• Journal of the KSME
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• v.28 no.2
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• pp.138-145
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• 1988

본 글에서는 로봇의 운동학적 및 동력학적 문제를 풀기 위한 기본적 이론과 그 적용례를 들었다. 운동학적 고찰은 로봇 링크의 위치와 방향을 설정하기 위한 동차변환에 근거하여 이루어졌고, 기준좌표계와 조인트 좌표계사이의 정변환과 역변환이 정운동학과 역운동학적 과정에서 고찰되 었다. 동력학적 과정에서는 로봇은 능동기구로 간주하여 운동방정식이 유도되었으며 이 유도 과정에서 운동학적 분석결과가 어떻게 사용되는가를 살펴보았다. 한편 유도된 운동방정식이 어떻게 활용되는가를 정동력학과 역동력학적 과정을 통하여 살펴보았으며 이러한 과정들은 로 봇의 설계, 모델링(simulation), 제어 등 연구에 기초이론으로 사용됨을 적용례를 통하여 보였고 일반적으로 정운동학, 역운동학, 역동력학, 정동력학의 순으로 전개됨이 합리적이라는 것을 인 지하였다.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.381-392
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• 2002

This study attempted to indentify changeability of the factorial structure of kinematic analysis in bowling. Subjects of group composed of three groups : Higher bowers who are national representative bowers with 200 average point and one pro-bowler. Middle bowlers who are three common persons with 170 average points. Lower bowler who are three common persons with 150 average points. Motion analysis on throw motion in three groups respectively has been made through three-dimension cinematography using DLT method. Two high-speed video camera at operating 180 and 60 frame per secondary. T-test factorial structure analysis has been used to define variable relations. It was concluded that : 1. The difference of x1, x2, x4, x8, x9, x11, x12, x13 where significant between two group. 2. The difference of number of spin and angle of the back-hand where statistically significant between two group(p<.001, p<.05) 3. The correlation over r=.5 between the kinematic data x1, x2, x3, x9, x10, x11. In the rotation loading matrix Factor 1 was x1, x2, x9, x10 and Factor 2 relates to x3, x11. 4. In order to obtain the factor score as follow as ; Factor 1 = (0.248)X1 + (0.265)X2 + (-0.074)X3 + (0.259)X9 + (0.259)X10 + (-0.025)X11 Factor 2=(-0.016)X1 + (-0.055)X2 + (0.84)X3 + (-0.013)X9 + (-0.007)X10 + (0.553)X11.

• Proceedings of the KSEG Conference
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• 2002.04a
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• pp.163-171
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• 2002

지금까지 양산단층에 대한 운동학적 해석은 단지 지질분포 특성의 차이를 근거로 단순 우수주향이동으로 해석해왔다. 그러나 일반적으로 대규모 단층들은 단계적으로 서로 다른 운동체계에서 복합적인 발달과정을 거치면서 현재의 모습으로 보인다. 따라서 양산단층의 주변 지질구조와 운동학적 관계를 알아보기 위하여 양산단층 주변의 지질분포, 지질구조, 단층주변의 소단층들에 대한 특성을 분석하였다. 양산단층 주변 퇴적암의 층리면 자세는 양산단 층이 동일한 사건의 주향이동으로 형성된 단층예인의 특성이 아니라 서로 다른 응력축의 지배를 받았거나 서로 다른 크기의 운동을 받았음을 암시하고 있다. 또한 단층의 주향을 따라 단층대 폭의 변화를 살펴본 결과 크게 5개의 주기를 가지면서 변화되고 각각의 주기는 약 25-30 km 로 규칙적으로 나타난다. 또한 단층조선이 발달된 소단층의 분석결과들은 양산단층이 한번의 운동으로 발달한 것이 아니라 매우 복잡하고 다양한 사건들을 겪은 다중 변형의 산물임을 지시하고 있다.

• Economic and Environmental Geology
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• v.47 no.2
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• pp.121-131
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• 2014

The stability of rock slope is mainly controlled by the orientation and shear strength of discontinuties in rock mass. Therefore, in kinematic analysis, the orientation of the combination of discontinuities and slope face is examined to determine if certain modes of failure can be occurred. In previous kinematic analysis, a representative orientation of the slope face and mean orientation of discontinuity set were used as input parameters. However, since the orientations of slope face varies according to locations of measurement, the representative slope face orientation could cause misunderstanding for kinematic instability. In addition, since the orientations of each discontinuity are scattered in the same discontinuity set, there is the possibility that uncertainties are involved in the procedure of kinematic analysis. Therefore, in this study, the detailed digital topographic map was used to obtain the orientation of slope face. In addition, the probabilistic analysis approach was utilized to deal properly with the uncertainties in discontinuity orientation. The proposed approach was applied to steep slopes in mountain road located in Baehuryeong, Chunncheon city, Gangwon-Do. The analysis results obtained from the deterministic and probabilistic analysis were compared to check the feasibility of proposed the analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.431-437
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• 2010

