• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.115-118
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• 1995

This paper present an attitude control using quaternions as feedback attitude errors. The Euler's eigenaxis rotation provides the shortest angular path between two attitudes. This eigenaxis rotation can be achieved by using quaternions since quaternions are related with the eigenaxis. The suggested controller uses error quaternions and body angular rates and generates a decoupling control torque that counteracts the natural gyroscopic coupling torque. The momentum dumping strategy using the earth magnetic field is also applied in this paper to unload the angular momentum of the reaction wheels used in the attitude control.

• Journal of Mechanical Science and Technology
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• v.19 no.7
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• pp.1503-1516
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• 2005

Mean flow and turbulence properties of developing turbulent flows in a 90 degree square bend with span-wise rotation are measured by a hot-wire anemometer. A slanted wire is rotated into 6 orientations and the voltage outputs from them are combined to obtain the mean velocity and the Reynolds stress components. Combined effects of the centrifugal and Coriolis forces due to the curvature and the rotation of the bend on the mean motion and turbulence structures are investigated experimentally. Results show that the two body forces can either enhance or counteract each other depending on the flow direction in the bend.

• International Journal of Internet, Broadcasting and Communication
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• v.9 no.4
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• pp.8-13
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• 2017

Movement technique is comprised of the movement status of the circulation differentiation rate (CDR) and rotation differentiation rate (RDR) on the shiver movement form. Condition of the differentiation rate by the shiver movement form is to be modified the teetering movement system. As to fix the movement of signal on the material of body, we compared a shiver value of the circulation differentiation rate on the circulation state. The concept of rotation differentiation rate was identified the reference of rotation differentiation signal and rotation differentiation signal by the rotation state. For detecting a alteration of the CDR-RDR of the maximum and average in terms of the movement form, and shiver movement value that was a shiver value of the top alteration of the Top-ф$_{MAX-AVG}$ with $12.80{\pm}1.27units$, that was a shiver value of the peripheral alteration of the Per-ф$_{MAX-AVG}$ with $4.38{\pm}1.15units$, that was a shiver value of the limbus alteration of the Lim-ф$_{MAX-AVG}$ with $1.65{\pm}0.25units$, that was a shiver value of the center alteration of the Cen-ф$_{MAX-AVG}$ with $0.25{\pm}0.01units$. The teetering movement will be to assess at the ability of the movement form for the control degree of differentiation rate on the CDR-RDR that was shown the circulation and rotation form by the differentiation rate system. Teetering differentiation system was modified of a form by the special movement and was included a shiver data of teetering movement rate.

• Journal of Korea Multimedia Society
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• v.15 no.10
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• pp.1257-1263
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• 2012

An implementation of animation module using the 3D body data scanned by laser scanner is reported in this paper. Characteristic points of the skeleton in human body were picked up as pivot point for 3D rotation. The body data set wes reconstructed as objects built in hierarchical tree structure, which is based on skeleton model. In order to implement the 3D animation of the laser scanned body data, the vertexes of the objects were connected as skeleton structure and animated to follow dynamic patterns inputted by user.

• Journal of Astronomy and Space Sciences
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• v.15 no.1
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• pp.209-220
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• 1998

The stability problem of steady motion of a rigid body with multi-elastic appendages and multi-liquid-filled cavities, in the presence of no external forces or torque, is considered in this paper. The flexible appendages are modeled as the clamped -free-free-free rectangular plates, or/and as the discrete mass- spring sub-system. The motion of liquid in every single ellipsoidal cavity is modeled as the uniform vortex motion with a finite number of degrees of freedom. Assuming that stationary holonomic constraints imposed on the body allow its rotation about a spatially fixed axis, the equation of motion for such a systematic configuration can be very complex. It consists of a set of ordinary differential equations for the motion of the rigid body, the uniform rotation of the contained liquids, the motion of discrete elastic parts, and a set of partial differential equations for the elastic appendages supplemented by appropriate initial and boundary conditions. In addition, for such a hybrid system, under suitable assumptions, their equations of motion have four types of first integrals, i.e., energy and area, Helmholtz' constancy of liquid - vortexes, and the constant of the Poisson equation of motion. Chetaev's effective method for constructing Liapunov functions in the form of a set of first integrals of the equations of the perturbed motion is employed to investigate the sufficient stability conditions of steady motions of the complete system in the sense of Liapunov, i.e., with respect to the variables determining the motion of the solid body and to some quantities which define integrally the motion of flexible appendages. These sufficient conditions take into account the vortexes of the contained liquids, the vibration of the flexible components, and coupling among the liquid-elasticity solid.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.259-265
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• 2009

In the traditional percussion locks of small arms, a firing pin is struck by a hammer rotating on a single center of rotation, which makes the percussion mechanism simple and reliable. In order to strike the firing pin by the hammer, however, the firing pin should be located within the radius of rotation of the hammer. As the distance between the striking point of the firing pin and the center of rotation of the hammer becomes longer, the radius of rotation of the hammer should also be increased, which results in the increase of the volume and weight of the small arms because the hammer needs the more space for its operation inside of the small arms. In this paper, a link type percussion lock was newly proposed in order to overcome the limitation of designing small arms when using traditional percussion locks, as mentioned above. The link type percussion lock was modeled by using multi-body dynamics software and designed to satisfy the requirements such as striking force level of the hammer exerting on the firing pin enough to detonate the percussion cap of ammunitions and the safety on the accidental drop. It was applied to the newly developed dual-barrel weapon system, in which the weight and overall length are important design factors, and verified by durability test and drop test on the ground.

