• 한국정밀공학회지
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• 제13권7호
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• pp.78-89
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• 1996

This paper discusses automation of a small-scale hydraulic shovel and its trajectory control. To move an end-effect (grinder) along a desired trajectory, the controller uses PID(proportional-integral- defferential) control and internal pressure of hydraulic cylinder. To apply PID control in the present hydraulic system, the system model is derived physically and its system parameters are obtained by actual measurement. To show the effectiveness of the PID controller and propriety of system model, the computer simulations and experiments are performed. These results of the simulations and experiments indicate that the PID trajectory control of robotic deburring by hydraulic shovel is very effective.

• PNF and Movement
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• 제11권2호
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• pp.95-102
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• 2013

Purpose : The purpose of this study was to investigate a plantar pressure distribution and the trajectory of the center of pressure on double limb support and single limb support according to level surface, air cushion, and aero step. Methods : 21 healthy adults participated in this study. The plantar pressure were assessed at three different surface conditions(on the level surface, air cushion, and aero step) on double limb support and single limb support. Testing orders were selected randomly. Results : Plantar pressure distribution show a significant difference contact area 1 and contact area 3 on double limb support and single limb support. The trajectory of the center of pressure show an significant difference anteroposterior(AP), mediolateral(ML), and total displacement on double limb support and single limb support. Conclusion : Through the use of soft surface as air cushion and aero step will be using the ankle strategy. This will be to strengthen the muscles around the ankle. Consequently, should help to improve stability and coordination.

• 유공압시스템학회논문집
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• 제4권2호
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• pp.21-27
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• 2007

This paper deals with the issue of trajectory tracking control of a clamping cylinder for injection moulding machine, which is directly driven by speed controlled hydraulic pump in combination with AC servomotor. As a fundamental step prior to tracking controller design, feedback control system is developed by implementing a position control loop parallel with a system pressure control loop. A sliding mode controller combining velocity feedforward scheme is developed for enhancing the tracking performance. Consequently a significant reduction in tracking error is achieved for both position and pressure control applications.

• 한국환경과학회지
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• 제33권8호
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• pp.591-604
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• 2024

To investigate the frequency and trajectories of volcanic ash from Mt. Baekdu reaching the Korean Peninsula, a forward trajectory analysis was conducted using the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model. Through a cluster analysis of air parcel trajectories, we identified the main pathways of the volcanic ash from Mt. Baekdu entering the Korean Peninsula and analyzed the synoptic meteorological conditions on those days. The frequency of volcanic ash reaching the Korean Peninsula was 82 times at an altitude of 1000 m and 70 times at 2000 m, with an increasing trend from 2016 to 2022. This increase is attributed to the weakening of westerly winds and the strengthening of north-south winds due to global warming. Five and three trajectory clusters were classified at 1000 m and 2000 m, respectively. At a starting altitude of 1000 m, most air parcels originating from Mt. Baekdu entered the Korean Peninsula under weather conditions (C2, C3) where the pressure gradient from the northwest to the southeast was small, resulting in weak northerly winds. C2 and C3 showed shorter trajectories, which occurred in all seasons, except summer. At a starting altitude of 2000 m, air parcels mostly passed over the Korean Peninsula in a synoptic pattern similar to that at 1000 m in altitude; however, the air parcels had simpler paths and less frequent inflow. C2, at a starting altitude of 2000 m, originates from Mount Baekdu, crosses the center of the Korean Peninsula, and continues to the central region. At a starting altitude of 1000 m, volcanic ash can enter the Korean Peninsula when there is no strong low-pressure system to the southeast of the Korean Peninsula, whereas at 2000 m, volcanic ash can enter the Korean Peninsula when the Siberian high-pressure system is weak.

• PNF and Movement
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• 제12권2호
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• pp.89-96
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• 2014

Purpose: The purpose of this study was to examine the influence of foot angles on plantar pressure and the center of pressure (COP) trajectory length during level walking. Methods: The study subjects were 30 female university students without orthopedic diseases in the foot. The foot angle was divided into three forms (out-toeing, normal, in-toeing). The subjects practiced each type of gait, and then performed each of level walking, three times, and their averages were calculated. A plantar pressure measurement instrument was used, and the maximum force was obtained by dividing the foot into nine regions covering the anterior medial-lateral, middle medial-lateral, and posterior medial-lateral. The COP trajectory length was statistically processed by obtaining medial-lateral, anterior-posterior, and entire travel distance. Results: During normal walking, the maximum force was significantly higher in the anterior lateral than in the other areas, and the COP trajectory length was significantly shorter in the front-back and entire travel distances (p<0.05). During stair climbing. Conclusion: Walking at abnormal foot angles does not cause appreciable problems in the short term as pressure is concentrated on a specific plantar part. However, it becomes the cause of deformed foot structures and can result in musculoskeletal disabilities in the long term. Therefore, a kinesiatrics-based intervention is required to maintain normal foot angles.

