• Journal of Digital Convergence
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• v.18 no.12
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• pp.543-548
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• 2020

The purpose of this study is to implement various movements of multiple objects using a small number of power devices in producing a kinetic design, achieving an effect similar to a work comprised of multiple objects controlled using multiple power devices. While it is more typical to control various objects using multiple power devices, the use of multiple devices leads to higher costs and heavier overall weight. In addition, more power is required to operate the multiple power devices. This study applied a mechanism that allows multiple objects to perform various movements using a small number of power devices. The mechanism significantly reduces overall weight and power consumption. In addition, various movements could be expressed by increasing the rows and columns of objects through the use of the camshaft structure that changed the position and shape of the cam and the use of bevel gears. The significance of this study lies in presenting a new method of controlling multiple objects for designers involved in kinetic design.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.3
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• pp.92-99
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• 2021

An automatic transmission, which consists of several decks of planetary gear sets, provides multiple speed and torque ratios by actuating brakes and clutches (mechanical friction components) for connecting central members of the planetary gear sets. The gear set consists of the sun gear, the ring gear, and the carrier supporting multiple planet gears with pin shafts. In designing a new automatic transmission, there are many steps to design and analyze: gears, brakes and clutches, shafts, and other mechanical components. Among them, selecting thrust bearings that not only allow the relative rotation of the central members and other mechanical components but also support axial forces coming from them is important; doing so yields superior driving performance and better fuel efficiency. In selecting thrust bearings, the magnitude of axial forces on them is a critical factor that affects their bearing size and performance; its results are systematically related to the direction of the helical angle of each planetary gear set (a geometric design profile). This research presents the effects of the helical angle direction on the axial forces acting on thrust bearings in an automatic transmission consisting of planetary gear sets. A model transmission was built by analyzing kinematics and power flows and by designing planetary gear sets. The results of the axial forces on thrust bearings were analyzed for all combinations of helix angle directions of the planetary gear sets.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.10-15
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• 2021

Objective: Limited ankle dorsiflexion is related to ankle injuries. There are various exercises to increase the flexibility of the gastrocnemius for improving the passive range of motion in ankle dorsiflexion. However, to performances in daily activities and athletic sports and higher efficiency of walking and running, both ankle dorsiflexion passive and active range of motion are needed. To investigate the effects of combined gastrocnemius stretching and tibialis anterior resistance exercise on ankle kinematics (passive and active range of motion of ankle dorsiflexion) and tibialis anterior muscle activity in subjects with limited ankle dorsiflexion. Design: Cross-sectional single-group repeated measures design. Methods: Fourteen subjects with limited ankle dorsiflexion were recruited (in the right ankle in 7 and the left ankle in 7). All subjects performed gastrocnemius stretching alone and tibialis anterior resistance exercise after gastrocnemius stretching. The passive and active range of motion of ankle dorsiflexion were measured after interventions immediately. The tibialis anterior activity was measured during active range of motion of ankle dorsiflexion measurement. Results: There was no significant difference of ankle dorsiflexion passive range of motion between gastrocnemius stretching alone and the tibialis anterior resistance exercise after gastrocnemius stretching. The tibialis anterior resistance exercise after gastrocnemius stretching significantly increased active range of motion of ankle dorsiflexion compared to gastrocnemius stretching alone (p<0.05). The tibialis anterior resistance exercise after gastrocnemius stretching significantly increased tibialis anterior activity better than did gastrocnemius stretching alone. Conclusions: Thus, subjects with limited ankle dorsiflexion should be encouraged to perform tibialis anterior resistance exercises.

• Korean Journal of Applied Biomechanics
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• v.32 no.1
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• pp.24-30
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• 2022

Objective: The purpose of this study was to determine the factors of successful and unsuccessful movements through the analysis of kinematics and muscle activity of the Free Aerial Cartwheel on the balance beam. Method: Subjects (Age: 22.8 ± 2.4 yrs., Height: 158.7 ± 5.0 cm, Body mass: 54.1 ± 6.4 kg, Career: 13 ± 2.4 yrs.) who were currently active as female gymnasts participated in the study. They had no history of surgical treatment within 3 months. Subject criteria included more than 10 years of professional experience in college and professional level of gymnastics and the ability to conduct the Free Aerial Cartwheel on the Balance Beam. Each subject performed 10 times of Free Aerial Cartwheel on the balance beam. One successful trial and one unsuccessful trial (failure) among 10 trials were selected for the comparison. Results: It was found that longer time required in case of unsuccessful trial when performing the Free Aerial Cartwheel on the balance beam compared with successful trial. It is expected to be the result of movement in the last landing section (i.e. phase 5). In addition, it was found that the center of gravity of the body descends at a high speed to perform the jump (i.e. phase 2) in order to obtain a sufficient jumping height when the movement is successful while the knee joint is rapidly extended to perform a jump when movement fails. In the single landing section after the jump (i.e. phase 4), if the ankle joint rapidly dorsiflexed after take-off and the hip joint rapidly flexed, so landing was not successful. Conversely, in a successful landing movement, muscle activity of the biceps femoris was greatly activated resulting no shaking in the last landing section (i.e. phase 5). Conclusion: In order to succeed in this movement, it is necessary to perform a strong jump after rapidly descending the center of gravity of the body using the force of the biceps femoris muscle. Further improvement of the skills on the balance beam requires the analysis of the game-like situation with continuous research on kinematic and kinematic analysis of various techniques, jumps, turns, etc.

