• Ocean and Polar Research
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• 제33권1호
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• pp.69-76
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• 2011

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo's kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line) system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.

• Structural Engineering and Mechanics
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• 제56권3호
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• pp.369-383
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• 2015

In this study, effect of various material hardening models based on Holloman's isotropic, Ziegler's linear kinematic, non-linear kinematic and mixture of the isotropic and nonlinear kinematic hardening laws on springback prediction of titanium alloy (Ti-3Al-2.5V) in a tube rotary draw bending (RDB) process was investigated with presenting the keynotes for a comprehensive step by step ABAQUS simulation. Influence of mandrel on quality of the final product including springback, wall-thinning and cross-section deformation of the tube was investigated, too. Material parameters of the hardening models were obtained based on information of a uniaxial test. In particular, in the case of combined iso-nonlinear kinematic hardening the material constants were calibrated by a simple approach based on half-cycle data instead of several stabilized cycles ones. Moreover, effect of some material and geometrical parameters on springback was carried out. The results showed that using the various hardening laws separately cannot describe the material hardening behavior correctly. Therefore, it is concluded that combining the hardening laws is a good idea to have accurate springback prediction. Totally the results are useful for predicting and controlling springback and cross-section deformation in metal forming processes.

• 한국운동역학회지
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• 제17권4호
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• pp.157-167
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• 2007

The purpose of this study was to analyze kinematic techniques in the woman's 100m hurdle. In order to find the kinematic parameters, a 3-D video system for kinematic analysis-kwon3d 3.1(Kwon3D Motion Analysis Program Version 3.1)-was used. Eight JVC video cameras(GR-HD1KR) were used to film the performance of Lee Yeon-Kyoung at a frame rate of 60fields/s. The kinematic characteristics from the first hurdle to last hurdle were analyzed at the clearing hurdle spots such as distance, velocities, heights and angles. The real-life three-dimensional coordinates of 20 body landmarks during each phases were collected using a Direct Linear Transformation procedure. After analyzing the kinematic variables in the 100m hurdle run, the following conclusion were obtained; Lee Yeon-Kyoung had to maintain constant stride lengths between hurdles and increase takeoff distance before clearance and shorter landing distance after clearance. She also had to hit the correct takeoff point in front of the hurdle and extend the lead leg at the moment of landing in order to minimize the loss of velocity. She had to sprint between hurdles as fast as possible over 8m/s and run powerful first stride and shortened third stride preparing for the following hurdle clearances.

• Clinical and Experimental Reproductive Medicine
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• 제27권4호
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• pp.393-403
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• 2000

Objective: To investigate the effects of ROS on kinematic parameters in human spermatozoa. To verify the changes in above parameters, human spermatozoa were incubated with xanthine-xanthine oxidase (X-XO), $H_2O_2$, sodium nitroprusside (SNP) or lymphocyte. Otherwise, spemlatozoa were incubated under low $O_2 (5%) condition. Methods: CASA was employed to analyze sperm motion parameters. Results: Under $H_2O_2 treatment, all kinematic parameters of spermatozoa were dramatically increased during 30 min, but gradually decreased thereafter. Under the low concentration of $H_2O_2 (125 ${\mu}M$ and 250 ${\mu}M$), the movement velocity (VAP, VCL, VSL) decreased, but forward movement increased. Under the 1mM $H_2O_2, sperm showed reduced kinematic parameters except during first 30 min of incubation. In the cases of X-XO and SNP treatment, the movement velocity increased but the forward movement reduced. After incubation for 3 hr treatment, the kinematic parameters gradually decreased in high concentration of X-XO. However these parameters maintained or increased in low concentration of X-XO. There was no obvious changes in the above parameters in the high concentration of SNP. In the presence of high concentration of lymphocytes, all parameters decreased. Under the 5% $O_2 condition, the parameters of the movement velocity and movement pattern increased, but forward movement decreased. Taken togethers, it suggested that ROS increased the movement velocity but decreased the forward movement and lateral head replacement. $H_2O_2, X-XO, SNP and lymphocyte treatment significantly increased capacitated spermatozoa within I h of incubation. There was no significant difference in capacitation between low- and high $O_2 group. Conclusion: The early onset of capacitation in the presence of ROS suggest that ROS might be a positive regulator of sperm capacitation and hyperactivation. These results demonstrate that low concentration ROS facilitates the movement velocity but high concentration ROS was inhibitory.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.268-273
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• 2000

