• Physical Therapy Korea
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• v.17 no.3
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• pp.77-86
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• 2010

The purpose of this study was to investigate the variations in gait parameters in terms of the type of arm sling used in hemiplegic patients. Ten patients with hemiplegia and ten healthy adults participated in this study and walked at self-selected speeds on a GAITRite-instrumented carpet. The activities of the opposite shoulder girdle muscle including the latissimus dorsi, anterior deltoid, and posterior deltoid were simultaneously recorded using surface EMG during gait. They were randomly assigned a condition: without an arm sling, a single strap arm sling, a Harris hemi arm sling, a Rolyan humeral cuff arm sling, and a Bobath roll arm sling. The following gait variables were analyzed: the temporo-spatial parameters of velocity, step length, stride length, swing phase, stance phase, single support, step time and toe in/toe out. The statistical analysis was one-way ANOVA with repeated measures to compare the variation of each variable. In comparison of parameters in each trial in the hemiplegia group, the non-affected side stride length, single support, and toe in/toe out resulted in statistically significantly changes (p<.05). But without an arm sling group did not show any gait parameter differences with arm slings. This study found that several arm slings varied gait patterns in patients with hemiplegia and in healthy adults. In the EMG analysis, the Rolyan humeral cuff arm sling and the Bobath roll arm sling were higher muscle activity for the latissimus dorsi muscle than did the single strap ann sling. Further study should examine the problems that appeared in patients who worn arm slings by focusing on a larger number of subjects and by studying the variety of responses in more detail using an assessment tool that measures variation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.7
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• pp.922-930
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• 2020

Marine accidents involving fishing boats, caused by a loss of stability, have been increasing over the last decade. One of the main reasons for these accidents is a sudden wind attacks. In this regard, the wind loads acting on the ship hull need to be estimated accurately for safety assessments of the motion and maneuverability of the ship. Therefore, this study aims to develop a computational model for the inlet boundary condition and to numerically estimate the wind load acting on a fishing boat. In particular, wind loads acting on a fishing boat at the wind speed profile boundary condition were compared with the numerical results obtained under uniform wind speed. The wind loads were estimated at intervals of 15° over the range of 0° to 180°, and i.e., a total of 13 cases. Furthermore, a numerical mesh model was developed based on the results of the mesh dependency test. The numerical analysis was performed using the RANS-based commercial solver STAR-CCM+ (ver. 13.06) with the k-ω turbulent model in the steady state. The wind loads for surge, sway, and heave motions were reduced by 39.5 %, 41.6 %, and 46.1 % and roll, pitch, and yaw motions were 48.2 %, 50.6 %, and 36.5 %, respectively, as compared with the values under uniform wind speed. It was confirmed that the developed inlet boundary condition describing the wind speed gradient with respect to height features higher accuracy than the boundary condition of uniform wind speed. The insights obtained in this study can be useful for the development of a numerical computation method for ships.

• Journal of Advanced Navigation Technology
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• v.9 no.1
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• pp.19-27
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• 2005

For continuous communication between moving vehicles such as satellites and unmanned aerial vehicles, an antenna system having at least more than 2-axes is needed. When the antenna is mounted on a moving vehicle such as ground vehicle, ship and so on, a stabilization and tracking system must be equipped to compensate the roll, pitch and yaw motion of the vehicle. The performance of stabilization and tracking system mainly depends on the servo control system that driving the antenna pedestal. Therefore, in this paper, a Fuzzy-PID controller for a stabilization and tracking system of a 2-axes antenna was designed and the performance was verified. To verify the verification of designed servo control system, the performance of the conventional PID controller and that of the Fuzzy-PID controller, designed by the same PID control gains, was compared.

• Ocean Systems Engineering
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• v.2 no.2
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• pp.115-135
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• 2012

The very low natural frequencies of tension leg platforms (TLP's) have raised the concern about the significance of the action of hydrodynamic wave forces on the response of such platforms. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that coupling between various degrees of freedom has insignificant effect on the displacement responses. Moreover, for short wave periods (i.e., less than 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on the wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about its original position. Also, for short wave periods, a higher mode contribution to the pitch response accompanied by period doubling appeared to take place. For long wave periods, (12.5 and 15 sec.), this higher mode contribution vanished after very few cycles.