• Journal of Dental Anesthesia and Pain Medicine
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• v.22 no.4
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• pp.267-275
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• 2022

Background: Various instrument kinematics used in single-visit endodontics influence the occurrence of pain after endodontic therapy. This study aimed to evaluate the occurrence of pain after mechanical instrumentation with Hyflex EDM (HEDM) and WaveOne Gold (WOG) during single-visit endodontic therapy. Methods: Sixty patients diagnosed with asymptomatic irreversible pulpitis and normal apical tissues in mandibular premolar teeth were included in the study for single-visit root canal therapy. The patients were divided into two groups (n = 30) according to the rotary instrument used during root canal preparation (group A [HEDM] and group B [WOG]). Pain was evaluated after endodontic therapy at 8, 24, and 48 h intervals using the visual analog scale (VAS). Data obtained were analyzed using the chi-square test, independent t-test, MannWhitney U test, and Wilcoxon matched-pairs test. Results: Statistically significant differences were observed between the two groups (P < 0.001) at 8, 24, and 48 h, with WOG exhibiting less pain than HEDM files. Conclusion: Postoperative pain was lower in the WOG file system than in the HEDM file system after single-visit root canal therapy at 8, 24, and 48 h.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.2
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• pp.111-118
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• 2022

An electro-mechanical actuator (EMA) is an actuator that combines an electric motor with a mechanical power transmission elements, and it is suitable for urban air mobility (UAM) in terms of design freedom and maintenance. In this paper, the author presents the research results of the EMA that controls the rotor blade pitch angle of UAM. The actuator is based on an inverted roller screw and controls the blade pitch angle through a two-bar linkage. The dynamic equations for the actuator alone and the blade pitching motion with actuator were derived. For the latter, the equivalent moment of inertia is variable depending on the link angle due to the two-bar linkage. The variations of the equivalent moments of inertia are analyzed and compared in terms of the nut motion and the blade pitch motion. For an example model, the variation of the equivalent moment of inertia of the former is smaller than the latter, so it is judged that the dynamic equations derived from the point of view of the nut motion is suitable for the controller design.

• Korean Journal of Applied Biomechanics
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• v.32 no.3
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• pp.87-93
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• 2022

Objective: The purpose of this research was to investigate the age-related changes in whole-body motor variability during sit-to-stand (STS) task. It has been reported that children perform motor tasks less accurately with greater variability as compared to adults. However, it is still unknown how they utilize the abundant degrees of freedom and accomplish voluntary actions. Uncontrolled manifold (UCM) analysis has been used to partition motor variabilities into two independent variability components, task-relevant variability (V_ORT) and task-irrelevant variability (V_UCM). We investigated what differences exist between children and adults with respect to these two motor variability components in relation to motor development stages. Method: Ten 6-year-old children (height: 116.2 ± 4.3 cm, weight: 23.1 ± 3.9 kg, motor development assessment percentile score: 77.5 ± 18.6%), ten 10-year-old children (height: 138.7 ± 7.2 cm, weight: 35.8 ± 10.3 kg, motor development assessment percentile score: 73.9 ± 12.7%), and ten young adults (age: 23 ± 1.6 year-old, height: 164.3 ± 11.4 cm, weight: 60.8 ± 12.0 kg) participated in this study. Each participant performed STS ten times, and a motion capture system was used to capture the whole-body kinematics. Each segment centers of mass and the whole-body center of mass were calculated, and UCM analysis was used to quantify motor variabilities, V_ORT and V_UCM. One-way ANOVA was used for statistical analysis. Results: We found that children produced more motor variabilities in V_ORT and V_UCM in all three dimensions, anterior-posterior, medial-lateral, and vertical. As age increased, both, V_ORT and V_UCM significantly decreased (p<.05). Conclusion: The greater V_ORT found in children compared to adults indicates that the repeatability over repetitions improves through development, while the greater V_UCM found in children suggests that children better utilize the abundant degrees of freedom during STS compared to adults.

• The Journal of the Korea Contents Association
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• v.22 no.3
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• pp.54-61
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• 2022

Ship is a huge system including a variety of pipe arrangements. Pipes are installed according to the design layout, however the end poistion of pipes are not well matched owing to its measurement and construction errors. In this situation, the customized pipe fitting is frequently designed to connect with both pipes, the position of which are manually measured. This paper focused that these two coordinates are measured by point cloud from RGBD sensor and the relative transformation induced by positional and orientational differences is calculated by inverse kinematics in robotics theory. Therefore, the result applies for the methodology of the pipe connection design. The pipe coordinate that is estimated by the matching and the probabilistic RANSAC method will be verified by experiments. The kinematic design parameters are computationally calculated by using the minimum degree of freedom that connects both pipe coordinates.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Journal of Animal Reproduction and Biotechnology
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• v.37 no.4
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• pp.285-291
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• 2022

In 1951, Colin Russell Austin and Min Chueh Chang identified "capacitation", a special process involving ejaculated spermatozoa in the female reproductive tract. Capacitation is a phenomenon that occurs in vivo, but almost all knowledge of capacitation has been obtained from in vitro studies. Therefore, numerous trials have been performed to establish in vitro capacitation methods for various studies on reproduction. Although a series of studies have been conducted to develop an optimal protocol for inducing capacitation, most have focused on identifying the appropriate chemical compounds to induce the capacitation of boar spermatozoa in vitro. Therefore, the purpose of this study was to identify the optimal incubation time for inducing capacitation in vitro. Duroc semen was incubated for various periods (60, 90, and 120 min) to induce capacitation. Sperm function (sperm motility, motion kinematic parameters, and capacitation status) was evaluated. The results showed that total sperm motility, rapid sperm motility, progressive sperm motility, curvilinear velocity, and average path velocity significantly decreased in a time-dependent manner. However, the capacitation status did not show any significant changes. Taken together, these results indicate that an incubation time of more than 60 min suppresses sperm motility and motion kinematic parameters. Therefore, we suggest that 60 min may be the best incubation time to induce capacitation without negative effects on sperm motility and motion kinematics in boar spermatozoa in vitro.