• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.411-420
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• 2011

The purpose of this investigation was to determine whether correlations exist between balance and impact velocity, angular position, and maximum velocity of a club during drive swing. Twelve skilled golfers were recruited in this study. They were asked to perform ten swing trials and two trials were selected for analysis. Balance parameters were calculated via the force platform while kinematic variables were determined by using the Qualisys system. The results of the present study demonstrated that the average of COP velocity was faster in the medio-lateral direction rather than the anterio-posterior direction. Also, left foot's COP velocity and free torque were greater than the right foot's before impact. The range of the right foot's COP in the anterio-posterior direction before impact were correlated with the club velocity and angular position at impact. There was a negative correlation between the left foot's COP velocity before the impact and the velocity at impact. Additionally, the range and RMS of the left foot's free torque affected on the club angular position at impact and the maximum velocity at release, respectively. Finally, a negative correlation existed between the range of the right foot's free torque after the impact and club's maximum velocity at release.

• Journal of Advanced Marine Engineering and Technology
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• v.26 no.4
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.645-650
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• 2003

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1464-1470
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• 2022

This paper presents a high performance burnable absorber named as CIMBA (Cylindrically Inserted and Mechanically Separated Burnable Absorber) for the soluble-boron-free SMR. The CIMBA is the cylindrical gadolinia inserted into the annular fuel pellets. Although the CIMBA utilizes the spatial self-shielding effect of the fuel material, a large reactivity upswing occurs when the gadolinia is depleted. To minimize the reactivity swing of the CIMBA-loaded FA, two approaches were investigated. One is controlling the spatial self-shielding effect of the CIMBA as burnup proceeds by a multi-layered structure of the CIMBA (ML-CIMBA) and the other is the mixed-loading of two different types of CIMBA (MIX-CIMBA). Both approaches show promising performances to minimize the reactivity swing, where the MIX-CIMBA is more preferable due to its simpler fabrication process. In conclusion, the MIX-CIMBA is expected to accelerate the commercialization of the CIMBA and can be used to achieve an optimal soluble-boron-free SMR core design.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1871-1875
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• 1997

Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2009.11a
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• pp.293-294
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• 2009

• Nuclear Engineering and Technology
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• v.56 no.3
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• pp.907-915
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• 2024

Various core designs with multi-batch fuel management (FM) are proposed and optimized for an innovative small modular reactor (iSMR), focusing on enhancing the inherent safety and neutronic performance. To achieve soluble-boron-free (SBF) operation, cylindrical centrally-shielded burnable absorbers (CSBAs) are utilized, reducing the burnup reactivity swing in both two- and three-batch FMs. All 69 fuel assemblies (FAs) are loaded with 2-cylindrical CSBA. Furthermore, the neutron economy is improved by deploying a truly-optimized PWR (TOP) lattice with a smaller fuel radius, optimized for neutron moderation under the SBF condition. The fuel shuffling and CSBA loading patterns are proposed for both 2- and 3-batch FM with the aim to lower the core leakage and achieve favorable power profiles. Numerical results show that both FM configurations achieve a small reactivity swing of about 1000 pcm and the power distributions are within the design criteria. The average discharge burnup in the two-batch core is comparable to three-batch commercial PWR like APR-1400. The proposed checker-board CR pattern with extended fingers effectively assures cold shutdown in the two-batch FM scenario, while in the three-batch FM, three N-1 scenarios are failed. The whole evaluation process is conducted using Monte Carlo Serpent 2 code in conjunction with ENDF/B-VII.1 nuclear library.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1022-1032
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• 2000

We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.

• Journal of Biomedical Engineering Research
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• v.22 no.4
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• pp.359-368
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• 2001

A new knee-ankle-foot-orthosis(KAFO) which uses an automatically-controlled electromechanical wrap spring clutch for the knee joint was developed in the present study. It was found that the output voltage from the foot switches of the developed KAFO was proportionally increased with respect to the applied load. The output voltage from the infrared sensor also decreased as the knee flexion angle increased. The knee joint system for the new KAFO weighs only 780g lighter than any other commercially available developed system. In addition, the solenoid reduces the reaction time for the automatic control of the knee joint. The static torque of the clutch was measured for three persons, and it satisfied the normal knee extension moment during the pre-swing. Three-dimensional gait analyses for three different gait patterns (normal gait, locked-knee gait, controlled-knee gait) from five normal subjects were conducted. Controlled-knee gait showed the maximum knee flexion angle of 40.56$\pm9.55^{\circ}$ and the maximum knee flexion moment of 0.20$\pm$0.07Nm/kg at similar periods in the normal gait. Our KAFO system satisfies both stability during stance phase and free knee flexion during the swing phase at the proper period during the gait cycle. Therefore, our KAFO system would be very useful in various low extremity orthotic applications.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.407-412
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• 2015

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.