• Journal of Power System Engineering
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• v.17 no.3
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• pp.72-81
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• 2013

Many articles have been published about a 2-degree of freedom model that includes the lateral and yaw motions for controller synthesis in intelligent transport system applications. In this paper, a 3-degree of freedom linear model that includes the roll motion is developed to design a robust steering controller for lane following maneuvers using ${\mu}$-synthesis. This linear perturbed system includes a set of parametric uncertainties in cornering stiffness and unmodelled dynamics in steering actuators. The state-space model with parametric uncertainties is represented in linear fractional transformation form. Design purpose can be obtained by properly choosing the frequency dependent weighting functions. The objective of this study is to keep the tracking error and steering input energy small in the presence of variations of the cornering stiffness coefficients. Furthermore, good ride quality has to be achieved against these uncertainties. Frequency-domain analyses and time-domain numerical simulations are carried out in order to evaluate these performance specifications of a given vehicle system. Finally, the simulation results indicate that the proposed robust controller achieves good performance over a wide range of uncertainty for the given maneuvers.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.5
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• pp.1887-1895
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• 2013

In this study, physical experiments were performed in a two-dimensional wave flume to investigate the hydraulic and structural performance of a SFT model. The experiments were made by generating regular waves of different heights and periods under various conditions of buoyancy to weight ratio (BWR) and water depth as well. Through the analysis of the experimental data, it was clarified that the sway and heave motions of the tunnel body linearly increased with wave height and period. In contrast, the roll motion was rather insignificant unless wave height and period were comparatively large as the design wave. Similarly proportional relationship with respect to wave height and period was obtained in case of the maximum tensile force acting on the tension legs and the wave loads on the tunnel body. Regarding the change of water depth or BWR conditions, generally decreasing trend was obtained according to increase of water depth but decrease of BWR for both of the magnitudes of structural behaviors or wave loadings on the SFT structure.

• Journal of Navigation and Port Research
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• v.32 no.5
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• pp.333-339
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• 2008

When a vessel is underway in a heavy weather, passengers and crew suffer from seasickness caused by ship motions such as pitch, heave or roll, or all combined Sickness induces drowsiness, dizziness, headache, stomachache etc, in extreme conditions, they are met with a serious trouble which is physiologically unrecoverable. It results in weakening of spiritual activities or making errors from decrease of motivation, dropping off skills, poor recognition and poor judgement. In this paper, it was examined the international standards concerning the occurrence of sickness and the execution of works, also evaluated the boarding comfort by conducting several times of questionnaire on cadets boarding on the training ship HANBADA As a result, it was confirmed that the main factor of occurring the sickness was the vertical acceleration and the level was more than 0.2g. Also, it was presented the way how to reduce the sickness by changing the speed and/or course in relation to the encounter period.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1463-1471
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• 2012

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.

• Journal of Biosystems Engineering
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• v.37 no.3
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• pp.192-200
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• 2012

Purpose: Aerial application of chemicals with an agricultural helicopter allows for precise and timely spraying and reduces working labor and pollution. An attitude controller for an agricultural helicopter would be helpful to aerial application operator. The objectives of this paper are to determine the transfer function models and to estimate the handling qualities of a bare-airframe model helicopter. Methods: Transfer functions of a model unmanned helicopter were estimated by using NAVFIT and DERIVID modules of the $CIFER^{(R)}$ program to the time history data of frequency sweep flight tests. Control inputs of the transfer functions were elevator, aileron, rudder and collective pitch stick positions and the outputs were resulting on-axis movements of the fuselage. Results: Minimum realization of the transfer functions for pitch rate output to elevator control input and roll rate output to aileron control input produced second order transfer functions with undamped natural frequencies around 3.0 Hz and damping ratios of 0.139 and 0.530, respectively. The equivalent time delays of the transfer functions ranged from 0.16 to 0.44 second. Sensitivity analysis of the proposed parameters allowed derivation of minimal realization of the transfer functions. Conclusions: Handling quality of the model helicopter was addressed based on the eigenvalues of the transfer functions, corresponding undamped natural frequencies with damping ratios. The equivalent time delays of the lateral-directional motion ranged from 0.16 to 0.44 second, longer than the 0.1 to 0.15 second requirement for well-controlled typical manned aerial vehicles.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.5
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• pp.487-495
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• 2016

In the offshore project such as semi-submersible FPU and FPSO, the free fall type life boat called TEMPSC (Totally Enclosed Motor Propelled Survival Craft) has been installed for the use of an emergency evacuation of POB (People on Board) from the topside platform. For the design of life boat arrangement for semi-submersible FPU in the initial design stage, the drop height and launch angle are required fulfill with the limitation of classification society rule and Company requirement, including type of approval as applicable when intact and damage condition of the platform. In this paper, we have been performed the numerical studies to find proper arrangement for the life boats consider drop height in various environmental conditions such as wave, wind and current. In the calculations, the contributions from static and low frequency (LF) motions are considered from the hydrodynamic and mooring analysis as well as damage angle from the intact and damage stability analysis. Also, Air-gap calculation at the life boat positions has been carried out to check the effect on the life boat arrangement. The air-gap assessment is based on the extreme air-gap method includes the effect of 1st order wave frequency (WF) motions, 2nd order low frequency roll/pitch motion, static trim/heel and set down.