• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.83-98
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• 2004

The purpose of this study was to determine the kinematic variables of the hurdling for a korea record holder (A) and a national hurdle representative (B). after the kinematic variables such the distance and the distance and height of C.G, the velocity and the angle were analyzed about the hurdling. The results were summarized as follows; 1. In terms of the distance and the height of C.G, subject A showed long in horizontal distance from C.G to the take-off phase, but showed short in the landing phase. Subject B showed short in horizontal distance from C.G to the take-off phase, and showed long in the landing phase. 2. In terms of the velocity of C.G, Subject A showed fast C.G velocity in horizontal direction to the braking phase, Subject A and B showed slower C.G velority in the landing phase, but Subject A showed height C.G velocity in vertical direction to the to the take-off, the landing, and propulsion phase 3. In terms of the angle of C.G and lean of C.G to front at the braking and the take-off phase. Subject A kept the less angle in the maximum trunk lean to front at the flight phase as comparison with Subject B. 4. In terms of the velocity of the knee and the ankle joint. Subject A showed fast in the resultant velocity of the left ankle joint the take-off phase, but showed slow in the left knee joint. Subject B showed fast in the resultant velocity of the left knee joint the take-off phase, but showed slow in the right knee and the right ankle joint.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.9
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• pp.3834-3842
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• 2011

The purpose of this study is to analyze the kinematic characteristics of children with Down syndrome got congenitally joint laxity and muscle hypotonic. The subjects are boys with Down syndrome and don't have the other disabilities. We got three dimensional position data and then calculated spatiotemporal and kinematic variables during walking on treadmill used increasingly for gait analysis and training. In result, in order to overcome their gait instability due to their musculoskeletal characteristics they walked with hip, knee and ankle joints more flexed than the typical gait pattern, and on the propulsion phase they extend the lower limb joints less than the typical, result in propel the body less than. The reason is that the more is the propulsion by extending the joints, the greater is the reaction force from the ground on heel contact. This result is expected to be used to develop the training program for intensification of musculoskeletal system aim to improve the other musculoskeletal disabilities as well as Down syndrome.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.3
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• pp.263-272
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• 2001

For a high resolution real-time kinematic GPS surveying using carrier phase, positioning accuracy according to the OTF initialization was better than 1 cm with more than 5-minute initialization within 20 km baseline. Also, it is recommended that measurements be carried out when PDOP and RDOP can be kept less than 4.0 since the geometrical layout of satellites has a great influence on the positioning accuracy. After considering the initial conditions and measuring time zone for real-time kinematic GPS. post-processed continuous kinematic GPS and real-time kinematic GPS measurements have been carried out. A new system has been proposed to store measured data by using a program developed to store GPS data in real time and to monitor the satellite condition through controller at the time of measurement. As a result, it has been revealed that possible noise in surveying could be corrected and the accuracy could be improved.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.13-24
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• 2005

The purpose of this study was to compare kinematic data between experts and novices, and identify difference kinematic parameters changing direction to kick in penalty kick of soccer play. Novice subjects were 5 high school students Who has never been experienced a soccer player, and expert subjects were 5 competitive high school soccer players. The 3-d angle was calculated by Euler's Angle by inertial axis and local axis with three-dimensional cinematography. Kinematic parameters in this study consisted of angles of knee joints, hip joints, lower trunk and upper trunk when the support foot was contacted on ground and kicking foot impacted the ball. The difference of angle of knee joints in the flexion/extension was insignificantly showed below $4{\sim}9^{\circ}$ in groups and directions of ball at the time of support and impact. But the difference of angle of hip joint was significant in groups and directions of ball at the time of support and impact. Specially the right hip joint of experts were more flexed about $12^{\circ}$($43.99{\pm}6.17^{\circ}$ at left side, $31.87{\pm}4.49^{\circ}$ at right side), less abducted about $10^{\circ}$ ($-31.27{\pm}4.49^{\circ}$ at left side, $-41.97{\pm}6.67^{\circ}$ at right side) at impact when they kicked a ball to the left side of goalpost. The difference of amplitude angle in the trunk was significantly shown at upper trunk not lower trunk. The upper trunk was external rotated about $30^{\circ}$ (novice' angle was $-16.3{\pm}17.08^{\circ}$, expert's angle was $-43.73{\pm}12.79^{\circ}$) at impact. Therefore the significant difference of kinematic characteristics could be found at the right hip joint and the upper trunk at penalty kick depending on the direction of kicking.

