• Interaction and multiscale mechanics
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• v.5 no.2
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• pp.105-114
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• 2012

The study of rigid roadway pavement under dynamic traffic loads with variable velocity is investigated in this paper. Rigid roadway pavement is modeled as a rectangular damped orthotropic plate supported by elastic Pasternak foundation. The boundary supports of the plate are the steel dowels and tie bars which provide elastic vertical support and rotational restraint. The natural frequencies of the system and the mode shapes are solved using two transcendental equations, obtained from the solution of two auxiliary Levy's type problems, known as the Modified Bolotin Method. The dynamic moving traffic load is expressed as a concentrated load of harmonically varying magnitude, moving straight along the plate with a variable velocity. The dynamic response of the plate is obtained on the basis of orthogonality properties of eigenfunctions. Numerical example results show that the velocity and the angular frequency of the loads affected the maximum dynamic deflection of the rigid roadway pavement. It is also shown that a critical speed of the load exists. If the moving traffic load travels at critical speed, the rectangular plate becomes infinite in amplitude.

• Advances in robotics research
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• v.1 no.1
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• Journal of Advanced Marine Engineering and Technology
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• v.10 no.3
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• pp.1-10
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• 1986

This paper describes a new, effective method developed at the National Research Council Canada for rolling element bearing incipient failure detection. This method can detect not only outer race damage, previously published, but also inner race damage with a 100% detection rate based on a sample size of 32. The prediction of the exact angular location of the damage spot along the raceway is illustrated and experimental confirmation is presented. For the first time, a statically measurable parameter for inner and outer race damage is introduced as a means of verifying other techniques which do not offer absolute proof, but resort only to "overwhelming evidence". A brief comparison with other methods such as Shock Pulse Method, Kurtosis Analysis and High Frequency Resonance Technique is presented. A computerized automatic monitoring system utilizing the new method is described and experimental results are presented.presented.

• The Journal of Advanced Prosthodontics
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• v.2 no.4
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• pp.148-153
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• 2010

PURPOSE. The aim of this study was to investigate a comparison of implant bone bed preparation with Er,Cr:YSGG laser and conventional drills on the relationship between implant stability quotient (ISQ) values and implant insertion variables. MATERIALS AND METHODS. Forty implants were inserted into two different types of pig rib bone. One group was prepared with conventional drills and a total of 20 implants were inserted into type I and type II bone. The other group was prepared with a Er,Cr:YSGG laser and a total of 20 implants were inserted into type I and type II bone. ISQ, maximum insertion torque, angular momentum, and insertion torque energy values were measured. RESULTS. The mean values for variables were significantly higher in type I bone than in type II bone (P < .01). In type I bone, the ISQ values in the drill group were significantly higher than in the laser group (P < .05). In type II bone, the ISQ values in the laser group were significantly higher than in the drill group (P < .01). In both type I and type II bone, the maximum insertion torque, total energy, and total angular momentum values between the drill and laser groups did not differ significantly (P ${\geq}$ .05). The ISQ values were correlated with maximum insertion torque (P < .01, r = .731), total energy (P < .01, r = .696), and angular momentum (P < .01, r = .696). CONCLUSION. Within the limitations of this study, the effects of bone bed preparation with Er,Cr:YSGG laser on the relationship between implant stability quotient (ISQ) values and implant insertion variables were comparable to those of drilling.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Journal of Korean Academy of Nursing
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• v.26 no.3
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• pp.556-575
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• 1996

In an attempt to investigate the effect of a muscle strengthening exercise program on muscle strength, pain, depression, self-efficacy and quality of life of patients with knee osteoarthritis, a pre-experiment, one group pre-test & post-test design, was planned. Muscle strengthening exercise was carried out from May 22 through August 14, 1995 at isokinetic exercise room in rehabilitation department of University Hospital in Taejon. The subjects were seven female clients conveniently sampled from University Hospital located in Taejon, between 39 and 61 years of age, who had a osteoarthritis in knee. Muscle strengthening exercise program was composed of three sessions per week, one isokinetic exercise at angular velocity of 60° and 180° with Cybex isokinetic dynamometer and two resistance home exercise sessions with elastic band. Data were analyzed with frequency, percentage of change, Friedman test, Duncan test using SAS program. Results were obtained as follows : 1) Flexion and extension muscle strength at angular velocity of 60° and 180° were increased after 12weeks' exercise than those of before experiment. But exept flexion muscle strength at angular velocity of 180°(F=3.34, P=0.0261), there was no statistically significant difference among muscle strengths, which is measured every 3 weeks. 2) Pain was decreased after 6weeks' exercise than that of before experiment, and after 12weeks' exercise than that of 6weeks' exercise. There was statistically significant difference (F=4.28, P=0.0396). 3) Depression was increased after 6weeks' exercise than that of before experiment, and after 12weeks' execise than that of 6weeks' exercise. There was no statistically significant difference between before experiment and after 6weeks' exercise. But, there was statistically significant difference between after 6weeks' exercise and 12weeks' exercise(F=9.38, P=0.0035). 4) Self-efficacy was decreased after 6weeks' exercise than that of before exercise. But, it was increased after 12weeks' exercise than that of be-fore exercise and after 6weeks' exercise. But there was no statistically significant difference (F=1.46, P=0.2706). 5) Quality of life was increased after 6weeks' exercise than that of before exercise, and after 6weeks' exercise than that of 12weeks' exercise. But there was no statistically significant differ once (F=1.06, P=0.3816). Thus, the significant of muscle strengthening exercise for the improvement of muscle strength, pain, depression, is verified. But, this study was a pre-experiment with small size subjects. So, con-trolled experimental study is necessary to determine the effect of this muscle strengthening exercise program on muscle strength, pain, depression, self-efficacy, and quality of life of patients with knee osteoarthritis.

