• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.138-144
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• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.101.1-101
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• 2002

Vehicle driving simulator is a virtual reality device which makes a human being feel as if the one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, it is difficult to select the proper cutoff frequency of filters in washout algorithm. This paper introduces the signal compression method as an effective method to analyze the sim...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.6
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• pp.9-19
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• 1993

This paper presents a new concept of a reconfigurable manipulator system which adjusts its mechanical structure to suit the kinematic characteristics of a given task. A highly redundant manipulator designed as a general purpose manipulator needs to be reconfigured for a specific task. A general task can be decomposed of motion and force components with different control requirements: either gross motion control or fine motion control. Each of these task components are distributed to each part of the manipulator based on the control requirements and the structure of the manipulator. Through the reconfiguration, a redundant manipulator is decomposed into two local arms, and the kinematic characteristics of each local arm is adjusted to suit the assigned task. The reconfigured redundant manipulator has two local arms well-configured for the local tasks and cooperating in serial for a given task. This globally enhances the performance of a redundant manipulator to execute a specific task. The simulation results are shown.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.293-309
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• 2003

The purpose of this study was to analyze the kinematic variables of the right-straight punch(RSP) in boxing with three-dimensional analysis technical methods. The subjects are boxers who have been playing in national boxing representative team and the RSP is their special favorite technique, The right-straight punches were filmed on 16mm video cameras(30frames/sec.) The kinematic variables were temporal, postural and center of gravity(COG). The mean and the standard deviation of variables have been obtained and used as basic factors for examining characteristics of the RSP by out-boxers. From the data analysis and discussion, the following conclusions have been drawn. 1) Temporal variables It is a significant characteristic that LDJ and KDM s' the amount of elapsed time(EF) needed for both an attack and a defense were similar : ET for stretch-out of attack-arm was $0.52{\pm}0.04\;sec$. and return was $0.54{\pm}0.01\;sec$. Therefore, a defense motion is as important as an attack motion. 2) Posture variables When the subjects performed a RSP, the significant characteristic of the ankle angle was that it wasn't completely returned to the original position after stretching-out. Therefore it is necessary to do supplementary exercises, such as side steps, to move the center of gravity more effectively. The hee angle was not fully stretched either. In regard to the hip angle, it should be rotated with all strength to harmonize with the direction of movement. 3) Center of Gravity(COG) variables When both LDJ and KDM performed a RSP, a significant characteristic was the transformation of sagittal view rather than transverse or frontal views.

• 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 the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.80-88
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• 2000

This paper presents a method to optimize the bump steer characteristics (the change of toe angle with vertical wheel travel) with respect to hard points in the double wishbone front suspension of the four-wheel-drive vehicle using the design of experiment, multibody dynamics simulation, and optimum design program. Front and rear suspensions are modeled as the interconnection of rigid bodies by kinematic joints and force elements using DADS. The design variables with respect to the kinematic characteristics are obtained through the experimental design sensitivity analysis. An object function is defined as the area of absolute differences between the desired and experimental toe angle. By the design of experiment and regression analysis, the regression model function of bump steer characteristics is extracted. The design variables that make the toe angle optimized are selected using the optimum design program DOT. The lane change simulations and tests of the full vehicle models are implemented to evaluate the improvement of vehicle handling performances by the optimization of front bump steer characteristics. The results of the lane change simulations show that the vehicle with optimized bump steer has the weaker understeer tendency than the vehicle with initial bump steer.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.12
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• pp.1813-1820
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• 2001

The purpose of this study was to investigate the significant characteristics in atomization process of industrial etching spray fur the design or Precise pressure-swirl nozzles. The experiment was carried out with different viscosities and densities of the liquid. The macro characteristics of liquid spray, such as the spray angle and breakup process were captured by PMAS and the micro characteristics of liquid spray. such as droplet size and velocity measurements were obtained by PDA. The droplet axial and radial velocity and SMD were measured along axial and radial direction. The RMS of two velocities was measured along radial direction. It was found that the fluid with higher kinematic viscosity resulted in the larger SMD and the lower mean droplet velocity. And we could divide breakup processes into three regions that is atomization, non-dilution and dilution one in spray of pressure-swirl nozzle. The radial as well as axial velocity of droplet played an important role in the atomization process of higher kinematic viscosity fluid.

• 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.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.295-306
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• 2013

The purpose of this study was to provide high school male shot putters training methods of gliding and delivery motion through comparative analysis of kinematic characteristics. To accomplish this purpose, three dimensional motion analysis was performed for the subjects(PKC, KKH, YDL) who participated in high school male shot putter competition on 92nd (2011), 93rd (2013) National Sports Festival. The subjects were filmed by four Sony HXR-MC2000 video cameras with 60 fields/s. The three-dimensional kinematic data of the glide, conversion and delivery phase were obtained by Kwon3d 3.1 version. The data of the shoulder rotational angles and projection angles were calculated with Matlab R2009a. The following conclusions had been made. With the analysis of the gliding and stance length ratio, the gliding length was shorter at the TG than the SG with short-long technique but the gliding and stance length ratio was 46.8:53.2% respectively. The deviation of the shots trajectory from APSS(Athlete-plus-shot-system) revealed that the PKC showed similar to "n-a-b-c-I" of skilled S-shape type, KKH and YDL showed "n-a-d-f-I'" of unskilled type. Furthermore, they showed smaller radial distance from the central axis of the APSS and the shots were away from the linear trajectory. From this characteristics, The PKC who performed more TG than SG had shorter glide with S-shape of APSS(skilled type) showed the better record than others with technical skill. But KKH and YDL had bigger glide ratio with "n-a-d-f-I'" of unskilled type and improved their records with technical factor. The projection factor had an effect on the record directly. Because PKC maintained more lower glide and transition posture with momentum transfer through COG's rapid horizontal velocity respectively the subject possessed the characteristics of high horizontal and vertical velocity with large turning radius from shot putter to APSS.