The purpose of this study is to compute the ground reaction forces during gait in the absence of force plates. The difficulties in using force plates for hemiparetic patients inspired us to initiate this study. Level-walking experiments were performed using a three-dimensional motion analysis system with synchronized force plates. Kinematic data were obtained from the three-dimensional trajectories of reflective markers. Gait events were also detected from the kinematic data. The human body was modeled as 13 rigid segments. The mass and the center of mass of each segment were determined from anthropometric data. Vertical ground-reaction forces obtained from the kinematic data were in good agreement with those obtained using the force plate. The computed and measured values of anterior and lateral ground reaction showed similar tendencies. The computation results can be used as the basic data for inverse dynamic analysis.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.14 no.23
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• pp.7-18
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• 1991

인체의 운동은 많은 수의 자유도를 지닌 조인트(JOINT)와 링(LINK)의 복잡한 운동으로 표현될 수 있다. 이들 링크(LINK)의 회전 운동은 SINE, COSINE 자승 형태의 비선형 운동으로 이루어져있으나, 최근 PERSONAL COMPUTER의 발달로 복잡한 인체 운동의 수학적 모델에 대한 동력학적 DATA 계산이 가능해졌다. 본 연구에서는 5개의 링크(LINK)로 연결된 인체 움직임에 있어 링크(LINK)의 절대 운동(ABSOLUTE MOTION) 및 상대운동(RELATIVE MOTION)을 고려한 PLAGENHOEF의 운동 모델을 PERSONAL COMPUTER를 이용하여 인체 움직임의 동력학적 DATA를 얻을 수 있도록 BASIC 언어로 프로그램을 제기하였다.

• Korean Journal of Applied Biomechanics
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• v.19 no.2
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• pp.323-336
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• 2009

The purpose of the current study was to research scientific basis and necessity of supplementary materials for field lesson out of golf swing teaching methods. As the subject of study, skillful tour pro golfers were chosen to reinterpret field lesson results for driver swing from the viewpoint of kinematics. In addition, through precise analysis, this study developed a case to verify the validity and error of field lesson. As a result, field lesson showed a slight difference among qualitative evaluation of kinematical analysis of techniques, subjects of study, and items. Accordingly, there was a little difference between two methods in view of evaluation of errors that 5 subjects of the study have shown. However, there was a significant difference in compensation to prevent causes of error and errors. Based on instructor's experience most errors could be evaluated. Therefore, feedback for error correction based on instructor's experience showed a significant difference from qualitative evaluation of kinematical analysis of techniques. In conclusion, the following are required for correct golf swing lesson; instant feedback through field lesson and qualitative evaluation of kinematical analysis of techniques to determine fundamental causes correctly.

• Journal of the KSME
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• v.50 no.12
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• pp.45-49
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• 2010

이 글에서는 기존의 운동학적(kinematics) 관점에서 주로 수행되어 오던 보행분석을 기계공학적으로 접근함으로써 보행특성에 대한 이해를 높인 사례들에 대해 소개하고자 한다.

• The Journal of the Korea Contents Association
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• v.10 no.10
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• pp.237-245
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• 2010

Nerve conduction studies (NCS) are the most objective measure of nerve function and essential for the diagnosis of sub-clinical neuropathy in diabetes mellitus and diabetic polyneuropathy (DPN). This study evaluates the characteristic of electrophysiological abnormalities in DPN. Electrodiagnostic data from 120 patients with diabetic polyneuropathies and 77 control subjects were reviewed. Motor nerve conduction velocities (MNCV), distal motor latencies (DML), compound muscle action potential (CMAP) amplitudes, No potential frequency and conduction block were analyzed. Data were normalized based on normative reference values, and the proportion of nerves with abnormal values in the lower and upper limbs were evaluated. DPN was systemic demyelinating peripheral polyneuropathy and more severe abnormal nerve conduction was found in lower limbs than in upper limbs. The abnormal degree was more severe in peroneal nerve. It was no statistically significant difference of conduction block in control and DPN group. Our findings suggest that DPN had more common and severe peroneal nerve involvement in the motor nerve conduction studies (MNCS). These findings have important implications for the electrophysiological evaluation of DPN.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.5
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• pp.2989-2995
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• 2014

This study was to performed to get the reference data of the kinematic parameters for normal subjects according to the arm movement type. Forty-five normal subjects participated in this study and preformed four sequence according to the arm movement type : normal arm movement, one arm movement, no arm movement, fitness arm movement. The study data was collected from June to August 2010. The kinematic data were measured using Vicon motion system 6MX3 cameras while each subjects walked through a 10m walkway. There were significant differences according arm movement type in the kinematic parameters such as range of motion (ROM) of the right pelvic, hip in sagittal plane, and ROM of the pelvic, hip, lumbar in coronal plane and ROM of the pelvic, thoracic, lumbar in transverse plane. This study can be utilized as the basic reference data in gait analysis for patients with pathologic gaits.