Velocity-dependent increase in tonic stretch reflexes is one of the prominent characteristics of spasticity. It is very important to evaluate spasticity objectively and quantitatively before and after treatment for physicians. An accurate quantitative biomechanical evaluation for the spasticity which is caused by the disorder of central nervous system is made in this study. A sudden leg dropper which is designed to generate objective testing environment at every trial gives very effective environment for the test. Kinematic data are archived by the 3-dimensional motion analysis system($Elite^{(R)}$, B.T.S., Italy). Kinematic data are angle and angular velocity of lower limb joints, and length and lengthening velocity of lower limb muscle. A program is also developed to analyze the kinematic data of lower limb, contraction and relaxation length of muscles, and dynamic EMG data at the same tim. To evaluate spasticity quantitatively, total 31 parameters extracted from goniogram, EMG and muscle model are analyzed. Statistical analysis are made for bilateral correlations for all parameters. The described instrumentation and parameters to make quantitative and objective evaluation of spasticity shows good results.

• 한국수자원학회논문집
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• 제52권12호
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• pp.1057-1066
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• 2019

저류함수법은 비선형성을 가지는 실제 강우-유출 관계를 해석하기 위한 방법으로 우리나라 4개 홍수통제소의 홍수예측모형으로 이용되고 있다. 정확한 유출해석을 위해서는 정확한 저류함수의 매개변수 산정이 중요하나, 현재 사용되고 있는 저류함수법의 매개변수는 제한된 수문사상 분석에 의해 작성된 2012년도 경험식에 의해 추정된 것으로 정확도가 낮은 실정이다. 운동파법은 유역 및 하도의 물리변수에 기초한 방법으로 강우-유출 해석에 많이 이용되고 있다. 운동파법의 변환에 의한 2항 저류함수법을 채택하면 물리변수를 기반으로 매개변수를 추정할 수 있어 유출계산의 정확도가 증가할 수 있다. 유역유출에서 중요한 물리변수인 등가조도는 토지이용 및 토지피복을 이용하여 쉽게 구할 수 있으며, 하도유출의 물리변수는 하천기본계획 보고서 및 지형도 등에서 쉽게 구할 수 있어 매개변수의 추정이 매우 용이한 장점이 있다. 본 연구에서는 2항 저류함수법의 운동파법 재현성을 검토하였고, 한강권역 홍천강의 지류인 내촌천을 대상으로 2항 저류함수법의 적용 가능성을 검토한 바, 경험식에 의한 매개변수를 이용한 기존 1항 저류함수법보다 정확한 유출계산 결과를 얻을 수 있었다. 미계측 유역 및 하도에서도 물리변수를 이용하여 매개변수를 용이하게 추정할 수 있기 때문에 저류함수법의 활용도가 증가될 수 있을 것으로 기대된다.

• 대한기계학회논문집
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• 제19권4호
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• ETRI Journal
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• 제38권2호
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• pp.337-346
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• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• Journal of Mechanical Science and Technology
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• 제17권1호
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• pp.23-31
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• 2003

This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.

• 한국동물생명공학회지
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• 제37권3호
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• pp.193-201
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• 2022

Subgroups of sperm which share similar motility features documented in mammals indicate between-subject variations that might be related to fertilizing potential of the respective ejaculates. The objectives of this study were to define subpopulations of motile sperm in Gyr falcon semen using kinematic parameters driven by Computer Assisted Semen Analysis (CASA) and to investigate the subject-related variations in these subpopulations. A total of 24 fresh ejaculates from 6 falcons were used to assign each of the 20473 sperms into 3 subpopulations by a multivariate cluster analysis. The proportion of sperms in different sub-populations were compared among subjects by a generalized linear model and repeatability of sperm frequency in different subpopulations was investigated by corelation analysis. The resulting 3 categories of sperm indicated significant differences in all kinematic parameters (p < 0.05). Subpopulation 1 (15.91%) contained sperms with the highest velocity and progressiveness of movement trajectory while subpopulation 3 (6.4%) included the least progressively motile sperms. Proportion of rapid and medium progressive sperm were consistently higher in the ejaculate of three falcons compared to the two other birds which also had the highest proportion of slow non-progressive sperms (p < 0.05). Respective proportion of sperms in each subpopulations indicated significant repeatability over multiple measurements (p < 0.05). In conclusion, subpopulations of motile sperm in Gyr falcon can be identified using kinematic parameters generated by CASA. Individual differences in the proportion of these subpopulations might have potential application for identifying the males with higher fertilizing capacity.