• 한국분무공학회지
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• 제13권2호
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• pp.79-84
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• 2008

The correlations for cross-flow have not been well established, because of the complexity of breakup and atomization mechanism. A study was performed to investigate the characteristics of spray behaviour of liquid jet in the bag breakup regime injected into low-speed cross-flow with the pressure single-hole nozzle. The shadow-graphy method was used for the cross-flow jet visualization. The experimental variables of liquid jet were nozzle diameter $(0.3mm{\sim}1.0mm)$, injection pressure $(50kPa{\sim}150kPa)$, and the velocity of cross-flow $(27m/s{\sim}42m/s)$. The highest penetration trajectories of liquid jet are governed by the momentum ratio $({\rho}_{\iota}U_{\iota}^2/{\rho}_aU_{cross}^2)$ rather than the Weber number and the new empirical equations of the highest penetration trajectory and breakup point at low-speed corss-flow are established.

• 한국군사과학기술학회지
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• 제11권2호
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• pp.23-31
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• 2008

The configuration model of a ballute type RAID(Ram Air Inflated Decelerator) for reducing the high speed and high revolution of smart submuntion is designed and tested. Three dimensional incompressible turbulent flow computational fluid dynamic analysis for the assembly of ballute and submunition is performed and pressure distribution, velocity, and drag around the assembly is calculated. Aerodynamic characteristics of the ballute assembly such as air flow inside and outside of the ballute and pressure distribution is clearly shown and it's drag coefficient is computed. Trajectory analysis of the submunition is performed and is in good agreement with the descending trajectory data of experimental model tested.

• 로봇학회논문지
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• 제12권3호
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• 한국운동역학회지
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• 제28권4호
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• pp.237-244
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• 2018

Objective: Flat-footed people struggle with excessive ankle joint motion during walking and running. This study aimed to investigate the effects of customized three-dimensional 3D-printed insoles on the kinematics of flat-footed people during daily activities (walking and running). Method: Fifteen subjects (height, $169.20{\pm}2.61cm$; age, $22.87{\pm}8.48years$; navicular bone height, $13.2{\pm}1.00mm$) diagnosed with flat feet in a physical examination participated in this study. Results: The customized 3D-printed insoles did not significantly affect 3D ankle joint angles under walking and running conditions. However, they shifted the trajectory of the center of pressure (COP) laterally during fast walking, which enhanced the load distribution on the foot during the stance phase. Conclusion: The customized 3D-printed insoles somewhat positively affected the pressure distribution of flat-footed people by changing the COP trajectory. Further research including comparisons with customized commercial insoles is needed.

• 한국항공우주학회지
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• 제38권9호
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• pp.875-881
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• 2010

달탐사 임무를 수행하는 인공위성의 경우 임무수행을 하는 과정에서 3체에 의한 인력, 태양풍 그리고 추력시스템의 추력오차 등의 많은 예기치 못한 외부 섭동력에 영향을 받게 된다. 따라서 주어진 임무궤도를 따라서 인공위성이 운영되기 위해서 궤적 보정 기동이 필요하다. 우주 탐사의 초창기 시절에는 이러한 임무궤도는 주로 2체 운동방정식에 기반을 한 패치 코닉(Patched Conic)기법으로 생성을 하였으며, 이로 인해 2체 운동방정식에 기반을 한 궤적 보정 기동이 많이 사용되어져 왔다. 하지만 최근 컴퓨터 연산능력의 향상에 기인하여 이러한 임무궤도를 지구-인공위성-달의 3체 운동방정식에 기반하여 설계하고 있는 추세이다. 따라서 기존의 2체 운동방식 기반의 궤적 보정 기동으로는 실제 우주환경과 많은 차이를 보이기 때문에 달의 작용권구(Sphere of Influence)에 접근할수록 많은 궤도오차를 보이며, 이를 보정하기 위해서 많은 에너지가 필요하게 된다. 따라서 본 논문에서는 3체 운동방정식에 기인한 궤적 보정 기동에 대하여 기술하고자 한다.