• 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 the Korean Association of Geographic Information Studies
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• v.7 no.4
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• pp.77-87
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• 2004

It is important for hydrographers to extract the accurate cross section of a river for the hydrographical analysis of the topography. Aerial photographs were used to extract the cross section of a river for the advantages of the accuracy and economical efficiency in this study, while the direct measurement has been used in existing studies. An ortho-rectified photo map using imageries taken by the PKNU 2 (High-resolution, multi-spectral, aerial photographic system developed by our laboratory) was generated using the surveyed data and a digital map. The cross section of a river that was obtained from the ortho-rectified by the surveyed Kinematic data of GPS was compared with the result using ImageStation stereo-plotter of corp. Z/I Imaging. As a result of this study, the RMSE in the ortho-rect process using the surveyed GPS data was lowered as from 5.5788 pixels (about 2m) to 2.84 (about 1m) in comparison with it in the process using a digital map. The surveyed kinematic GPS in extraction of the cross section of a river was excellent as 6.6cm of the planimetric and precision in the confidence level of 95%. The correlation coefficient between the result from the using stereo-plotter and the extraction of cross section of a river using aerial photos was 0.8 hydrographical acquisition of it using PKNU 2 imagery will be possible.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.117.1-117
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• 2001

A motion handling technique that transforms existing animation motion data to a mathematically well-defined form. The transformed data can be utilized in any kind of autonomous motion creation process that handles such cases as changed environment, structure (kinematic / dynamic) modification, or changed constraints. To overcome the computational burden of traditional spacetime optimization, we divide full motion data frame into several parts, and we applied the transformation technique to each part using an optimizing tool(CFSQP). To show Ire feasibility of the proposed method, a comparison study results with traditional technique is included.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.526-529
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• 1995

The closed loop robots have the advantage of higher velocity capability and often higher precision in comparison to the open loop robots. We have simulated the kinematic analysis of three limbs robot (T-L robot), which is one of the closed loop robots. After then, we have designed experimental T-L robots with 3 different kind of actuators. In this paper, we described the experimental results, and the problems in its applicatons.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.887-890
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• 1996

In this study, based on the assumption that the displacements of suspension systems under the external forces are very small, a linear form of elastokinametic equations in terms of infinitesimal displacements and joint reaction forces are derived. The equations can be applied to any form of suspensions once the type of kinematic joints and bushings are identified. The validity of the method is proved through the comparison of the results from the more complex solution offered by ADAMS

• Journal of the Korean Society of Hazard Mitigation
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• v.10 no.4
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• pp.95-104
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• 2010

The storage function model is one of the most commonly used models for flood forecasting and warning system in Korea. This paper studies the physical significance of the storage function model by comparing it with kinematic wave model. The results showed universal applicability of the storage function model to Korean basins. Through a comparison of the basic equations for the models, the storage function model parameters, K, P and $T_l$, are shown to be related with the kinematic wave model parameters, k and p. The analysis showed that P and p are identical and K and $T_l$ can be related to k, basin area, and coefficients of Hack's law. To apply the storage function model throughout the southern part of Korean peninsular, regional parameter relationships for K and $T_l$ were developed for watershed area using data from 17 watersheds and 101 flood events. These relationships combine the kinematic wave parameters with topographic information using Hack's Law.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• International Journal of Highway Engineering
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• v.16 no.2
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• pp.19-24
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• 2014

