• 대한의용생체공학회:의공학회지
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• 제35권3호
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• pp.35-41
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• 2014

In this study, joint angles of the lower extremity and inertial sensor data such as accelerations and angular velocities were measured during a ski simulator exercise in order to evaluate the skill of skiers. Twenty experts and twenty unskilled skiers were recruited for the study. All expert skiers held the certificates issued by the Korea Ski Instructors Association. A three-dimensional motion capture system and two inertial sensors were used to acquire joint movements, heel acceleration and heel angular velocity during ski simulator exercises. Pattern variation values were calculated to assess the variations in ski simulator motion of expert and unskilled skiers. Integral ratio of roll angular velocity was calculated to determine the parallel alignment of the two feet. Results showed that ski experts showed greater range of motion of joint angle, peak-to-peak amplitude(PPA) of heel acceleration and PPA of heel angular velocity than unskilled skiers. Ski experts showed smaller pattern variations than unskilled skiers. In addition, the integral ratio of roll angular velocity in ski experts was closer to 1. Inertial sensor data measurements during the ski simulator exercises could be useful to evaluate the skill of the skier.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• 한국지능시스템학회논문지
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• 제24권1호
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• pp.84-89
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• 2014

본 논문에서는 카메라를 탑재한 전방향 이동 로봇에서의 표적 추종을 위한 영상기반 시각 서보 제어를 다룬다. 기존 연구에서는 카메라 영상에서 추출한 표적의 영상 좌표로부터 표적 추종을 위한 바퀴의 회전 각속도를 구하기 위하여 카메라의 수학적 모델과 이동 로봇의 기구학 특성으로부터 구한 수학적 영상 자코비안을 널리 활용하였다. 본 논문에서는 표적의 영상 좌표 정보를 이용한 단순한 규칙기반 제어 방식과 영상에 포착된 표적의 크기 정보를 조합하여 바퀴의 회전 각속도를 생성하는 새로운 방식을 제안한다. 카메라 영상을 몇 개의 영역으로 분할하고, 표적이 포함된 영역에 따라 미리 정의한 규칙을 적용하는데, 복잡한 수학적 표현을 사용하지 않으면서도 비교적 적은 수의 규칙을 사용하므로 구현이 용이한 장점이 있다. 제안된 방식은 실제 시스템으로 구현하여 실험하고, 전체 실험 시스템에 대한 설명과 함께 실험 결과를 제시하여 제안하는 방식의 타당성을 입증한다.

• 한국전문물리치료학회지
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• 제13권4호
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• pp.79-86
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• 2006

The purpose of the current experiment was to describe interlimb coordination when swing limb conditions are being manipulated by constraining step length or by adding a 5 or 10 pound weight to the swing limb distally. Subjects were asked to begin walking with the right limb to land on the primary target (normal step length) that is 10 cm in diameter. However, if, during movement, the light was illuminated, then the subject had to step on one of the secondary targets (long and short step length). These three step length conditions were repeated while wearing a 5 pound ankle weight and then when wearing a 10 pound ankle weight. Ground reaction force (GRF) data indicated that there were changes in the forces and slopes of the swing and stance Fx GRFs. Long stepping subjects had to increase the propulsive force required to increase step length. Consequently, swing and stance toe-off greatly increased in the long step length condition. Short step length subjects had to adequately adjust step length, which decreased the speed of gait initiation. Loading the swing limb decreased the force and slope of the swing limb. Swing and stance toe-off was longest for the long step length condition, but there was a small difference of temporal events between no weight and weight condition. It appears that subjects modulated GRFs and temporal events differently to achieve the peak acceleration force of the swing and stance limb in response to different tasks. The findings from the current study provide preliminary data, which can be used to further investigate how we modulate forces during voluntary movement from a quiet stance. This information may be important if we are to use this or a similar task to evaluate gait patterns of the elderly and patient populations.

• 한국전자통신학회논문지
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• 제15권2호
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• pp.273-284
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• 2020

본 논문은 현재 자동화 공정에서 널리 쓰이는 델타 로봇을 저가형 DC 모터로 제작 및 제어하는 방법을 제안한다. 델타 로봇의 기구학 및 동역학을 해석하여 시뮬레이션을 한 후, 이를 기반으로 저가형 DC 모터를 선정하였다. 실험을 통하여 모터의 특성 값들을 획득하고 제어 이론을 적용하여 전류-위치 Cascade 제어 시스템을 설계하였다. 설계한 시스템의 성능을 검증하기 위해서 델타 로봇의 말단효과장치의 목표 경로를 설정하여 실험을 진행하였다. 실험을 통하여 저가형 모터를 사용함으로서 발생하는 문제점들을 보상 알고리즘을 설계하여 극복하고 End-effector의 위치 제어 성능을 입증하였다.

