• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1500-1503
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• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

• 방송공학회논문지
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• 제25권4호
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• pp.487-496
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• 2020

차세대 로봇 공연 기술을 개발하기 위하여 산업용 로봇 arm에 휴머노이드형의 로봇 액터를 부착한 RAoRA (Robot Actor on Robot Arm) 구조를 제안하고, 시스템 연동 제어를 위한 소프트웨어를 탑재하여 로봇 공연 플랫폼을 구축하였다. 로봇 액터와 산업용 로봇 arm의 연동 모션을 위하여 역학적 분석을 수행하고 기계적 메커니즘을 설계 및 제작하였다. 로봇 액터의 동작을 위하여 3D 모델의 기구학적인 분석, spline 위치 보간, 모션 제어 알고리즘 및 제어 장치를 개발하였다. 비전문가도 직관적이고 안전한 공연 콘텐츠를 제작할 수 있도록 사전 시각화, 시뮬레이션 도구 및 콘솔 통합 운영 도구를 개발하였다. 테스트를 위하여 지면에 거의 밀착하여 자연스럽게 걷거나 서서히 공중으로 올라가는 air walk 시연하였고 러닝 타임 5분의 공연에 적용하였다. 그 결과 제안된 로봇 공연 플랫폼은 기존의 로봇 공연에서는 구현이 불가능했던 입체적이고 생동감 있는 모션을 구현할 수 있었다.

• 대한물리의학회지
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• 제11권4호
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• pp.55-64
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• 2016

PURPOSE: The aim of this study was to examine the effect of air stacking exercise on lung capacity, activities of daily living, and walking ability in elderly adults. METHODS: A total of 27 subjects were randomly assigned to an experimental group (EG=13) or a control group (CG=14). Subjects in the experimental group participated in an active pulmonary rehabilitation program. 5 days a week for 4 weeks. The active pulmonary rehabilitation program was composed of an air stacking exercise with an oral nasal mask and manually assisted coughing. Conventional pulmonary rehabilitation exercises, such as, cough exercise, deep breathing, and abdominal muscle strengthening exercises were performed by both groups. Pulmonary function parameters, peak cough flow (PCF), and oxygen saturation were measured and the 6-minute walk test and Korean version of the modified Barthel index (K-MBI) scores were applied. RESULTS: Significant intergroup differences were observed for forced expiratory volume in one second (FEV1) and forced vital capacity (FVC) results after intervention (p<.05), and for 6 minute walk test and PCF results after intervention and at 2-week follow-up visits (p<.05). Post hoc test results showed significant differences in K-MBI, 6-minute walk test, and FEV1 in the experimental group after intervention (p<.05). FVC values were significantly higher after intervention and at 2-week follow-up visits versus pre-intervention (p<.05). PCF values were also significantly higher after intervention and remained significantly higher at 2-week follow-up visits (p<.05). CONCLUSION: Air stacking exercise in elderly adults improves lung capacity and exercise tolerance.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1775-1783
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• 2003

The method of flame hole dynamics is demonstrated as a mean to simulate turbulent flame extinction. The core of the flame hole dynamics involves derivation of a random walk mapping for the flame holes, created by local quenching, between burning and quenched states provided that the dynamic characteristics of flame edges is known. Then, the random walk mapping is projected to a background turbulent field. The numerical simulations are carried out with further simplifications of flame string and unconditioned scalar dissipation rate. The simulation results show how the chance of partial quenching is influenced by the crossover scalar dissipation rate. Finally, a list of improvements, necessary to achieve more realistic turbulent flame quenching simulation, are discussed.

• 한국연소학회지
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• 제8권3호
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• pp.15-23
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• 2003

Partial quenching structure of turbulent diffusion flames in a turbulent mixing layer is investigated by the method of flame hole dynamics in order to develop a prediction model for turbulent flame lift off. The essence of flame hole dynamics is derivation of the random walk mapping, from the flame-edge theory, which governs expansion or contraction of flame holes initially created by local quenching events. The numerical simulation for flame hole dynamics is carried out in two stages. First, a direct numerical simulation is performed for constant-density fuel-air channel mixing layer to obtain the turbulent flow and mixing fields, from which a time series of two dimensional scalar dissipation rate array is extracted at a fixed virtual flame surface horizontally extending from the end of split plate to the downstream. Then, the Lagrangian simulation of the flame hole random walk mapping projected to the scalar dissipation rate array yields temporally evolving turbulent extinction process and its statistics on partial quenching characteristics. The statistical results exhibit that the chance of partial quenching is strongly influenced by the crossover scalar dissipation rate while almost unaffected by the iteration number of the mapping that can be regarded as a flame-edge speed.

• 한국대기환경학회지
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• 제18권2호
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• pp.67-83
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• 2002

The coupled model (SMART) of dynamic meteorology model and particle dispersion model was developed. The numerical experiment on the relationship between change of land use and diffusion behavior in complex terrain was carried out using this model. It tried to investigate the change of particle diffusion behavior and local weather under the condition in which land-land breeze and sea breeze and mountain breeze intermingled. The numerical experiment results are as follows; 1) The more complicated local circulation field of the interaction of sea breeze, mountain breeze and Land -land breeze is formed. Then, the region circulation in which the urbanization is specific by location of the region is strengthened and is weakened. 2) Though in the region with dominant sea breeze, Land-land breeze does not appear directly, the progress of the sea wind to the inland is affected. 3) In the prediction of the air diffusion, emission high quality and accurate information of the emission site are important. That is to say, the dispersion predicting result which emission high quality and small error of the site perfectly vary for Land - land breeze in the effect may be brought about.

