• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.427-435
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• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.361-380
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• 2002

The purposes of this study were to a analysis of friction relation between tennis outsole and tennis playing surfaces. Tennis footwear is an important component of tennis game equipment. It can support or damage players performance and comfort. Most importantly athletic shoes protect the foot preventing abrasions and injuries. Footwear stability in court sports like tennis is incredibly important since it is estimated that as many as 45% of all lower extremity injuries occur in the foot and ankle. The friction force is the force exerted by a surface as an object moves across it or makes an effort to move across it. The friction force opposes the motion of the object. Friction results when two surfaces are pressed together closely, causing attractive intermolecular forces between the molecules of the two different surfaces. The outsole provides traction and reduces wear on the midsole. Today's outsoles address sport specific movements (running versus pivoting) and playing surface types. Different areas of the outsole are designed for the distinct frictional needs of specific movements. Traction created by the friction between the outsole and the surface allows the shoe to grip the surface. As surfaces, conditions and player motion change, traction may need to vary. An athletic shoe needs to grip well when running but not when pivoting. Laboratory tests have demonstrated force reductions compared to impact on concrete. There is a correlation between pain, injury and surface hardness. These are a variety of traction patterns on the soles of athletic shoes. Traction like any other shoe characteristic must be commensurate and balanced with the sport. The equal and opposite force does not necessarily travel back up your leg. The surface itself absorbs a portion of the force converting it to other forms of energy. Subsequently, tennis court surfaces are rated not only for pace but also for the percentage of force reduction.

• Journal of Energy Engineering
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• v.8 no.2
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• pp.224-232
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• 1999

Latent heat storage system using micro-encapsuled phase change material is effective method for floor heating of house and building. The temperature profile in capsule block and flow rate of hot water are important parameters for the development of heat storage system. In the present study, a mathematical model based on 3-D, non-steady state, Navier-Stokes equations, scalar conservation equations and turbulence model ($\kappa$-$\varepsilon$), is used to predict the temperature profiles in capsule and the velocity vectors in hot water pipe. The multi-block grids and fine grids embedding are used to join the circle in hot water pipe and square in capsule block. The phase change process of the capsule is quite complex not only because the size of phase change material is very small, but also because phase change material is mixed with the cement to form thermal storage block. In calculation, it's assumed that the phenomena of phase change is limited only the thermal properties of phase change material and the change of boundary is not happened in capsule. The purpose of this study is to calculate the temperature profiles in capsule block and velocity vectors in hot water pipe using the numerical calculation. Two kinds of thermal boundary condition were considered, the first (case 1) is the adiabatic condition for the both outside surfaces of the wall, the second (case 2) is the case in which one surface is natural convection with atmosphere and another surface is adaibatic. Calculation results are shown that the temperature profile in capsule block for case 1 is higher than that for case 2 due to less heat loss in adaibatic surface. Specially, in the domain of near Y=0, the difference of temperature is greater in case 1 than in case 2. The detailed experimental data of capsule block on the temperature profile and the thermal properties such as specific heat and coefficient of heat transfer with the various temperature are required to predict more exact phenomena of heat transfer.

• Journal of the Korean Wood Science and Technology
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• v.38 no.6
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• pp.518-525
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• 2010

Infrared (IR) thermography which is the technique for detecting invisible infrared light emitted by objects due to their surface thermal condition and for producing an image of the light has been applied in various field without damaging the objects. It also could be used indirectly to examine the inside of an object. In this study, insulation property of wooden house in Korea Forest Research Institute (KFRI) was evaluated with according to "Thermal performance of building - Quantitative detection of thermal irregularities in building envelopes - infrared method (KS F 2829)". This method uses "Temperature Difference Ratio (TDR)" between outdoor wall surface and indoor wall surface of wooden building for evaluating its thermal performance. The thermal performance of a room on the 2nd floor of the wooden house was focused in this study and IR thermography on the indoor and outdoor surface of the house was captured by IR camera. Heat loss from the corner and the window of the wooden house as well as wall of the house was quantitatively evaluated and the invisible heat loss in the wall was detected. It is expected that the results from this study could contribute to improve the wooden building energy efficiency.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.437-447
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• 2011