• 한국지구과학회지
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• 제38권1호
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• pp.1-10
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• 2017

공생별 AG Peg는 적색거성(GS)과 백색왜성(WD)으로 구성된 성운으로 둘러싸인 쌍성계이다. AG Peg의 분광자료는 1998년, 2001년, 그리고 2002년의 세 시기에 미국 Lick 천문대에서 관측한 자료로 HI 발머 방출선 자료를 분석하였다. AG Peg의 선세기와 폭은 각 시기에 따라 변하는데, $H{\alpha}$와 $H{\beta}$ 선에서 모두 청색편이, 적색편이, 넓은 폭 성분이 나타났다. 가스 성운의 운동학적 특성을 보여주는 방출선은 WD주변에 형성된 강착원반의 반경이 매우 큼을 보여준다. 관측자의 시선 방향을 고려하면, 1998년 관측은 AG Peg의 GS와 WD가 나란히 하늘에 있는 반면, 2002년에는 WD가 GS의 전면에, 2001년에는 WD가 GS의 뒷면에 위치하였다. 이러한 상대적인 위치와 분광선의 변화를 고려하여, 우리는 GS에서 WD로의 가스유입이 지속적으로 이루어지고, 그 결과 형성된 두꺼운 원반의 회전이 관측된 분광선 윤곽의 형성을 가져온 것으로 결론지었다.

• 천문학회보
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• 제41권1호
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• pp.33.1-33.1
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• 2016

Dwarf elliptical galaxies (dEs), the most abundant galaxy type in clusters, were recently shown to exhibit a wide variety in their properties. Particularly, the presence of blue cores in some dEs, what we call dE(bc), supports the scenario of late-type galaxy infall and subsequent transformation into red, quiescent dEs. While several transformation mechanisms for these dE(bc)s within cluster environment have been proposed, all these processes are able to explain only some of the observational properties of dEs. In this context, internal kinematic properties of dE(bc)s provide the most crucial evidence to discriminate different processes for the formation of these galaxies. We present Gemini Multi Object Spectrograph (GMOS) long-slit spectroscopy of two dE(bc)s in the Virgo cluster. We obtained radial profiles of velocity and velocity dispersion out to ~1.3 effective radius. We found that two dE(bc)s exhibit kinematically decoupled components as well as distinct peculiar features in velocity profiles, supporting the scenario of mergers. We also found that these galaxies are structurally compatible with low surface brightness component of blue compact dwarf galaxies. We suggest that a part of dE(bc)s in the Virgo Cluster were formed through galaxy merger in low density environment such as galaxy group or outskirt of the cluster, and then were quenched by subsequent effects within cluster environment.

• 천문학회보
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• 제41권1호
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• pp.66.1-66.1
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• 2016

We present our observational results of BL Lacertae(2200+420) obtained at 22, 43, 86, and 129 GHz simultaneously during 27 months(2013.Jan ~ 2015.Mar) which includes their two gamma-ray outbursts(2013.Oct & 2015.Mar) to study a connection between the gamma-ray outbursts and the radio activity. We mainly use a Korean VLBI monitoring program, IMOGABA(Interferometric Monitoring Of Gamma-ray Bright AGNs) which is a monthly monitoring program with the KVN(Korean VLBI Network). Overall, our KVN image shows two components in the map, a stationary core at the center and one moving jet component to the south, but almost core only at 86, 129 GHz. The location of the moving jet component in the maps depend on the frequencies that 22, 43, 86, and 129 GHz. We have checked light curves, spectral index, kinematics, and radio structure to find differences before and after the gamma-ray outbursts, but there was no significant correlation. We also have derived a decay time scale of ~9 months for the major radio outburst by applying an exponential decay fitting.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.631-638
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• 2012

본 논문은 슬관절 손상 환자의 하지근력 강화 재활훈련 장치에서 다리를 끌어주는 견인모터의 속도 프로파일을 휴머노이드 로봇 시뮬레이션을 통해 계산하는 방법을 새롭게 제안한다. 먼저 인체의 구조를 본 딴 휴머노이드 로봇의 3차원 전신 모델을 새롭게 구축하고, 표준 관절각도 데이터를 이 모델에 적용하여 자연스러운 보행을 시뮬레이션 했다. 그리고 하지의 대퇴부에 부착되어 있는 벨트와 견인모터와의 거리를 매 샘플링 타임에서 계산하여 이로부터 속도 프로파일을 도출하는 방식으로 보행 중 속도 파형을 생성한다. 휴머노이드 로봇의 기구학적 방법으로는 직진 보행에서 계산량이 적은 투영법을 사용했으며, 유각기의 관절 각도 프로파일은 Winter의 표준보행 데이터를 참조했다. 본 논문에서 제안한 방법으로 계산된 인체 특정부위 속도 프로파일은 제작 중인 트레드밀 재활훈련 장치에 적용될 예정이다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권1호
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• pp.65-72
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• 2010

For developing navigation system of total hip arthroplasty (THA) and evaluating hip joint kinematics, 3-D pose position of the femur and acetabulum in the pelvic coordinate system has been quantified. The pelvic coordinate system is determined by manually indicating pelvic landmarks in multidetector-row computed tomography (MDCT) images. It includes intra- and inter-observer variability, and may result in a variability of THA operation or diagnosis. To reduce the variability of pelvic coordinate system determination, this paper proposes an automated method in MDCT images. The proposed method determines pelvic coordinate system automatically by detecting pelvic landmarks on anterior pelvic plane (APP) from MDCT images. The method calibrates pelvic pose by using silhouette images to suppress the affect of pelvic pose change. As a result of comparing with manual determination, the proposed method determined the coordinate system with a mean displacement of $2.6\;{\pm}\;1.6$ mm and a mean angle error of $0.78\;{\pm}\;0.34$ deg on 5 THA subjects. For changes of pelvic pose position within 10 deg, standard deviation of displacement was 3.7 mm, and of pose was 1.28 deg. We confirmed the proposed method was robust for pelvic pose changes.