• 로봇학회논문지
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• 제12권2호
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• 한국소음진동공학회논문집
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• 제22권8호
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• pp.784-790
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• 2012

This paper describes a stability and dynamic characteristics of bearingless helicopter main rotor in hover. Baseline rotor configuration is defined and modal analysis for the configuration is taken to verify the dynamic characteristics. The kinematic pitch-lag couplings through ways of pitch link installation are analyzed to know effects on loads, frequencies and stability. The effects of pitch link attachments in spanwise direction and chordwise direction as well as pitch link inclination on thrust, power, flpa-lag-pitch mode frequencies and inplane damping are examined. Pitch link at trailing edge location in chordwise direction has influence on aeroelastic stability of the rotor. Also, the pitch link with negative inclination angle makes inplane damping increase.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 춘계학술대회 논문집
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• pp.394-399
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• 2012

This paper describes a stability and dynamic characteristics of bearingless helicopter main rotor in hover. Baseline rotor configuration is defined and modal analysis for the configuration is taken to verify the dynamic characteristics. The kinematic pitch-lag couplings through ways of pitch link installation are analyzed to know effects on loads, frequencies and stability. The effects of pitch link attachments in spanwise direction and chordwise direction as well as pitch link inclination on thrust, power, flpa-lag-pitch mode frequencies and inplane damping are examined. Pitch link at trailing edge location in chordwise direction has influence on aeroelastic stability of the rotor. Also, the pitch link with negative inclination angle makes inplane damping increase.

• 음성과학
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• 제11권2호
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• pp.151-164
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• 2004

This study examined the use of intonation in children with single word sentences and investigated the communicative functions of pitch range and pitch direction. Two children aged 13months were observed in interaction with their mothers for 10 months. The vocalizations were coded separately for communicative function and for prosodic feature. Results show that level tones are used most frequently, and pitch range is higher for request than declaration or answer and lower for answer than request or declaration. And trends in prosodic contours were observed in request, declaration, and answer respectively. For one child, rising tones were frequently associated with request whereas rising-falling tone with declaration. For the other child, rising-level tones were more frequently associated with request whereas falling-level appeared more often in conjunction with declaration. These trends appeared more distinct in proportion as they grow in months. This result indicate that the way to express communicative functions transfer gradually from differentiating pitch range to diversify pitch direction.

• 대한의용생체공학회:의공학회지
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• 제38권2호
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• pp.57-61
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• 2017

The purpose of this study was to investigate the effect of direction (pitch and roll) on the perception of support surface rotation while standing. Thirty young healthy subjects participated in this study. Support surface was rotated at an unexpected instant in a very slow speed (0.2 deg/s). The direction of support surface rotation was randomly chosen among pitch (forward and backward) and roll (right and left) directions. The experiment was performed with eyes open and closed. Perception performance was evaluated by the perception threshold, defined as the rotation angle of the surface at the instant when a subject recognized that the support surface was moving. Results showed that the perception threshold was smaller for roll directions than pitch directions irrespective of vision and gender (p < 0.01). This indicates that the perception of support surface rotation is more sensitive in roll direction than in pitch direction. Among three sensory functions related to postural perception, the effect of vestibular and visual functions on the direction difference of the perception should be little because of the very slow surface rotation and independence on visual conditions. Therefore, the direction dependence of perception would have been affected mainly by the somatosensory function.

• 한국인터넷방송통신학회논문지
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• 제20권6호
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• pp.21-26
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• 2020

본 논문에서는 자수된 SF-MPAA 구현을 위해 방사체를 자수로 구현할 경우 방사체 구조에 따른 SF-MPAA의 특성을 조사 하였다. 자수된 방사체의 길이방향의 그리드 수와 폭 방향의 그리드 수를 줄여서 피치를 늘렸을 때 안테나 이득과 공진주파수는 추세적으로 감소하였다. 그러나 안테나 특성은 폭 방향의 피치에는 크게 영향을 받으나 길이 방향의 피치에는 상대적으로 영향을 적게 받았다. 따라서 도체비율을 줄이기 위해 길이 방향의 그리드 수를 줄이는 것이 유리함을 알 수 있었다. SLL은 피치보다는 길이와 폭 방향 피치의 조합에 영향을 받았다. 자수된 방사체의 도체비율은 자수실 굵기에 대한 피치의 비율로 결정이 되었다. 이 비율이 5이하에서는 도체비율이 급격히 감소했고 5이상에서는 포화되어 서서히 감소했다.

• 한국정밀공학회지
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• 제23권6호
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• pp.96-103
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• 2006

To establish of standard technique of nano-length measurement in 2D plane, new AFM system has been designed. In the long range (about several tens of ${\mu}m$), measurement uncertainty is dominantly affected by the Abbe error of XY scanning stage. No linear stage is perfectly straight; in other words, every scanning stage is subject to tilting, pitch and yaw motion. In this paper, an AFM system with minimum offset of XY sensing is designed. And XY scanning stage is designed to minimize rotation angle because Abbe errors occur through the multiply of offset and rotation angle. To minimize the rotation angle optimal design has performed by maximizing the stiffness ratio of motion direction to the parasitic motion direction of each stage. This paper describes the design scheme of full AFM system, especially about XY stage. Full range of fabricated XY scanner is $100{\mu}m\times100{\mu}m$. And tilting, pitch and yaw motion are measured by autocollimator to evaluate the performance of XY stage. As a result, XY scanner can have good performance. Using this AFM system, 3um pitch specimen was measured. The uncertainty of total system has been evaluated. X and Y direction performance is different. X-direction measuring performance is better. So to evaluate only ID pitch length, X-direction scanning is preferable. Its expanded uncertainty(k=2) is $\sqrt{(3.96)^2+(4.10\times10^{-5}{\times}p)^2}$ measured length in nm.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회B
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• pp.3347-3352
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• 2007

This paper describes a research for the performance improvement of the straight-bladed vertical axis wind turbine. To improve the performance of VAWT, the individual blade pitch control method is adopted. For the wind turbine, CFD analysis is carried out by changing blade pitch angle according to the change of wind speed and wind direction. By this method, capacity and power efficiency of VAWT are obtained according to the wind speed and rotating of rotor, and could predict the overall performance of VAWT. It was manufactured to verify performance of the experimental system that consists of rotor including four blades and base. Furthermore, torque sensor and power generator were installed. Also, active controller which can change the pitch angle of the individual blade according to the wind speed and direction was used.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• 한국광학회지
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• 제12권5호
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• pp.414-417
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• 2001

Experimentally, the aligned direction of AFLCs in electro-optic cells having both the substrates rubbed along the same direction is skewed by a few degrees from the rebbing direction. To explain why, we proposed "Torsional Rigid Body Model" and interpreted their skewing angle as the action of short pitch with the large shear stress. That is, the azimuthal an anchoring strength (about 35 dyn/cm) in the cell is much larger than the maximum shear stress (about 10$^{-6}$ dyn/cm) for the original pitch and so forbids the optic axis to skew. On the side hand, the strength is smaller than the maximum shear stress (about 42 dyn/cm) for short pitch and then allows the optic axis to skew.