In this study, the lower limbs joints were analyzed for features based on the biomechanical characteristics of landing techniques according to height and landing on the ground type (flats and downhill). In order to achieve the objectives of the study, changes were analyzed in detail contents such as the height and form of the first landing on the ground at different angles of joints, torso and legs, torso and legs of the difference in the range of angular motion of the joint, the maximum angular difference between joints, the lower limbs joints difference between the maximum moment and the difference between COM changes. The subjects in this study do not last six months did not experience joint injuries 10 males in 20 aged were tested. Experimental tools to analyze were the recording and video equipment. Samsung's SCH-650A model camera was used six units, and the 2 GRF-based AMTI were used BP400800 model. 6-unit-camera synchronized with LED (photo cell) and Line Lock system were used. the output from the camera and the ground reaction force based on the data to synchronize A/D Syc. box was used. To calculate the coordinates of three-dimensional space, $1m{\times}3m{\times}2m$ (X, Y, Z axis) to the size of the control points attached to the framework of 36 markers were used, and 29 where the body was taken by attaching a marker to the surface. Two kinds of land condition, 40cm and 60cm in height, and ground conditions in the form of two kinds of flat and downhill slopes ($10^{\circ}$) of the landing operation was performed and each subject's 3 mean two-way RM ANOVA in SPSS 18.0 was used and this time, all the significant level was set at a=.05. Consequently, analyzing the landing technique as land form and land on the ground, the changes of external environmental factors, and the lower limbs joints' function in the evaluation were significantly different from the slopes. Landing of the slop plane were more load on the joints than landing of plane. Especially, knee extensor moment compared to the two kinds of landing, slopes plane were approximately two times higher than flat plane, and it was statistical significance. Most of all not so much range of motion and angular velocity of the shock to reduce stress was important. In the further research, front landing as well as various direction of motion of kinetic, kinetic factors and EMG variables on lower limbs joints of the study in terms of injury-prevention-approach is going to be needed.

• Journal of Physiology & Pathology in Korean Medicine
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• v.16 no.6
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• pp.1211-1216
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• 2002

To evaluate whole-body vibration(WBV) exposure and fatigue-decreased proficiency(FDP) boundary in passenger car driver, several roads in Busan were divided into 3 types by the condition of road surface; Road 1 was partially damaged, Road 2 was normal without damage, and Road 3 was better than Road 2. The results were following: The highest passenger driver's exposures to whole-body vibration acceleration and fatigue-decreased proficiency boundary at 40km/h were 0.108m/s² and about 2099 minutes in Road 2 for xh axis, 0.134m/s² and about 1585 minutes in Road 2 for yh axis, and 0.183m/s² and about 1053 minutes in Road 2 for zh axis, respectively. The highest passenger driver's exposures to whole-body vibration acceleration and fatigue-decreased proficiency boundary at 80km/h were 0.219m/s² and about 830 minutes in Road 3 xh axis, 0.203m/s² and about 918 minutes in Road 3 for yh axis, and 0.622m/s² and about 195 minutes in Road 1 for zh axis, respectively. The highest vector sums of whole-body vibration exposure at 40km/h and 804km/h were 0.328m/s² in Road 2 and 0.730m/s² in Road 1, respectively. The highest crest factors at 40km/h were 4.25 in Road 1 for xh, 4.51 in Road 3 for yh, and 5.81 in Road 2 for zh, respectively. The highest crest factors at 80km/h were 5.57 in Road 1 for xh, 5.60 in Road 2 for yh, and 6.46 in Road 3 for zh, respectively. The highest transmissibilities of whole-body vibration from floor to seat at 40km/h and 80km/h were 0.89 in Road 3 and 0.82 in Road 3 for xh axis, 0.83 in Road 3 and 0.87 in Road 1 and 2 for yh, and 0.80 in Road 2 and 0.92 in Road 1 tor zh axis, respectively. The highest fatigue-decreased proficiency boundaries for whole-body vibration exposure of passenger car driver in floor and seat were 457 minutes in Road 3 and 583 minutes in Road 3 at 40km/h and 159 minutes in Road 2 and 251 minutes in Road 2 at 80km/h, respectively.

• 한국문화재보존과학회:학술대회논문집
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• 2004.10a
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• pp.92-100
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• 2004

The host rocks of brick-shaped stone pagoda in the Bunhwangsa temple are lots of kinds andesitic rocks, which has gone through mechanical and chemical weathering. As the overall observation, the pagoda is serious damages by air pollutants, and the northeast parts show the much advanced state of turning white, while the southeast parts are heavily cracked in the materials. The rocks of brick-shaped pagoda body are in a relatively stable condition of weathering and damage except for the abrasion and cracks of the corners. The rocks of the pagoda roof suffer from more symptoms including multiple peel-offs, exfoliation, cracks forming round lines, and falling off stone pieces. The pagoda roof rocks are dominated by the thriving leafy lichens and mosses, especially, there are higher plants (selaginella involvens, dandelions) taking root actively between the brick stones and content mortar. There are even light gray precipitates like stalactites between the rocks of the body, In particular, the 1st and 2nd floor in the east side and the body parts in the north side are the most serious. Their major minerals are calcite, gypsum and clay minerals. The rocks of the stylobate and the tabernacle in all the four directions are composed mainly of granitic rocks. The materials consisting of the tabernacles show the severe splits and distortion, which causes the structural instability. The stylobate rocks are heavily contaminated by some weeds with the often marks of inorganic contamination by secondary hydroxides. The central part of the east stylobate has been sinking, while that of the 1st floor west stylobate is protruded nesting a line of cracks. Accordingly, the inside of the tabernacle is always humid with the constant introduction of rainwater. The stone lion standing in the southeast and northeast side are alkali granite, while that in the southwest and northwest lithic tuff. Each of the stone lion also coated with various colored lichens, mosses, algae, bacteria and bryophyte. The external materials of the pagoda have deteriorated the functions of the rocks and made the loss, falling off, and biological contamination even worse due to the surface weathering. Thus it's urgent to come up with scientific restoration and conservation measures through clinical tests.

