• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.372-379
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• 1998

A new 6 degrees-of-freedom micro stage, based on parallel mechanisms and actuated by using piezoelectric elements, has been developed for the application of micro positioning such as semiconductor manufacturing devices, high precision optical measurement systems, and high accurate machining. The micro stage structure consists of a base platform and an upper platform(stage). The base platform can effectively generates planar motion with yaw motion, while the stage can do vertical motion with roll and pitch motions with respect to the base platform. This separated structure has an advantage of less interference among actuators. The forward and inverse kinematics of the micro stage are discussed. Also, through linearization of kinematic equations about an operating point on the assumption that the configuration of the micro stage remains essentially constant throughout a workspace is performed. To maximize the workspace of the stage relative to fixed frame, an optimal design procedure of geometric parameter is shown. Hardware description and a prototype are presented. The prototype is about 150mm in height and its base platform is approximately 94mm in diameter. The workspace of the prototype is obtained by computer simulation. Kinematic calibration procedure of the micro stage and its results are presented.

• Tunnel and Underground Space
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• v.2 no.2
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• pp.212-223
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• 1992

The distinct element method(DEM) si well suited to the kinematic analysis of blocky rock masses. Two distinctive problems, a rock avalache and tunnel in jointed rock masses, are chosen to apply the DEM which is based on perfectly rigid behaviour of blocks. Investigated for both problems are the effects of the input parameters such as contact stiffnesses, friction coefficient and damping property. Using various types of models of the avalanche and tunne, an extensive parametric study is done to gain experiences in the method, and then to alleviate difficulties in determining parameter values suitable for a given problem. The coefficient of frictio has significant effects on all aspects of avalanche motion(travel distance, velocity and travel time), while the stiffnesses affect the rebounding and jumping motions after collision. The motion predicted by the models having single and mutiple blocks agrees well to the observations reported on the actual avalache. For the tunnel problem, the behaviour of the key block in an example tunnel is compared by testing values of the input parameters. The stability of the tunnel is dependent primarily on the friction coefficient, while the stiffness and damping properties influence the block velocity. The kinematic stability of a tunnel for underground unclear waste repository is analyzed using the joint geometry data(orientation, spacing and persistence) occurred in a tailrace tunnel. Allowing a small deviation to the mean orientation results in different modes of failure of the rock blocks around the tunnel. Of all parameters tested, the most important to the stability of the tunnel in blocky rock masses are the geometry of the blocks generated by mapping the joint and tunnel surfaces in 3-dimensions and also the friction coefficient of the joints particularly for the stability of the side walls.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.1-10
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• 2006

The purpose of this study was to identify critical parameters of a putting performance using jerk cost function. Jerk is the time rate of change of acceleration and it has been suggested that a skilled performance is characterized by decreased jerk magnitude. Four elite golfers($handicap{\leq}2$) and 4 novice golfers participated in this study for the comparison. The 3D kinematic data were collected for each subject performing 5 trials of putts for each of these distances (random order): 1m, 3m, 5m The putting stroke was divided into 3 phases such as back swing. down swing and follow-through. In this study, it was assumed that there exist smoothness difference between elite and novice golfers during putting. The distance and jerk-cost function of Putting stroke for each phase were analyzed Results showed that there was a significant difference in jerk cost function at putter toe (at media-lateral direction) and at the center of mass between two groups by increasing putting distance. From these it could be concluded that jerk can be used as a kinematic parameter for distinguishing elite and novice golfers.

• Journal of The Korean Astronomical Society
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• v.54 no.2
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• pp.61-70
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• 2021

We investigate 20 post-coronal mass ejection (CME) blobs formed in the post-CME current sheet (CS) that were observed by K-Cor on 2017 September 10. By visual inspection of the trajectories and projected speed variations of each blob, we find that all blobs except one show irregular "zigzag" trajectories resembling transverse oscillatory motions along the CS, and have at least one oscillatory pattern in their instantaneous radial speeds. Their oscillation periods are ranging from 30 to 91 s and their speed amplitudes from 128 to 902 km s-1. Among 19 blobs, 10 blobs have experienced at least two cycles of radial speed oscillations with different speed amplitudes and periods, while 9 blobs undergo one oscillation cycle. To examine whether or not the apparent speed oscillations can be explained by vortex shedding, we estimate the quantitative parameter of vortex shedding, the Strouhal number, by using the observed lateral widths, linear speeds, and oscillation periods of the blobs. We then compare our estimates with theoretical and experimental results from MHD simulations and fluid dynamic experiments. We find that the observed Strouhal numbers range from 0.2 to 2.1, consistent with those (0.15-3.0) from fluid dynamic experiments of bluff spheres, while they are higher than those (0.15-0.25) from MHD simulations of cylindrical shapes. We thus find that blobs formed in a post-CME CS undergo kinematic oscillations caused by fluid dynamic vortex shedding. The vortex shedding is driven by the interaction of the outward-moving blob having a bluff spherical shape with the background plasma in the post-CME CS.