• Korean Journal of Applied Biomechanics
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• v.26 no.4
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• pp.343-351
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• 2016

Objective: The purpose of this study was to help improve game performance and provide preliminary data to enhance the efficiency of the kick and stability of the support foot by comparing the kinematic characteristics of the repeated side kick (geodeupyeopchagi) in poomsaeKoryo between expert and non-expert groups. Method: The subjects were divided into 2 groups according to proficiency in Taekwondo, an expert group and a non-expert group (n = 7 in each group), to observe the repeated side-kick technique. Four video cameras were set at a speed of 60 frames/sec and exposure time of 1/500 sec to measure the kinematic factors of the 2 groups. The Kwon3D XPprogramas used to collect and analyze three-dimensional spatial coordinates. Ground reaction force data were obtained through a force plate with a 1.200-Hz frequency. An independent samplesttest was performed, and statistical significance was defined as .05. The SPSS 18.0 software was used to calculate the mean and standard deviation of the kinematic factors and to identify the difference between the experts and non-experts. Results: The angular displacement of the hip joint in both the expert and non-expert groups showed statistical significance on E1 and E4 of the left support foot and E5 of the right foot (p<.05). The angle displacement of the knee joint in both groups showed statistical significance on E4 of the left support foot, and E1 and E2 of the right foot (p<.05). The angular velocity of the lower leg in both groups showed no statistical significance on the left support foot but showed statistical significance on E2 and E6 of the right foot (p<.05). The angular velocity of the foot in both groups showed no statistical significance on the left support foot but showed statistical significance on E2 of the right foot (p<.05). The vertical ground reaction force in both groups showed statistical significance on E2 (p<.05). The center of pressure in all directions in both groups showed statistical significance (p<.5). Conclusion: While performing the repeated side kick (geodeupyeopchagi), the experts maintainedconsistency and stability of the angle of the support leg while the kick foot moved high and fast. On the other hand, the angle of the support foot of non-experts appeared inconsistent, and the kick foot was raised, relying on the support leg, resulting in unstable and inaccurate movement.

• Journal of Biomedical Engineering Research
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• v.34 no.3
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• pp.129-134
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• 2013

The essential tremor is an involuntary oscillatory movement of body parts. Conventional treatments of essential tremor have little effects in some patients and also leads to significant side effects. Alternative to these treatments, sensory stimulation may have beneficial effects on the essential tremor. The purpose of this study was to analyze an effect of sensory stimulation on essential tremor. Ten patients with essential tremor ($67.4{\pm}8.82$ yrs, 5 men and 5 women) participated in this study. Three-axis gyro sensors were attached on index finger, hand and forearm of patients. Task of 'arms outstretched forward' was performed with and without sensory stimulation. Vectorsum of three dimensional angular velocities (pitch, roll, yaw) was calculated. Outcome measures included root-meansquare (RMS) mean of the vector-sum amplitude, total power, peak power and peak frequency. RMS amplitude, total power and peak power were reduced by sensory stimulation (p < 0.05). Peak frequency was not affected by sensory stimulation. The results indicate that the sensory stimulation is useful to suppress the essential tremor.

• Proceedings of the KIEE Conference
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• 1996.07c
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• pp.1968-1970
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• 1996

We investigate a surface-micromachined polysilicon microgyroscope, whose resonant frequencies are electrostatically-tunable after fabrication. The microgyroscope with two oscillation nudes has been designed so that the resonant frequency in the sensing mode is higher than that in the actuating mode. The microgyroscope has been fabricated by a 4-mask surface-micrormachining process, including the deep RIE of a $6{\mu}m$-thick LPCVD polycrystalline silicon layer. The resonant frequency in the sensing mode has been lowered to that in actuating mode through the adjustment of an inter-plate bias voltage; thereby achieving a frequency matching at 5.8kHz under the bias voltage of 2V in a reduced pressure of 0.1torr. For an input angular rate of $50^{\circ}/sec$, an output signal of 20mV has been measured from the tuned microgyroscope under an AC drive voltage of 2V with a DC bias voltage of 3V.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.9C
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• pp.729-734
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• 2010

In the initial stage of the communications between a base station and a satellite transponder, the base station transmits the frequency-sweeping un-modulated up-link carrier within a certain frequency range to acquire the doppler frequency shift and signal power between the base station and the satellite in orbital flight. The satellite transponder acquires and tracks the carrier in order to initialize the communication. To control such initialization process, the satellite receiver should analyze the input carrier signal in various ways. This paper presents an SNR estimation algorithm to control the initialization process. The proposed algorithm converts the input signal into the baseband polar coordinate representation and estimates the SNR via the statistics of the angular signal components as well as the status parameters to control the receiver. The Monte-Carlo simulations shows the validity of the estimation proposed.