PURPOSES : The study objective was to evaluate rheology and physical properties of SBS-modified warm-mix asphalt (WMA) binders in comparison with hot-mix asphalt (HMA) binders. METHODS : Four different SBS polymers were used to prepare polymer-modified asphalt (PMA) binders, and three different warm-mix additives (WAD) were used to prepare a total of 12 WMA PMA binders. The kinematic viscosity was measured at 115, $135^{\circ}C$. The PG was determined using DSR and BBR. The pass/fail (P/F) temperatures for high and low PG grading were evaluated for HMA PMA and WMA PMA binders. RESULTS : PG 76-22 binders could be prepared by modifying the base binder (PG 64-22) using 4.5 wt% of SBS. The kinematic viscosity (KV) of SBS PMA was increased by 3 times higher than that of base asphalt. The SBS PMA with WAD showed 10% lower KV than that of the normal SBS PMA at $115^{\circ}C$ The high P/F temperatures showed almost no difference between HMA PMA and WMA PMA binders. The high P/F temperature showed very high correlations with KV ($R^2$ > 0.97). The result of SBS modification caused increase of low P/F temperature by $2.7^{\circ}C$ on average. CONCLUSIONS : Since the PMA with WAD showed 10% lower KV than normal (HMA) PMA at $115^{\circ}C$, reducing PMA mixture temperature down to a WMA level was possible in this study. The higher KV binders showed the higher P/F temperature. There was almost no change in high P/F temperature due to the use of WAD. The SBS PMA, showing an increased low P/F temperature, might show somewhat poorer performance at low-temperature, even though the lower PG grade was staying at the same level, i.e., $-22^{\circ}C$.

• Safety and Health at Work
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• v.3 no.1
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• pp.22-30
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• 2012

Objectives: To challenge the problem of slipperiness, various slipmeters have been developed to assess slip hazard. The performance of in-situ slipmeter is, however, still unclear under the various floor conditions. The main objectives of this study were to evaluate the performance of three kinds of slipmeters under real conditions, and to find their dynamic and kinematic characteristics, which were compared with gait test results. Methods: Four common restaurant floor materials were tested under five contaminants. Slipmeters and human gaits were measured by high speed camera and force plate to find and compare their dynamic and kinematic characteristics. Results: The contact pressures and built-up ratio were below those of subjects. The sliding velocity of British Pendulum Tester was above those of subjects, while those of BOT-3000 and English XL were below those of subjects. From the three meters, the English XL showed the highest overall correlation coefficient (r = 0.964) between slip index and $R_a$, while the rest did not show statistical significance with surface roughness parameters ($R_a$, $R_z$). The English XL only showed statistical significance (p < 0.01) between slip index and contaminants. The static coefficient of friction obtained with the BOT-3000 showed good consistency and repeatability (CV < 0.1) as compared to the results for the BPT (CV > 0.2) and English XL (CV < 0.2). Conclusion: It is unclear whether surface roughness can be a reliable and objective indicator of the friction coefficient under real floor conditions, and the viscosity of contaminants can affect the friction coefficient of the same floors. Therefore, to evaluate slipperiness, the performance of the slipmeters needed to improve.

• Phonetics and Speech Sciences
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• v.3 no.4
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• pp.33-43
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• 2011

The present study investigates supralaryngeal articulatory characteristics of denti-alveolar (coronal) stops /t, $t^h$, $t^*$/ and /n/ in /aCa/ context in Seoul Korean. An Electromagnetic Articulograph (EMA, Carstens) was used to explore kinematics of the consonants by examining the kinematic data of the tongue tip (the primary articulator for the coronal consonants), along with some additional supplementary position data of the tongue body, the tongue dorsum and the jaw. The results showed that the constriction duration was the most robust articulatory correlates of the three-way stop contrast with a pattern of /t/$t^h$/$t^*$/. The contrast was further reinforced by the tongue body position (higher for /$t^h$, $t^*$/) and the tongue tip opening displacement (less displaced for /$t^h$, $t^*$/). The articulation of /n/ was quite similar to that of the lenis /t/ in terms of the constriction duration, and it was different from the oral stops in that it was produced with larger tongue tip displacement and lower jaw position than the oral stops, indicating its weak articulatory nature. The results are also discussed in comparison with those of bilabial stops with implications that the three-way contrast may be kinematically expressed differently depending on the physiological constraints imposed on the primary articulator (the tongue tip versus the lips). The present study, therefore, provides new articulatory (kinematic) data of denti-alveolar consonants in Korean, and demonstrates that the three-way stops, that have been known to differ primarily in their laryngeal settings, are indeed produced with kinematic distinctions at the supralaryngeal level.