• Journal of Korea Water Resources Association
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• v.41 no.5
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• pp.455-462
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• 2008

In this research, a distributed rainfall-runoff model based on physical kinematic wave was developed to simulate temporal and spatial distribution of flood discharge considering grid rainfall and grid based hydrological information. The developed model can simulate temporal change and spatial distribution of surface flow and sub-surface flow during flood period, and input parameters of ASCII format as pre-process can be extracted using GIS such as ArcGIS and ArcView. Output results of ASCII format as post-process can be created to express distribution of discharge in the watershed using GIS. The Namgang Dam Watershed was divided into square grids of 500m resolution and calculated by kinematic wave into an outlet through channel networks to review capability of the developed model. The model displayed precise results to be compared to the hydrograph.

• Geomechanics and Engineering
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• v.34 no.2
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• pp.209-220
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• 2023

In this study, a series of three-dimensional numerical analyses were carried out to investigate the penetration performance of a dynamically installed Hall anchor. The advanced coupled Eulerian-Lagrangian (CEL) technique was adopted to accurately simulate the large soil deformation during the vertical penetration of a Hall anchor. In total, 52 numerical analyses were conducted to investigate the relationship between anchor penetration depth and the initial kinematic energy. Moreover, a sensitivity analysis was performed to investigate the effects of soil shear strength and soil type on the penetration mechanism of a drop anchor under self-weight. There is a monotonic increase in the penetration depth with an increasing anchor weight when the topsoil of the riverbed is not subjected to erosion. On the other hand, all the computed depths significantly increase when soil erosion is taken into consideration. This is mainly due to an enhanced initial kinematic energy from an increased dropping depth. Both depths increase exponentially with the initial kinematic energy. An enhanced shear strength can potentially increase the side resistance and end-bearing pressure around a drop anchor, thus significantly reducing the downward penetration of a hall anchor. Design charts are developed to directly estimate penetration depth and associated plastic zone due to dynamically installed anchor at arbitrary soil shear strength and anchor kinematic energy.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.389-396
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• 2012

As the demand on the precise positioning for the moving objects has been increased in the various industry field, many studies have been conducted to analyze real time kinematic technique and its practical usage. The main purpose of this study is to analyze the possibility of Network-RTK(VRS) in real-time kinematic positioning. So, the accuracy analysis has been conducted by comparing the Network-RTK(VRS) position with respect to the RTK position. As a result, Network-RTK(VRS) based on kinematic positioning has centimeter level of RMS in the ideal environment compared to RTK positioning. However, when the integer ambiguities was lost, the accuracy of Network-RTK was meter level. At that time, the quality value has been changed dramatically and shows big correlation with accuracy. When the position and height quality values are within 0.1m, the RMS of the horizontal and vertical position appears better than 10cm and 20cm, respectively. However, if the quality value is over 0.1m, the RMS increases to larger than a meter. Therefore, it is recommended to check the quality value when conducting Network-RTK(VRS) kinematic positioning to get the centimeter level accuracy.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.306-311
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• 2017

This paper deals with the design optimization of the kinematic characteristics of an automotive suspension system. The kinematic characteristics of the suspension determine the attitude of the wheels, such as the toe and camber, which not only relates to tire wear during driving, but also greatly affects the control of the vehicle and its stability, which corresponds to the motion performance of the vehicle. Therefore, it is very important to determine the characteristics of the suspension mechanism at the initial stage of the design. In this study, a displacement analysis is performed to determine the kinematic properties of the suspension for the McPherson strut suspension. For this purpose, a set of constraint equations for the joints constituting the suspension mechanism was established and a program was developed to solve them. We also used ADS, a design optimization program, to obtain the desired kinematic characteristics of the suspension. As the design variables for optimization, we used the coordinates of the hard points, which are the points of attachment of the suspension to the vehicle body, and are defined as the summation of the toe-in for the up and down movement of the wheel as the objective function. As the constraint functions, the maximum camber angle and minimum roll center height, which are design requirements, are considered. As a result of this study, it was possible to determine the optimal locations of the hard points that satisfy both constraint functions and minimize the change of the toe-in.

• 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.