• Journal of Korea Water Resources Association
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• v.53 no.8
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• pp.597-604
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• 2020

Muskingum, a hydrologic channel flood routing, is a method of predicting outflow by using the relationship between inflow, outflow, and storage. As many studies for Muskingum model were suggested, parameters were gradually increased and the calculation process was complicated by many parameters. To solve this problem, an optimization algorithm was applied to the parameter estimation of Muskingum model. This study applied the Advanced Nonlinear Muskingum Model considering continuous flow (ANLMM-L) to Wilson flood data and Sutculer flood data and compared results of the Linear Nonsingum Model incorporating Lateral flow (LMM-L), and Kinematic Wave Model (KWM). The Sum of Squares (SSQ) was used as an index for comparing simulated and observed results. Exponential Bandwidth Harmony Search with Centralized Global Search (EBHS-CGS) was applied to the parameter estimation of ANLMM-L. In Wilson flood data, ANLMM-L showed more accurate results than LMM-L. In the Sutculer flood data, ANLMM-L showed better results than KWM, but SSQ was larger than in the case of Wilson flood data because the flow rate of Sutculer flood data is large. EBHS-CGS could be appplied to be appplicable to various water resources engineering problems as well as Muskingum flood routing in this study.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.197-203
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• 2017

Objective: The purpose of this study was to determine how exercise intensity affects muscle activity and kinematic variables during squat. Method: Fifteen trainers with >5 years of experience were recruited. For the electromyography (EMG) measurements, four surface electrodes were attached to both sides of the lower extremity to monitor the rectus femoris (RF) and biceps femoris. Three digital camcorders were used to obtain three-dimensional kinematics of the body. Each subject performed a squat in different conditions (40% one-repetition maximum [40%1RM], 60%1RM, and 80%1RM). For each trial being analyzed, three critical instants and two phases were identified from the video recording. For each dependent variable, one-way analysis of variance with repeated measures was used to determine whether there were significant differences among the three different conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results: The results showed that the average integrated EMG values of the RF were significantly greater in 80%1RM than in 40%1RM during the extension phase. The temporal parameter was significantly longer in 80%1RM than in 40%1RM and 60%1RM during the extension phase. The joint angle of the knee was significantly greater in 80%1RM than in 40%1RM at flexion. The range of motion of the knee was significantly less in 80%1RM than in 40%1RM and 60%1RM during the flexion phase and the extension phase. The angular velocity was significantly less in 80%1RM than in 40%1RM and 60%1RM during the extension phase. Conclusion: Generally, the increase of muscle strength decreases the pace of motion based on the relation between the strength and speed of muscle. In this study, we also found that the increase of exercise intensity may contribute to the increase of the muscle activity of the RF and the running time in the extension phase during squat motion. We observed that increased exercise intensity may hinder the regulation of the range of motion and joint angle. It is suitable to perform consistent movements while controlling the proper range of motion to maximize the benefit of resistance training.

• Journal of the Korea Computer Graphics Society
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• v.2 no.1
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• pp.48-60
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• 1996

This paper present a new technique for doing realistic computer animation. The method is based on forward dynamic simulation and nonlinear problem solving (parameter optimization) technique. Objects are modelled physically and simulated faithfully while satisfying kinematic and geometric constraints. This forward dynamic simulation gives us very realistic motions especially for non-voluntary motions. Then we extend simulation technique to do animation using parameter optimization. The basic idea is to add motion control over the entire animation. The motion control is finding optimal solutions while satisfying user's animation goals. We provide two different animation technique; one is for rigid body without joint actuators and the other is for rigid body with linear joint actuators. To achieve motion control, we convert single simulation to single nonliner function evaluation while either setting initial conditions as variables for the function or allocating control variables in terms of time. This method is presented with two animation examples: dice-magic and human stand-up.

• Smart Structures and Systems
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• v.25 no.2
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• pp.219-228
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• 2020

This work presents a modified continuum model to explore and investigate static and vibration behaviors of perforated piezoelectric NEMS structure. The perforated nanostructure is modeled as a thin perforated nanobeam element with Euler-Bernoulli kinematic assumptions. A size scale effect is considered by included a nonlocal constitutive equation of Eringen in differential form. Modifications of geometrical parameters of perforated nanobeams are presented in simplified forms. To satisfy the Maxwell's equation, the distribution of electric potential for the piezoelectric nanobeam model is assumed to be varied as a combination of a cosine and linear functions. Hamilton's principle is exploited to develop mathematical governing equations. Modified numerical finite model is adopted to solve the equation of motion and equilibrium equation. The proposed model is validated with previous respectable work. Numerical investigations are presented to illustrate effects of the number of perforated holes, perforation size, nonlocal parameter, boundary conditions, and external electric voltage on the electro-mechanical behaviors of piezoelectric nanobeams.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1238-1245
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• 2014

This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.55-62
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• 1999

In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. In this paper, to bring under robust ard accurate control of auto-equipnent systems which disturbance, parameter alteration of system, uncertainty ard so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the learning architecture to compute inverse kinematic coordinates transfonnations in the manirclator of auto-equipnent systems is developed ard the example that DNP can be used is explained The architocture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simllations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.he DNP.