• 로봇학회논문지
• /
• 제18권3호
• /
• pp.285-292
• /
• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• 한국건축시공학회지
• /
• 제17권5호
• /
• pp.453-463
• /
• 2017

건물의 고층화와 규모의 증가로 인해 프로젝트 설계단계에서의 시공성을 반영한 엔지니어링 기술의 중요성이 점점 커지고 있다. 특히, 설계단계에서의 가설작업을 위한 설비, 장비 및 공법과 관련된 엔지니어링 기술적용의 노력은 시공성 및 프로젝트 성과 향상에 크게 기여할 수 있다. 이에 본 연구에서는 고층 건축공사의 시공성 향상을 위하여 가설공사를 중심으로 설계단계에 요구되는 시공엔지니어링 업무를 도출하고자 하였다. 우선, 문헌고찰과 전문가 집단면접을 통해 27개의 예비 업무를 도출하였으며, 그 후 설문조사를 통하여 각 업무의 필요성 및 중요도를 분석하였다. 분석 결과, 골조공사 및 양중장비 계획과 관련된 대부분의 업무가 상대적으로 중요한 것으로 분석되었다. 마지막으로 요인분석을 통해 21개의 엔지니어링 업무를 선정하였으며, 이들 업무는 크게 1)골조공사 및 측량/동선계획, 2)양중 및 콘크리트 압송계획, 3)공간구획계획, 4)용수계획, 5)가설건물 및 전력/조명계획의 5개 요인으로 분류되었다. 본 연구의 결과는 설계단계에서 시공엔지니어링 업무를 효과적으로 반영할 수 있는 프로세스 수립을 위한 기초 자료로 활용될 수 있을 것이다.

• 한국운동역학회지
• /
• 제15권3호
• /
• pp.143-152
• /
• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• 상하수도학회지
• /
• 제19권3호
• /
• pp.288-294
• /
• 2005

This study was conducted to evaluate the grit removal efficiency of tornado block-type vortex grit separator. Vortex grit separator was manufactured for this study, and it was characterized by the impeller and tornado block installed in separator. Impeller was installed to increase water velocity in the separator and tornado block was installed to increase the grit lifting efficiency. Pilot study was also conducted in A sewage treatment plant (STP) in Gyeonggi province from November 2003 to May 2004 (64 days). Major findings are as follows. 1. Impeller was proven to increase water velocity in the grit separator, especially in low flow rate. This influence will increase separation ratio of organics from grits, preventing those organics from sedimentation. 2. Sand (with 0.2~0.3mm size) removal efficiency was over 98 % and 96 %, at the flow rate of $500m^3/day$ and $750m^3/day$ under the condition that impeller rotation velocity kept at 15 rpm. Originally that grit separator was designed to have the capacity of $500m^3/day$. $750m^3/day$ was tried to investigate the performance of this type of grit separator under overload condition. Stable grit removal was still available to the extent of 150% of designed capacity. 3. It took less than 3 minutes for the grit separator to completely lift out 3 kgs of 0.2-0.3 mm sized, settled sand at the bottom to 2,060 mm high above water surface. But it showed the tendency to spend a little more time on lifting the grit as the grit size and the vertical height of the lift increased. 4. During experimental duration in A STP, it was found that the average amount of inlet grit was about 981 g/day (160~1,685 g/day) under $500m^3/day$ of operation condition, but it varied so severely during the experimental duration. After classification of discharged grit according to its size, grit with 0.3-0.42 mm size was found as largest part of output.

• Clinical Pain
• /
• 제19권2호
• /
• pp.70-79
• /
• 2020

Objective: We evaluated the efficacy of a newly-developed spinal orthoses (V-LSO) by comparing the stabilizing effect, abdominal pressure, and comfort of 3 different semirigid LSOs (classic LSO, V-LSO, and Cybertech^®) during various body movements. Method: Thirty healthy volunteers (23~47 years, 24 males, 6 females) were selected. A dual inclinometer measured the range of motion (ROM) while the participants performed flexion/extension and lateral flexion of the lumbar spine with 3 LSOs. The LSO's pressure on the abdominal surface was measured using 9 pressure sensors while lying, sitting, standing, flexion/extension, lateral flexion, axial rotation, and lifting a box. Comfort and subjective immobilization were analyzed by a questionnaire. Results: V-LSO had a statistically significant effect on flexion over Cybertech^®. No significant differences were noted during extension and lateral flexion between the 3 LSOs. The abdominal pressure showed no significant differences while supine. While sitting, standing, and lifting a box, the mean abdominal pressure for V-LSO were significantly higher than those for Cybertech^®. During lumbar flexion, the mean abdominal pressures for classic LSO and V-LSO were significantly higher than that of Cybertech^®. For extension, lateral flexion and axial rotation, the abdominal pressure for V-LSO was significantly higher than those of classic LSO and Cybertech^®. In the subjective analysis, V-LSO and Cybertech^® scored best for comfort. Conclusion: The V-LSO and Cybertech^® were more comfortable than the classic LSO, and hence, may have improved compliance with decreased discomfort. V-LSO may be superior to the other LSOs in restricting lumbar movement and increasing intraabdominal pressure.

