• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.131.5-131
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• 2001

A new measurement method to measure vibrational motions of objects is presented. The original principle is similar to the previous work that utilized a 3-facet mirror to obtain three dimensional positions and orientations of rigid bodies. While the previous work was presented for only stationary objects, in this paper, we newly investigate the feasibility of this method for dynamic applications. The 3-facet mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45 degrees to its bottom surface, and its mounted on the object whose motion is to be measured, As optical components, a He-Ne laser source and three position-sensitive detectors(PSD) are used. The laser beam is emitted from the He-Ne laser source located at the upright position and vertically incident to the top of the 3-facet ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.97.5-97
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• 2002

A sensor modeling via artificial neural network is presented in this paper. The optical sensor has been designed to treasure absolute 3-dimensional positions and orientations of objects in 6-DOF. The method utilizes a triangular pyramidal mirror having an equilateral cross-sectional shape referred as 3-facet mirror. The mirror has three lateral reflective surfaces inclined 45 degrees to its bottom surface. The 3-facet mirror is mounted on the object whose 6-DOF motion is to be measured. As optical components, a He-Ne laser source and three position-sensitive detectors(PSD) are used. The laser beam is emitted from the He-Ne laser source located at the upright position and vertically incident o...

• 대한치과교정학회지
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• 제20권2호
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• pp.333-354
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• 1990

This study was designed to analyse vertical dysplasia such as open bite or deep bite in persons with skeletal Class III malocclusion. The subjects consisted of 60 control patients, 40 Class III open bite patients and 40 Class III deep bite patients. The mean age was 19.8 years in the control group, 17.8 years in the Class III open bite group and 16.5 years in the Class III deep bite group. The results were as follows: 1. In Class III malocclusion patients, the characteristics of the vertical dysplasia are under the palatal plane. 2. In Class III malocclusion patients, the items showing the characteristics of the vertical dysplasia are mandibular plane angle, lower gonial angle, lower facial height, dental height & inclination of the upper first molar, interincisal angle, maxillary & mandibular occlusal plane angle. 3. In Class III malocclusion patients, LPFH/LAFH ratio shows the highest significance among the facial height ratios. 4. In Class III malocclusion patients, open bite group has a upward cant of maxillary occlusal plane & downward cant of mandibular occlusal plane. And deep bite group has a downward cant of maxillary occlusal plane & upward cant of mandibular occlusal plane. 5. In Class III malocclusion patients, the molar teeth of the open bite group are measially inclined and those of the deep bite group are upright.

• 혜화의학회지
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• 제12권1호
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• pp.147-168
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• 2003

This study is about the relationship between the effect of Radiating Qui Therapy on human body and the resulting subjective qui sensation. Patients were between 30 and 50 years of age. n=21 persons received DITI (n=14 patients were provided, n=9 control group) twice examination with Radiating Qui Therapy. First all patients were examined by DITI. After treatment with Radiating Qui Therapy (n=14) both the treated and the control groups were eaxmined again. Radiating Qui Therapy is provided upright position. After Radiating Qui Therapy 92% of the treated group felt a significant qui sensation and 43.5 % felt a warmth at the abdomen and over the whole body. A data of this study show Radiating Qui Therapy has s stimulating effect on human skin temperature. As disease region and Qui sensation are very closely related to each other results strongly suggest that Radiating Qui Therapy could be used as a treatment for a several disease.

• 로봇학회논문지
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• 제5권2호
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• 한국운동역학회지
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• 제13권2호
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• pp.161-173
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• 2003

This study was performed to investigate the kinematic and kinetic differences between functional walking shoe(FWS) and general sports shoe(GSS). The subjects for this study were 4 male adults who had the walking pattern of rearfoot strike with normal feet. The movement of one lower leg was measured using force platform and 3 video cameras while the subjects walked at the velocity of 2/1.5 m/s. The findings of this study were as follows 1. The angle of lower leg-ground and angle of knee with FWS was greater than with GSS at the moment of strike the floor and the moment of second peak ground reaction force. The decreasing rate of angle of ankle was smaller in FWS from the strike phase to the second peak ground reaction force. These mean upright walking and round walking along the shoe surface. 2. The maximal Increased angle of Achilles tendon and the minimal decreased angle of rearfoot were smaller in FWS very significantly(p<0.001). Thus FWS prevent the excessive pronation of ankle and have good of rear-foot control. 3. The vortical ground reaction force and the rate of it to the BW were smaller in FWS statistically(p<0.001). The loading rate was smaller in FWS, too, and thess represent the reduction of load on ankle joint and prevention of injuries on it.

• 한국수소및신에너지학회논문집
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• 제34권6호
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• pp.758-766
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• 2023

Multi-copter of unmanned aerial vehicle (UAV) was initially developed as strategic technology in the only military field, but it is developing into an industrial field with a wide range of applications in the civil sector based on the development and convergence of aviation technology and information and communication technology. Currently, the degree of utilization of multi-copter is increasing in various industries for the purpose of performing classic tactical missions, logistics transportation, farm management, internet supply, video filming, weather management, life-saving, etc, and active technology development responding to market demand. Existing commercial multi-copter mainly use an electric energy propulsion system consisting of an electric battery and a brushless direct current (BLDC) motor. It is the limitations for usage in the flying time (up to 20 minutes) and payload (less than 20 kg). this study aims to overcome these limitations and expand the commercialization of engine-powered multi-copter of UAV in various industries in the futures.