• 한국연소학회:학술대회논문집
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• 한국연소학회 1999년도 제19회 KOSCO SYMPOSIUM 논문집
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• pp.139-148
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• 1999

In oder to analyze the effect of operating conditions on pulverized coal combustion, a numerical study is conducted at the pulverized coal combustor. Eulerian approach is used for the gas phase, whereas Lagrangian approach is used for the particle phase. Turbulence is modeled using standard ${\kappa}-{\varepsilon}$ model. The description of species transport and combustion chemistry is based on the mixture fraction/probability density function(PDF) approach. Radiation is modeled using P-l model. The turbulent dispersion of particles is modeled using discrete random walk model. Swirl number of secondary air affects the flame front, particle residence time and carbon conversion. Primary/Secondary air mass ratio also affects the flame front but little affects the carbon conversion and particle residence time. Air-fuel ratio only affects the flame front due to lack of oxygen. Radiation strongly affects the flame front and gas temperature distribution because pulverized coal flame of high temperature is considered.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.290-291
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• 2007

Barometers can provide height information steady but its accuracy becomes poor as the air data varies due to the vehicles's moving or time's elapsing. In order to keep the accuracy in spite of the air data changes, we propose a filter for the identification of baro-errors. The baro-errors mainly consist of bias and scale factor errors which gradually varies as the air data varies. With GPS height measurements, the scale factor and bias estimator is designed by applying the interacting multiple model (IMM) filtering technique to the baro-error random walk model. The resultant estimates are used to compensate current baro-measurement to supply accurate measurements steadily.

• 한국게임학회 논문지
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• 제7권4호
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• pp.71-80
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• 2007

이 논문에서는 다양한 종류의 응용프로그램에 바로 적용할 수 있는 GPU 레이캐스팅 기법에 기반 하는 효율적인 실시간 지형 렌더링 방법을 제안한다. 여기에서 제안되는 방법은 별도의 메시 구조 없이 이미지(높이맵) 만으로 지형을 표현하는 것이 가능하며, 공중과 지상에서의 활동이 자유로워 가상현실은 물론 게임에 바로 사용할 수 있다. 메시에 기반 하지 않으므로 별도의 LOD조절이 필요하지 않으며, 높이맵과 컬러맵의 해상도에 따라 기하표현의 정밀도와 화질이 결정된다 더욱이 GPU-only 기법은 CPU가 더 일반적인 작업 에 집중할 수 있도록 함으로써 시스템의 전반적인 성능을 향상시킨다. 지금까지 높이맵을 사용한 많은 지형렌더링 관련 연구는 대부분이 상당부분 CPU 의존하거나 그 응용범위를 비행 시뮬레이션 등에 제한하여 왔다. 우리는 기존의 변위매핑 기법을 개선하여 지형 렌더링에 적용함으로써 기존 폴리곤기반 기법에서 나타나던 크랙이나 팝핑 등의 문제점들을 근본적으로 배제하였다. 이 논문이 기여하는 바는 지표면 탐색(walk-through)시의 임의 시선에 대한 효율적 처리와 높이장(height field)의 곡면 재구성을 통한 화질의 획기적인 개선이다. 우리는 재구성된 곡면과 시선의 교차점을 계산하는 효율적인 방법을 제시한다. 우리가 제안하고 있는 알고리듬은100% GPU에서 구현되었으며, $256{\times}226{\sim}4096{\times}4096$까지의 다양한 해상도에서 실험한 결과 초당 수십${\sim}$수백 프레임을 얻었다.

• 환경위생공학
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• 제12권3호
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• pp.41-49
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• 1997

In South Korea since 1970s the rapid development of economic growth has brought about "Urbanization" in many areas and also raised the level of people's life in many ways. At the same time, however, the industrialization and overpopulated districts in many areas have caused the problems of air pollution in necessary. Among those air pollution, in particular, in large cities has become more serious since 1990s than before. Air pollution, like TSP and SO$_{x}$ caused by heating, generation of electric power and industrialization in 1980s, showed as that of the type of an underdeveloping country and was not hazardous enough to people in the least. Unfortunately, in 1990s NO$_{x}$, CO and O$_{3}$ caused by the soaring numbers of many types of cars have exhausted air pollutant more hazardous as the same air pollution type of many developed countries. So, the purpose of this study would be to analyze the changes of concentration of NO$_{x}$ and CO on environmental air by traffic volume and from the side drive way to the degree of distance in Sungnam City, and recognize the citizens' consciousness to air pollution and suggest the best walking point in part, and plan to design the reasonable use of cars and finally make the air quality improve toward the better-ment in part. From the research result we can know that people walking in the street would be protected from the hazardous air pollutant caused by the cats if they walk apart from a drive way as far as they can in the street. Accordingly, it might, to minimize th affect of air pollution, be thought to be desirable that the consideration of in introduction the system that the vehicle using the diesel engine motor should use the centered-lane aparted from road. Another to be desirable is that along side the road, the trees inhaled the pollution should be planted.