• Journal of The Korean Society of Integrative Medicine
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• v.7 no.3
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• pp.141-148
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• 2019

Purpose: The present study investigated the effects of 12-week aquatic exercise training on isokinetic muscle function of the shoulder in adolescents with cerebral palsy. Methods: The study included four male and four female adolescents with cerebral palsy. Isokinetic muscle function was measured at an angular velocity of $60^{\circ}/s$, using Biodex System VI Pro. The peak torques of internal rotation and external rotation were measured before and after training. Aquatic exercise training was performed once a day for 120 min, 4 times a week for 12 weeks. Results: The peak torque of external rotation according to body weight and mean power of internal rotation were significantly higher after training (p < 0.05). Conclusion: Our findings suggest that 12-week aquatic training for adolescents with cerebral palsy can improve isokinetic muscle function of the shoulder. Future studies should analyze the changes in isokinetic muscle function of the shoulder in more detail using various aquatic exercise programs to investigate their effects on individuals with cerebral palsy.

• Journal of Korean Physical Therapy Science
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• v.30 no.3
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• pp.41-48
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• 2023

Background: This study examined the effects of the bridge exercise with trunk rotation on the thickness of body trunk muscles, including external oblique, internal oblique, and transverse abdominis in healthy male adults. Design: Randomized controlled trial Methods: Twenty-four men were evenly divided into a trunk rotation bridge exercise group and a basic bridge exercise group by drawing lots. The two groups performed the respective exercise for thirty minutes, three times a week for six weeks. repeated measure analysis of variance (ANOVA) was used after distinguishing between three different time points before the experiment, three weeks after the experiment, and six weeks after the experiment. The significance level was set at 0.05. In case an interaction between time and group existed, the paired t-test was used to examine the within-group difference. The independent-sample t-test was used to check the between-group difference. The significance level was set at 0.05. Results: All the men showed a significant change over time in their external oblique, internal oblique, and transverse abdominis muscles. An interaction between time and group was also found (p<0.05). Conclusion: The bridge exercise with trunk rotation causes a meaningful difference in the thickness of external oblique, internal oblique, and transverse abdominis muscles. Therefore, this study proposes the use of this exercise for lower-back stabilization in future research and clinical settings.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.94.5-94
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• 2001

Unrestricted measurement method of three-dimensional walking distance utilizing body acceleration and terrestrial magnetism is discussed. The three-dimensional walking distance is derived by the integration of the three dimensional acceleration of foot during swing phase. Since the sensor system attached on the foot rotates during swing phase, the acceleration data measured on the foot include acceleration of gravity which causes inaccurate calculation of the velocity and the distance. Three gyros are used to compensate the rotation of the sensor system. Moreover, one geomagnetic sensor is employed to derive the heading direction of the subject Healthy volunteers performed ...

• Clinics in Shoulder and Elbow
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• v.13 no.1
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• pp.53-57
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• 2010

Purpose: The goal of this study was to evaluate differences in strength deficits between (i) patients with stage 1 or 2 impingement syndrome and (ii) patients with rotator cuff tears. Materials and Methods: We enrolled 43 patients with stage 1 or 2 impingement syndrome (group 1) and 21 patients with rotator cuff tears (group 2). The isokinetic strength of both groups was evaluated at $60^{\circ}/sec$ for external rotation, internal rotation, adduction and abduction. We measured the peak torque, total work, average power of bilateral sides, peak torque relationship to body weight, and the ratio between unilateral agonist and antagonist. Results: The isokinetic strength deficits assessed in ratio of peak torque to body weight for group 1 and group 2 respectively were; $28.48{\pm}23.76%$ and $29.12{\pm}32.81%$ for abduction (p=0.929), $7.20{\pm}13.98%$ and $18.94{\pm}19.52%$; for adduction (p=0.021), $16.88{\pm}13.76%$ and $25.80{\pm}24.07%$; for external rotation (p=0.221), and $14.1{\pm}25.67%$ and $29.02{\pm}35.06%$ for internal rotation (p=0.059). For average power and total work, group 2 showed a significantly greater deficit for adduction and internal rotation than group 1. Conclusion: Those with rotator cuff tears have more isokinetic muscle strength deficits than those with stage 1 or 2 impingement syndrome. Progression from stage 1 and 2 impingement syndrome to stage 3 may result in greatest changes in strength deficits for internal rotation and adduction.