characterisics of distribution of welding residual stress and plastic strain with the production mechanism are clarified.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.464-465
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• 2008

This paper proposed a robust controller in order to handle the boom vibration of inspection robot. While a inspection robot moves on boom with vibration by weight occurs. Therefore, Boom as structure like cantilever beam appears vibration by weight of inspection robot. The Z axis of inspection robot operates with Sliding structure. inspection robot is used "Fuzzy Controller" for position control with Z axis. The developed robot system is composed of the specially designed car for inspection robot. The proposed Fuzzy Controllers are used to track position reference signal of Z axis. A Experiment verify that the proposed Fuzzy Controller design method can achieve favorable control performance with regard to external disturbance.