• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1467-1470
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• 2008

An upper tibial opening wedge osteotomy is an operation to cure a malalignment and a degenerate arthritis. To prevent the postoperative malalignment caused by the upper tibial opening wedge osteotomy, the research to define the relationship between a Hinge Axis Angle and a Posterior Slope Angle is needed. The effect of the relationship between the hinge axis angle and the gap angle on the posterior slope angle is studied. After 3-D Compute Tomography (CT) scanning image is reconstructed, the virtual surgery is performed by the reconstructed 3-D tibia model. It was proved that the relationship between the hinge axis angle and the gap angle were constant and the simple mathematical model could be derived. To verify the suggested mathematical model, it compared with the measured data from the virtual surgery. In conclusion, while the deviation between the data from the virtual surgery and ones of the mathematical model under the gap angle<$10^{\circ}$ was less than 1%.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.263-264
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• 2008

• Fashion & Textile Research Journal
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• v.22 no.1
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• pp.87-93
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• 2020

This study provide basic data to develop a dress form reflecting body shape characteristics by age and to produce a 3D body form in a virtual fitting program. A comparative analysis was conducted on the size, section shape, and slope of side shape of the modeling form by the sizing of the basic female avatar in CLO 3D, one of the 3D apparel CAD programs and the body form of women in their 20s-50s by body shape in the 6th Size Korea (2010). First, all the differences were formed similarly in the direct measurements between the 3D avatar and the body form were within 1 mm. Second, in a comparison of the section form of the avatar and body form in Size Korea, the avatar was formed in straight body shape and did not reflect a spinal curvature according to age. As a result of an examination of the items with a difference over 5° in the slope of side shape, there were angle differences in numerous body shapes in the angles of the side upper abdomen, side upper back, and side upper bust, and the avatar's bust shape was expressed more flatly compared to body form. It will be possible to produce an avatar that can adequately reflect body shape characteristics by adding detailed length and angle items by the region like waist back length and front length in producing the avatar reflecting body shape characteristics, instead of a standard body shape.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.3
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• pp.351-361
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• 2012

The leading surgical method for correcting the misalignment of the varus and valgus in the knee joint is the high tibial osteotomy (HTO). In the opening wedge HTO (OWHTO), there is no concern about damaging the peroneal nerve on the lateral tibia of the proximal fibula. OWHTO has been the preferred choice, as the opening of the correction angle can be modulated during the operation. The correction of the varus and valgus on the coronal plane are performed adroitly. Nevertheless, there have been numerous reports of unintended changes in the medial tibial plateau and posterior slope angle (PSA). The authors have developed an HTO method using computer-assisted surgery with the aim of addressing the abovementioned problems from an engineer's perspective. CT images of the high tibia were reconstructed three-dimensionally, and a virtual osteotomy was performed on a computer. In addition, this study recommends a surgical method that does not cause changes in the PSA after OWHTO. The results of the study are expected to suggest a clear relationship between the anteromedial cortex oblique angle of each patient and the PSA, and an optimal PSA selection method for individuals.

• Korean Journal of Computational Design and Engineering
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• v.18 no.6
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• pp.385-398
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• 2013

Opening wedge high tibial osteotomy (OWHTO) is widely used to treat unicompartmental osteoarthritis of the knee caused by degenerative deformations of the anatomical axes of the leg. However, since it is difficult to accurately plan the surgical degrees of adjustment such as coronal correction angle and tibial posterior slope angle to align the axes before the actual procedure, a number of studies have proposed analytical models to solve this problem. While previous analytical models for OWHTO were limited to specific cases, this study proposes an analytical osteotomy model (AOM) and a surgical planning system (SPS) that are suitable for a wide range of tibial morphologies and tibia conditions. The validity and generality of the model were verified in a total of 60 OWHTO cases. Results of the test showed that, as predicted, surgical degrees are affected quite significantly by tibia shape and slope of the resected surface. Comparison of the required surgical degrees and the degrees estimated from virtual surgery simulations using AOM showed a very small average difference of $0.118^{\circ}$. SPS, based on AOM, allows the operating surgeon to easily calculate surgical parameters needed to treat a patient.

• Journal of the Korean Geotechnical Society
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• v.30 no.4
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• pp.47-63
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• 2014

In this study theories of earth pressure such as Rankine, Coulomb, Trial Wedge, Improved Trial Wedge, used in the design for onshore and offshore structures, are analyzed and the characteristics of loaded pressure to virtual back (wall, plane) and wall surface in accordance with the structure type are suggested. To investigate characteristics of earth pressure, gravity retaining wall with inclined angle and cantilever wall with inclined ground are movilized for onshore structures and caisson and block type quay wall are mobilized for offshore structures. Based on various theories, the earth pressure applied angle(wall friction angle) and sliding angle toward the wall, which is influenced by the heel length, are calculated and compared. In the case of long heel, the pressure by Rankine's method in virtual plane and the mobilized angle are most reasonably estimated by the ground slope, and in the case of short heel, the pressure by Coulomb's method and the mobilized angle by the angle of wall friction. In addition, the sliding angle toward the wall estimated by the improved trial wedge method is large than the value of Rankine's method. Finally, in this study the reasonable method for calculating the pressure and the mobilized angle that can be applied to the routine design of port structures is proposed. The proposed method can decide the earth pressure with length of a heel and a self weight of retaining wall according to sliding angle toward the wall.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.675-679
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• 2001

This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.835-846
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• 2011

In medial opening wedge high tibial osteotomy (OWHTO), researchers have reported critical problems caused by unexpected changes in the tibial posterior-slope angle. This unexpected change can be analyzed, but there is no general solution for cases with an oblique hinge axis and cut plane. We propose a general analysis model for OWHTO. We first evaluate the effects according to variation in the hinge axis and tibial cut plane and then define an ideal correction axis. This ideal axis, called the virtual tibial correction axis, is not on the tibial cut plane in general. In this paper, we also present an evaluation of feasibility of the proposed analysis model.

• Journal of Biosystems Engineering
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• v.5 no.2
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• pp.26-39
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• 1980

A study was investigated to find out the mechanical optimum conditions of power tiller-plow system on both paddy field and upland. Mathematical model was developed for the theoretical analysis of this system and the experimentation on the field was carried out with two different sizes of 5PS and 8PS power tiller equipped with rubber tire. 1) The relationship between the plowing depth and draft resistance of the power tiller-plow system was a quadratic function. 2) The minimum point of the specific draft resistance of the 5 PS plow was found at the smaller plowing depth than that of 8 PS plow, therefore we can find that the curved surface of 5PS plow bottom should be improved for the effective plowing operation. 3) As the improvement of the mechanical balance by the desirable change of the curved surface of plow bottom, the relative position of hitch point and dimension of plow beam would be realized, the 5 PS power tiller could be used to plow deeply (about 16-17cm). 4) The virtual acting point of the total draft resistance on the plow bottom approached to the land side as the plowing depth increased. 5) The resultant of vertical reaction force $R_2$ on the landside was increased with the plowing depth, while the vertical reaction force $R_1$ on the wheel was decreased as the slope angle of the body of power tiller increased. 6) For the effective plowing operations ; a) The slope angle of the body should be as small as possible. b) The diameter of the wheel should be as small possible. c) The horizontal and vertical distances $l_2, h_1$ between the wheel axis and plow bottom should be as large as possible. 7) To use the 5PS power tiller as the major unit of agricultural machinery, the curved surface of the 5 PS plower bottom and the mechanism of attachment between the power tiller and the plow should be changed as the indications of this study, and in addition to these, the new operation method of the field work should be developed.