• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.549-551
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• 1998

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.

• 한국정밀공학회지
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• 제22권6호
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.165-169
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• 2007

The purpose of this study is to investigate the effect of rotating unbalance mass on vibration characteristics of the front axle. The power-train systemof the vehicle is composed of several rotating parts. These component parts should be properly balanced by the balancing machine, however,sometimes these have the unbalance mass which causes the critical vibration in the vehicle. Therefore, this study suggests the vibration improvement method based on reducing the unbalance mass through changing the assembly type between the companion flange and the constant velocity joints. In addition, the way to increase the inertia moment of the companion flange was proposed.

• 한국정밀공학회지
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• 제19권7호
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• pp.43-50
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• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• 지구물리와물리탐사
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• 제2권4호
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• pp.209-214
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• 1999

트렌치를 이용하여 다성분 탄성파 탐사에 필요한 횡파를 발생시키는 현장 실험을 2개소에서 실시하였다. 실험결과 1개소에서는 트렌치 연장 방향에 직각 방향으로 양호하게 분극된 횡파를 얻을 수 있었으며 다른 한 곳에서는 횡파 생성에 실패하였다. 시추공 내에 설치한 3성분 지오폰 기록을 필터링, 에너지 balancing, 수평 및 수직 성분 자료의 가$\cdot$감산 등 전처리 과정을 거쳐 P파와 S파를 분리하였고, S파의 직접파 이벤트를 분석하여 매질의 이방성을 관측할 수 있었다. 분석결과에 의하면 $SH_{max}$ 방향이 남북 방향이었으며 이는 시추코어에서 관찰된 파쇄대 절리 방향과 같다는 사실을 확인하였다.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• 대한정형도수물리치료학회지
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• 제24권2호
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• pp.9-15
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• 2018

Background: The purpose of this study was to compare the effects of mulligan taping on knee joints on balance ability and strength with repeated measurements. Methods: Seventeen patients were randomly assigned to the 8 taping group and the 9 repeat measurement group. To measure the balance ability, fall risk assessment equipment was used, and the measurement of the muscle strength was performed by using the equipment of the same company. Results: Balanced abilities and muscle strength were increased in groups with taping only after Mulligan taping. Conclusions: The application of mulligan taping did not have the effect of stimulating the inherent receptive sensation. However, active grouping of the knee joint taping only, and muscle strength and muscle strength were increased. It increases the stability and activity of the muscles that operate on the balance of the active knee joint and muscle strength, thereby enhancing exercise prevention and prevention performance and exercise performance.

• Computers and Concrete
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• 제33권4호
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• pp.385-398
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• 2024

As concrete dominates the construction industry, alternatives to traditionally used steel reinforcement are being sought. This study explored the suitability of carbon fiber-reinforced polymer (CFRP) as a substitute within rigid frames, focusing on its impact on section ductility and overall structural durability against seismic events. However, current design guidelines address quasi-static loads, leaving a gap for dynamic or extreme circumstances. Our approach included multiscale simulations, parametric study, and energy dissipation analyses, drawing upon a unique adaptation of modified compression field theory. In our efforts to optimize macro and microparameters to improve yield strength, manage brittleness, and govern failure modes, we also recognized the potential of CFRP's high corrosion resistance. This characteristic of CFRP could significantly reduce the frequency of required repairs, thereby contributing to enhanced durability of the structures. The research reveals that CFRP's durability and seismic resistance are attributed to plastic joints within compressed fibers. Notably, CFRP can impart ductility to structural designs, effectively balancing its inherent brittleness, particularly when integrated with quasi-brittle materials. This research challenges the notion that designing bendable components with carbon fiber reinforcement is impractical. It shows that creating ductile bending components with CFRP in concrete is feasible despite the material's brittleness. This funding overturns conventional assumptions and opens new avenues for using CFRP in structural applications where ductility and resilience are crucial.

• 한국콘텐츠학회논문지
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• 제9권6호
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• pp.207-215
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• 2009

만성 요통 환자들에 대한 다양한 치료적 중재 방법이 있다. 그러나 대부분의 치료들이 통증에 대한 치료들이다. 만성 요통 환자들은 요추관절들의 구조적 고착들을 가지고 있다, 이러한 구조적 고착들은 관절가동범위을 저하시키고 나아가 동적 균형능력의 저하를 발생시킨다. 동적 균형능력의 저하는 손상을 가중시키고 위험상황에서의 대처능력을 감소시킨다. 따라서 본 연구에서는 만성요통환자들에 대한 즉각적인 동적 균형능력의 회복을 위하여 메이트란드의 도수치료의 방법들을 이용하였다. 만성 요통 환자 64명을 대상으로 메이트란드의 도수치료를 적용한 실험군 32명, 이학적 도구(온열팩, 저주파치료기, 초음파)를 사용한 대조군 32명을 대상으로 하였다. 각 군의 치료 전, 후의 동적 균형능력을 비교하기위하여 신뢰도가 높은 스타 익스커션 밸런스 테스트(0.81-0.96)를 이용하였다. 실험군에서 치료 후 동적 균형능력이 전방, 오른쪽, 왼쪽, 후방모두에서 증가하였고 대조군에서는 변화가 없었다. 따라서 메이트란드의 도수치료가 만성요통환자들의 요추 관절을 유연하게 해서 즉각적인 동적 균형능력을 증가시키는데 영향을 주었다고 생각된다.