• 한국운동역학회지
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• 제12권2호
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• pp.259-278
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• 2002

본 연구에서는 볼 구질의 변화에 따른 스윙 동작의 운동학적인 변인을 3차원적으로 비교 분석하여 스윙 동작의 운동역학적인 원리를 제시하며, 볼 구질이 다른 스윙 동작의 차이점을 밝히는 데 목적이 있으며, 프로골퍼로 경력 3년 이상의 남자 선수 7명을 대상으로 스트레이트 성공, 페이드 성공과 실패로 구분하여 골프 스윙의 운동학적 변인들을 과학적으로 제시하기 위해 비교 분석한 결과 다음과 같은 결론을 얻었다. 페이드 성공시에는 임팩트를 지나서도 계속 손목의 각도가 근소한 차이로 줄어드는 것으로 나타났고 실패시에는 각 프레임의 각도가 규칙적으로 변하지 않게 나타났다. 이는 스트레이트 성공과 페이드 성공에 대한 손목각도의 차이가 영향을 미치는 것으로 나타나 다른 요인과 손목각도와의 관계를 분석하는 것이 필요하다고 하겠다. 페이드 실패의 경우는 임팩트시의 몸통 비틀림각도가 성공때 보다 작아지면서 클럽헤드가 오픈되지 못한 것으로 나타났다. 골프스윙의 형태의 변화로 인하여 어깨관절의 회전력을 더 많이 사용하여 파워을 증진시키기 위한 동작이며, 골프 스윙에서 어깨회전 운동은 축을 중심으로 회전하기 때문에 어깨회전각도의 차이는 없는 것으로 나타났다. 스트레이트 성공시 보다 페이드 성공시에 고관절의 회전각도가 점진적으로 일정하게 각이 커졌다. 이는 고관절의 회전을 더 크게 하여 지연히팅을 보다 자연스럽게 한 것으로 나타났다. 페이드 볼 구사시 임팩트 존에서 클럽의 페이스가 닫히는 것과 팔의 자연스러운 롤링 동작을 억제시키는 것으로 나타났다. 본 연구에서는 구질 변화에 따른 골프 스윙 동작을 스트레이트 성공, 페이드 성공과 실패시로 구분하여 운동학적 변인들을 3차원 동작 분석을 통하여 경기력 향사에 도움이 되고자 하였으며 앞으로 많은 연구자들이 각 종목에 있어서 경기력 향상을 위한 역학적인 분석이 계속 진행되어져야 할 것이다.

• 한국운동역학회지
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• 제21권4호
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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.

• 드라이브 ㆍ 컨트롤
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• 제14권3호
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• pp.40-49
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• 2017

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

• 한국소음진동공학회논문집
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• 제15권6호
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• pp.660-666
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• 2005

Recently, the need for subminiature storage systems has increased with the diversification of portable devices. An actuator for small optical disk drives has to satisfy performance requirements such as higher access speed, lower power consumption, and smaller size. In this paper, we proposed the miniaturized rotary type VCM actuator that had an effective focusing mechanism and secured sufficient bandwidth for small form factor (SFF) optical disk drive (ODD). Initial model was designed by electromagnetic (EM) and structural analyses. Such a model was improved using design of experiments (DOE) procedure based on a Blu-ray disk (BD) 1x specifications.

• 제어로봇시스템학회논문지
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• 제17권8호
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• pp.814-823
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• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.664-669
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• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.406-411
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• 2003

One of the trends on information storage device is focused on the development of micro-optical devices with OFH (Optical Flying Head). Many different types of sliders for OFH and optical component systems have been introduced in the literature. However, the important issue on the mechanical system, which consists of suspension, swing arm and VCM (Voice Coil Motor) part has not been discussed up to date. In this research, we analyses the suspension, which is used for the small form factor MO drive. The analysis is in process two ways. One is probabilistic analysis, another is dynamic shock analysis. Probabilistic analysis is a technique you can use to assess the effect of uncertain input parameters and assumptions on your analysis model. Using a probabilistic analysis you can and out how much the results of a finite elements analysis are affected by uncertainties in the model. Dynamic shock analysis is used for the mobile applications. The mechanical robustness of the suspension simulating the shock responses of a disk-suspension is proposed in this paper.

• 한국운동역학회지
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• 제26권3호
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• pp.265-272
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• 2016

Objective: The aim of this study was to analyze X-factor, triple X-factor, and the center of pressure (COP) according to the feel of golf driver swing. Method: For this research, 9 golfers from the Korea Professional Golfers' Association (age: $30.11{\pm}2.98yrs$, height: $178.00{\pm}8.42cm$, weight: $76.22{\pm}8.42kg$, experience: $10.06{\pm}3.11yrs$) were recruited to participate in the experiment. Twelve Motion Analysis Eagle-4 cameras were installed and an image analysis was conducted by using the NLT (non-linear transformation) method, and 2 units of Kistler type 5233A dynamometer were used to measure ground reaction force. The sampling ratio was set at 1000 Hz. The golfers each took 10 swings by using their own driver, and chose the best and worse feel from among 10 shots. A paired-sample t-test was used to analyze the results. Results: In regard to feel, no change in head speed, X-factor, and the triple X-factor's X-factor stretch, hip rise, and head swivel, was observed (p>.05). Regarding ground reaction force, a difference was observed between the top of the backswing (p<.05) and impact (p<.05) in the vertical force of the left foot. For COP, a difference was also observed between the mid backswing (p<.001), late backswing (p<.001), and top of the backswing (p<.05) for the right foot X-axis and Y-axis mid follow through (p<.01). Conclusion: It can be reasoned that, irrespective of feel, the head speed, X-factor and triple X-factor's X-factor stretch, hip rise and head swivel did not have an effect on drive distance for domestic golfers, and the vertical reaction force of the left foot and left-right movement span's pressure dispersal of the right foot had an increasing effect on drive distance.

• 로봇학회논문지
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• 제17권4호
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.59-67
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• 2016

This paper proposes a model-prediction-based collision-avoidance algorithm for excavators for which the recursive-least-squares (RLS) estimation of the excavator's rotational inertia is used. To estimate the rotational inertia of the excavator, the RLS estimation with multiple forgetting and two updating rules for the nominal parameter and the forgetting factors was conducted based on the excavator-swing dynamics. The average value of the estimated rotational inertia that is for the minimizing effects of the estimation error was computed using the recursive-average method with forgetting. Based on the swing dynamics, the computed average of the rotational inertia, the damping coefficient for braking, and the excavator's braking angle were predicted, and the predicted braking angle was compared with the detected-object angle for a safety evaluation. The safety level defined in this study consists of the three levels safe, warning, and emergency braking. The analytical rotational-inertia-based performance evaluation of the designed estimation algorithm was conducted using a typical working scenario. The results of the safety evaluation show that the predictive safety-evaluation algorithm of the proposed model can evaluate the safety level of the excavator during its operation.