• 생명과학회지
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• 제26권10호
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• pp.1169-1181
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• 2016

본 연구는 바른체형운동 프로그램이 정신장애인의 폐활량 및 우울감에 미치는 영향을 알아보고자 경북 P시에 거주하고 정신장애 판정을 받았으며 정신재활프로그램에 참여하는 정신장애인을 대상으로 실시하였다. 참여한 피험자에게 연구목적과 내용을 설명하였고, 연구 참가동의서를 받은 19명을 최종 선정하여 10명은 운동군, 9명은 통제군으로 분류하여 12주간 바른체형운동 프로그램을 실시하였고, 연구결과는 다음과 같다. 우선 폐활량의 변화를 살펴본 결과 PEF (최대호기속도)와 FEV1/FVC (1초간 노력성 호기량의 노력성 폐활량에 대한 비)가 바른체형운동 적용 후에 증가하여 호기기능이 유의하게 향상됨을 확인하였다. 또한, 바른체형운동 프로그램 참여에 따른 운동군의 우울감의 변화는 통계적으로 유의한 차이는 나타나지 않았으나 우울정도의 감소폭이 통제군보다 운동군에서 훨씬 크게 나타나 바른체형운동이 정신장애인의 우울감 정도의 감소에 긍정적인 변화를 나타냈다고 할 수 있다. 그리고 본 연구에서는 프로그램 참가자들의 특수성으로 인한 표본 수의 한계로 인해 통계적 검증의 한계가 명확히 존재함을 고려하여 참여자들의 주관적 경험을 심층적으로 이해하는 것을 목적으로 한 질적분석(qualitative research)을 병행하여 실시하였다. 프로그램 참가자 중 동의하는 사람에 한해 심층적 면담을 실시하였으며 이를 통해 참여자들이 표현하는 내용의 의미단위를 검토하여 분류하고 세분화하는 작업을 통해 주제분석(thematic analysis)을 실시한 결과, 전반적으로 바른체형운동 프로그램에 참여한 정신장애인들의 우울감 정도가 줄어든 것을 알 수 있었다. 우울감의 변화과정은 ′변화의 시작′, ′프로그램에 대한 흥미′, ′신체적 건강의 필요성에 대한 인식′, ′신체적 건강증진′, ′신체적 기능의 회복′, ′부정적인 습관(자세)의 변화′, ′우울감의 감소′, ′할 수 있다는 자신감′, ′미래에 대한 희망′과 같은 3개의 주제와 6개의 하위 주제로 나타났다. 따라서 바른체형운동이 정신장애인들의 신체적 건강증진을 위해 심폐지구력을 높여 신체적 건강증진을 도모할 뿐 아니라 더 나아가 정신적 우울감의 감소에도 효과성을 높여 정신적 건강증진에도 도움을 줄 수 있는 프로그램으로 정신장애인의 삶의 질 증진을 위해서는 보급이 반드시 필요할 것으로 사료된다.

• 조명전기설비학회논문지
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• 제24권2호
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• pp.33-38
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• 2010

최근 태양광 발전시스템은 정부 에너지 정책에 의해서 널리 보급되고 있다. 여기에 광전지 전력생산의 효율을 높이기 위해서는 견실한 태양 추적식이 필요하다. 하지만 태양추적 식은 추적기술의 미비에 의해서 아직 널리 보급되지 못하고 있다. 이를 해결하기 위해서 본 논문에서는 태양광전지의 최대전력추적을 위해서 태양광센서 및 신경회로망 제어알고리즘을 적용하였다. 태양추적 센서는 평판위에 한 개의 사각기둥과 동, 서, 남, 북 4개의 광센서로 구성된다. 태양추적 2축 제어는 두 개의 모터에 의해서 각각 동작되며, 모터의 제어 입력은 신경회로망 제어 알고리즘에 의해서 계산된다. 제안된 제어방식의 기능은 태양추적광 발전 실험에 의해서 확인하였으며, 본 논문의 태양추적방식은 고정식 보다 32[%]효율을 증가시켰다.

• 생물환경조절학회지
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• 제17권4호
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• pp.283-287
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• 2008

본 연구는 저광 조사 저온 저장 중 광합성유효방사(PAR)내의 각 파장이 토마토 묘의 형태와 엽색 변화에 미치는 영향을 조사하기 위하여 실시되었다. $10{\pm}0.5^{\circ}C$의 온도와 피크 파장이 각각 405, 450, 505, 545, 600, 645, 680, 700nm의 발광다이오드로부터 조사된 $3{\mu}mol\;m^{-2}s^{-1}$의 광합성유효광량 자속밀도 조건에서 토마토 접목묘를 28일간 저장하였다. 405, 450, 505nm의 파장에서 저장된 묘의 잎은 다른 파장에서 저장된 잎에 비해 직립하는 경향을 보였으며, 특히 450과 505nm 파장에서 저장된 묘의 경우 엽축 생장이 억제되면서 콤팩트한 형태를 보였다. 파장의 변화에 따른 엽색의 규칙적인 변화는 저장 전후를 비교하여 관찰되지 않았으나, 405와 700nm 파장에서 저장된 묘는 엷은 녹색을 나타내었다. 저광 조사 저온 저장 중, $450{\sim}545nm$ 영역의 광조사는 토마토 묘의 직립을 유도하여 외관상 건강한 묘로 인정 받는데 기여할 것으로 기대된다.