• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.258-262
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• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.

• Water for future
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• v.18 no.2
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• pp.175-185
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• 1985

This paper discusses the posibility of synthesizing flood hudrographs by the stroage function model. Eight small watersheds from Han, Gum, Nakdong, Youngsan river system were selected for this purpose. The optimum constants are computed from the chi square criterion by the SDFP methods Based on these constants, equations for the storage constant and Lag time are derived from the kinematic wave theory and storage function theory. These relations are examined by using optimum constants of the storage function model and assumptive constant of the kinematic wave model. Main results are sumarized as follows. 1. Constants of the storage function model are closely related to those of the kinematic wave model. The formula obtained theoretically is difficult to use practically because of the unclaified definition of factors. 2. In order to estimate constants of the storage function model for the practical purpose, new equations are also proposed for mountaneous area. 3. The verification of proposed equation is made for several recorded floods for mountaeous areas.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2889-2889
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• 2000

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.852-857
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• 2003

This paper has the object of investigating natural frequencies of thick plates on inhomogeneous Pasternak foundation by means of finite element method and providing kinematic design data lot mat of building structures. This analysis was applied for design of substructure on elastic foundation. Mat of building structure may be consisdered as a thick plate on elastic foundation. Recently, as size of building structure becomes larger, mat area of building structure also tend to become target and building structure is supported on inhomogeneous foundation. In this paper, vibration analysis or rectangular thick plate is done by use or serendipity finite element with 8 nodes by considering shearing strain of plate. The solutions of this paper are compared with existing solutions and finite element solutions with 4${\times}$4 meshes of this analysis are shown the error of maximum 0.083% about the existing solutions. It is shown that natrural frequencies depend on not only Winkler foundation parameter but also shear foundation parameter.

• Structural Engineering and Mechanics
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• v.65 no.6
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• pp.645-656
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• 2018

Importance of procuring adequate knowledge about the mechanical behavior of double-layered graphene sheets (DLGSs) incensed the authors to investigate wave propagation responses of mentioned element while rested on a visco-Pasternak medium under hygro-thermal loading. A nonlocal strain gradient theory (NSGT) is exploited to present a more reliable size-dependent mechanical analysis by capturing both softening and hardening effects of small scale. Furthermore, in the framework of a classical plate theory the kinematic relations are developed. Incorporating kinematic relations with the definition of Hamilton's principle, the Euler-Lagrange equations of each of the layers are derived separately. Afterwards, combining Euler-Lagrange equations with those of the NSGT the nonlocal governing equations are written in terms of displacement fields. Interaction of the each of the graphene sheets with another one is regarded by the means of vdW model. Then, a widespread analytical solution is employed to solve the derived equations and obtain wave frequency values. Subsequently, influence of each participant variable containing nonlocal parameter, length scale parameter, foundation parameters, temperature gradient and moisture concentration is studied by plotting various figures.

• Clinical and Experimental Reproductive Medicine
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• v.27 no.2
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• pp.201-209
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• 2000

Objective: This study has been carried out to evaluation the effect of fertilization promoting peptide (FPP) on the kinematic parameters, capacitation and acrosome reaction of the frozen-thawed human spermatozoa. Methods: After FPP treatment, we examined kinematic parameters, capacitation and acrosome reaction, using the methods of computer-aided sperm analysis (CASA) and chlortetracycline (CTC) fluorescence analysis. Results: We have obtained the evidence that FPP can promote the capacitation and inhibit the spontaneous acrosome reaction of frozen-thawed human spermatozoa in vitro. FPP ($25{\sim}100$ nM) induced a significant increase in the proportion of B-pattem capacitated spermatozoa, and a significant decrease in the proportion of F-pattem uncapacitated ones without significant stimulation of acrosomal exocytosis. In the kinematic parameters treatment, FPP treated groups maint3ined higher LIN, BCF and STR than those of control. The VAP, VSL, VCL and ALH were not different. Therefore it is suggested that FPP in human seminal plasma may play a positive role in promoting human sperm function.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.216-222
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• 2013

This paper deals with the issue of kinematic modeling and analysis of a toggle mechanism. Based on the mathematic model of a conventional five-point type toggle mechanism. New five-point type toggle mechanism has been analyzed by computer simulation method. A sensitivity ratio has been defined and analyzed to compare its performance with four-point type toggle mechanism. A cycloidal motion has been applied to the cross head as an input and the motion of the moving platen is considered as an output. The effect of link design parameter as well as the type of toggle has been investigated by computer simulation to be available for industrial applications of injection molding machines.

• The Journal of Korean Physical Therapy
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• v.35 no.3
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• pp.64-70
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• 2023

Purpose: This study investigated the influence of attention-demanding tasks on gait and measured differences in the temporal, spatial and kinematic characteristics between young healthy adults and elderly healthy adults. Methods: We recruited 16 healthy young adults and 15 healthy elderly adults in this study. All participants performed two cognitive tasks: a subtraction dual-task (SDT) and working memory dual-task (WMDT) during gait plus one normal gait. Using the LEGSys+ system, knee and hip-joint kinematic data during stance and swing phase and spatiotemporal parameter data were assessed in this study. Results: In the elderly adult group, attention-demanding tasks with gait showed a significant decrease in hip-joint motion during the stance phase, compared to the normal gait. Step length, stride length and stride velocity of the elderly adult group were significantly decreased in WMDT gait compared to normal gait (p<0.05). In the young adult group, kinematic data did not show any significant difference. However, stride velocity and cadence during SDT and WMDT gaits were significantly decreased compared to those of normal gait (p<0.05). Conclusion: We determined that attention-demanding tasks during gait in elderly adults can induce decreased hip-joint motion during stance phase and decreased gait speed and stride length to maintain balance and prevent risk of falling. We believe that understanding the changes during gait in older ages, particularly during attention-demanding tasks, would be helpful for intervention strategies and improved risk assessment.

• Structural Engineering and Mechanics
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• v.90 no.1
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• pp.97-106
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• 2024

This paper presents a significant contribution to aided design by conducting an analytical examination of geometric links with the aim of establishing criteria for assessing an analogy measure of the extrinsic geometric and kinematic characteristics of the Variable Compression Ratio (VCR) engine with a Geared Mechanism (GBCM) in comparison to the existing Fixed Compression Ratio (FCR) engine with a Standard-Reciprocating Crankshaft configuration. Employing a mechanical approach grounded in projective computational methods, a parametric study has been conducted to analyze the kinematic behavior and geometric transformations of the moving links. The findings indicate that in order to ensure equivalent extrinsic behavior and maintain consistent input-output performance between both engine types, precise adjustments of intrinsic geometric parameters are necessary. Specifically, for a VCR configuration compared to an FCR configuration, regardless of compression ratio and gearwheel radius, for the same crankshaft ratios and stroke lengths, it is imperative to halve lengths of connecting rods, and crank radius. These insights underscore the importance of meticulous parameter adjustment in achieving comparable performance across different engine configurations, offering valuable implications for design optimization.