• 한국해양공학회지
• /
• 제27권3호
• /
• pp.67-72
• /
• 2013

In this study, numerical analyses that considered the dynamic interaction effects between the flow and a turbine were carried out to investigate the power output performance of an H-type Darrieus turbine rotor, which is one of the representative lifting-type vertical-axis tidal-current turbines. For this purpose, a commercial CFD code, Star-CCM+, was utilized for an example three-bladed turbine with a rotor diameter of 3.5 m, a solidity of 0.13, and the blade shape of an NACA0020 airfoil, and the optimal tip speed ratio (TSR) and corresponding maximum power coefficient were evaluated through exhaustive simulations with different sets of flow speed and external torque conditions. The optimal TSR and maximum power coefficient were found to be approximately 1.84 and 48%, respectively. The torque and angular velocity pulsations were also investigated, and it was found that the pulsation ratios for the torque and angular velocity were gradually increased and decreased with an increase in TSR, respectively.

• Journal of Biosystems Engineering
• /
• 제36권1호
• /
• pp.9-14
• /
• 2011

This study was carried out to develop a vine crusher for harvesting sweet potato. The experimental two-row vine crusher attachable to agricultural tractor composed of vine crushing part with frail type vine crushing blades and vine lifting blades, power transmission part with chain and gear transmission mechanism, crushing height control part with two control wheels and manual levers, and implement frames, was designed and fabricated. And this vine crushing performance was also analyzed. From vine crushing tests, backward travel direction (i.e., rotational direction of the vine crushing blades) showed better vine crushing performance than forward travel direction. Crushing ratio of remained vine was increased, and length of remained vine and length of crushed vine were decreased as working speed was decreased and rotational speed of vine crushing blades was increased. At a working speed of 0.27 m/s and rotational speed of vine crushing blades of 800 rpm, crushing ratio of remained vine was 98%, length of remained vine was 104 mm, and length of crushed vine was 327 mm. But, when crushing vine on irregular ridges, vines and mulching vinyl were wound in the vine crushing part. Therefore, change of location of power transmission chain mechanism, and an automatic control device for controlling crushing height were needed.

• 대한기계학회논문집
• /
• 제14권5호
• /
• pp.1264-1271
• /
• 1990

본 연구에서는 회전 깃(rotor blade)을 폭 방향과 시위방향으로 많은 평면 페 널(panel)들로 나누어 이에 말굽쇠 형 화류(horseshoe vortex)를 분포시키는 양력면 (lifting surface)으로 대치하고 후류는 깃상의 순환(circulation)분포에 의해 그 크 기가 결정되는 와도(vorticity)를 와류격자로 대치하는 와류격자법(Vortex Lattice Method`VLM)을 사용하여 HAWT의 공기역학적 성능 예측을 시도하였다. 그리고 후류의 형상은 근 후류(near wake)와 원후류(far wake)로 나누어 근 후류는 깃의 후연(trail- ing edge)에서의 속도를 갖고 와선(vortex line)이 움직이게 하여 결정하였고 원 후류 는 반무한대 원형화류 실린더(semi-infinite circular vortex cylinder)로 취급하여 결정하였다.

• 대한조선학회논문집
• /
• 제48권2호
• /
• pp.147-157
• /
• 2011

A RANS(Reynolds averaged Navier-Stokes) based numerical method is developed for the evaluation of ship resistance and self-propulsion performances. In the usability aspect of CFD for the hull form design, the field grid around practical hull forms is generated by solving a grid Poisson equation based on the hull surface grid generated from station offsets and centerline profile. A body force technique is introduced to model the effects of the propeller in which the propeller loads are obtained from potential flow analysis using an unsteady lifting surface method. The free surface is captured by using a two-phase level-set method and the realizable $k-{\varepsilon}$ model is used for turbulence closure. The hull attitude in vertical plane, i.e., trim and sinkage, is calculated by using a quasi-steady method and then considered in the computation by translating and rotating the grid system according to the values. For the validation of the proposed method, the numerical results of resistance tests for KCS, KLNG, and KVLCC1 and of self-propulsion test for KCS are compared with experimental data.

• 한국항해항만학회지
• /
• 제30권5호
• /
• pp.375-379
• /
• 2006

세일링요트의 추진시 횡류를 방지하기 위하여 선체 하부에 킬을 부착하게 되는데 이는 세일의 양력에 의한 횡흐름을 멈추게 하는 역할과 힐 모멘트를 없애고 복원력을 생기게 한다. 이는 안전성에 영향을 미치기 때문에 적절한 킬의 선택은 중요하다고 할 수 있다. 또한 킬 하부에 부가물의 부착은 발라스트 중량중심을 낮춤으로서 선체 복원력에 중요한 영향을 미치므로 킬에 대한 최적형상 도출은 매우 중요하다. 이에, 본 연구에서는 저항성능 향상을 위한 동일 침수표면적의 핀킬 하부 부가물에 따른 저항특성을 비교 실험하였다. 실험방법으로는 회류 수조를 이용하여 3가지 핀킬 하부 부가물 모형킬을 모형선에 부착하여 형상별 저항특성을 비교 분석하였다. 분석 결과에 따른 저항감소 최적 형상을 도출 하였다.