• Fire Science and Engineering
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• v.28 no.3
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• pp.49-54
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• 2014

Beams play an important role to transfer an applied load on the floor into columns. However, if the beams affected by a fire the length will be changed longer or shorter and the structural stability decreased gradually and resulted in structural failure. Therefore, the fire regulation requires that structural beam has to satisfied with a constant fire resistance. The fire resistance conducted by a constant size and boundary condition in an horizontal furnace. But this is not enough to adopt a beam made of high structural steels having various lengths. In this study, in order to suggest structural behaviors of beams made of high structural steels at high temperature, mechanical properties at high temperature and heat stress analysis were used and the surface temperature, expansion, displacement and variance of maximum load according to lengths of the beam were compared with those of SM 400.

• Journal of the Korean Society of Clothing and Textiles
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• v.16 no.3 s.43
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• pp.285-298
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• 1992

In this study, bedclimate was investigated depending on various bedquilts used oin ondol in summer. The environmental room condition was maintained at 26: $1^{\circ}C,\;75{\pm}3\%$ R.H., while the ondol surface was kept at $25{\pm}1^{\circ}C$ without heating. The types of bedquilts were hemp, cotton, quilt made of polyester padding with polyester/cotton cover. Two healthy young women were subjected for seven hours' sleep with two replications for this study. The results are as follows. 1) The range of the temperature under the mattress ($25.2\~32.4^{\circ}C$) was lower than that of the temperature on the mattress ($28.8\~35.5^{\circ}C$), or that of the temperature inside the bedquilts ($30.3\~34.4^{\circ}C$). The humidity inside the bedquilts increased during sleeping, and the range of R.H. was $58\~80\%$. 2) The ranges of bedclimate which subjects feel comfortable were $30.5\~33.8^{\circ}C$ on the mattress, $31.0\~34.9^{\circ}C$, $61\~74\%$ R.H. inside the bedquilts. At this range, the mean skin temper-ature of the subjects was $34.3^{\circ}C\~35.2^{\circ}C$. 3) When there was no heating, the weight of the bedding increased during sleeping, and the weight increase was largest in the case of mattress. 4) There were correlations among the skin temperature of three points of the body (abdomen, thigh, foot) and the temperature and R.H. inside the bedquilt. 5) The effect of the type of bedquilts on the microclimate and physiolosical responses were significant. 6) Generally, when there was no heating, the body heat was transferred to the ondol floor, in summer, heat was transferred mostly through the mattress.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.36 no.2
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• pp.108-118
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• 2010

Introduction: Maxillary posterior region, compared to the mandible or maxillary anterior region, has a thin cortical bone layer and is largely composed of cancellous bone, and therefore, it is often difficult to achieve primary stability. In such cases, sinus elevation with bone graft is necessary. Materials and Methods: In this research, 121 patients who had implant placement after bone graft were subjected to a follow-up study of 5 years from the moment of the initial surgery. The total survival rate, 5-year cumulative survival rate and the influence of the following factors on implant survival were evaluated; the condition of the patient (sex, age, general body condition), the site of implant placement, diameter and length of the implant, sinus elevation technique, closure method for osseous window, type of prosthesis and opposing teeth. Results: 1. The 5-year cumulative survival rate of total implants was 90.5%, there was no significant difference between sex, age, the site of implant placement, diameter and length of the implant, sinus elevation technique, and the type of opposing teeth. 2. Patients with diabetes mellitus < osteoporosis and smooth-surfaced machined group < hydroxyapatite (HA)-treated group and homogenous demineralized freeze dried allogenic bone (DFDB) bone graft only group had significantly lower survival rate. 3. With less than 4 mm of residual alveolar ridge height, lateral approach without closing the osseous window resulted in a significantly lower survival rate. 4. Restoration of a single implant showed a significantly lower survival rate, compared to cases where the superstructure was joined with several implants in the area. Conclusion: Patients with diabetes or osteoporosis need longer period of time for osseointegration compared to the normal, and the dentists must be prudent when choosing a surface treatment type and the bone graft material. Also, as the vertical dimension of the residual alveolar ridge can influence the result, staged implant placement should be considered when it seems difficult for the implant to gain primary stability from the residual bone with less than 4 mm of vertical dimension. It is recommended to obdurate the bone window and that the superstructure be connected with several impants in the peripheral area.