• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• Journal of the Korean earth science society
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• v.33 no.5
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• pp.377-394
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• 2012

To elucidate the mechanism associated with the development of heavy precipitation system, a field experiment was carried out in Jejudo (or Jeju Island) and Marado, Korea from 22 June to 12 July 2006. The synoptic atmospheric conditions were analyzed using the National Centers for Environmental Prediction-National Center for Atmospheric Research's (NCEP/NCAR) reanalyzed data, weather maps, and sounding data. The kinematic characteristics of each precipitation system were investigated by dual Doppler radar analysis. During the field experiment, data of four precipitation events with more than 20 mm rainfall were collected. In F case (frontal precipitation), a typical Changma front was dominant and the observation field was fully saturated. However there was no convective instability near the surface. LF case (low pressure accompanied with Changma front) showed strong convective instability near the surface, while a strong convergence corresponded to the low pressure from China accompanied with Changma front. In FT case (Changma front indirectly influenced by typhoon), the presence of a convective instability indicated the transport of near surface, strong additional moisture from the typhoon 'EWINIAR'. The convergence wind field was ground to be located at a low level. The convective instability was not significant in T case (precipitation of the typhoon 'EWINIAR'), since the typhoon passed through Jejudo and the Changma front was disappeared toward the northeastern region of the Korean peninsula. The kinematic (convergence and divergence) characteristics of wind fields, convective instability, and additional moisture inflow played important roles in the formation and development of heavy precipitation.

• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.113-118
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• 2021

Objective: The purpose of this study was to investigate differences of landing strategy between people with or without chronic ankle instability (CAI) during double-leg drop landing. Method: 34 male adults participated in this study (CAI = 16, Normal = 18). Participants performed double-leg drop landing task on a 30 cm height and 20 cm horizontal distance away from the force plate. Lower Extremities Kinetic and Kinematic data were obtained using 8 motion capture cameras and 2 force plates and loading rate was calculated. Independent samples t-test were used to identify differences between groups. Results: Compared with normal group, CAI group exhibits significantly less hip internal rotation angle (CAI = 1.52±8.12, Normal = 10.63±8.44, p = 0.003), greater knee valgus angle (CAI = -6.78±5.03, Normal = -12.38 ±6.78, p = 0.011), greater ankle eversion moment (CAI = 0.0001±0.02, Normal = -0.03±0.05, p = 0.043), greater loading Rate (CAI = 32.65±15.52, Normal = 18.43±10.87, p = 0.003) on their affected limb during maximum vertical Ground Reaction Force moment. Conclusion: Our results demonstrated that CAI group exhibits compensatory movement to avoid ankle inversion during double-leg drop landing compared with normal group. Further study about how changed kinetic and kinematic affect shock absorption ability and injury risk in participants with CAI is needed.

• Journal of the Korean Geotechnical Society
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• v.18 no.2
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• pp.97-105
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• 2002

Random properties of discontinuities were attributed to the limitation of test methods and lack of obtained data. Therefore, the uncertainties are pervasive and inevitable in rock slope engineering as well as other geotechnical engineering fields. The probabilistic analysis has been proposed to deal properly with the uncertainty. However, previous probabilistic approaches do not take account of the condition of kinematic instability but consider only kinetic instability. In this study, in order to overcome the limitation of the previous studies, the geometric characteristics as well as the shear strength characteristics in discontinuities are taken account into the probabilistic analysis. Then, the new approach to evaluate the probability of failure is suggested. The results of the deterministic analysis which was carried out to compare with the result of the probabilistic analysis, are somewhat different from those of the probabilistic approach. This is because the selected and used data in the deterministic approach do not take account of the random properties of discontinuities.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.819-822
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• 2006

This paper has the objects of deciding dynamic instability regions of thick plates on inhomogeneous Pasternak foundation by finite element method and providing kinematic design data for mats and slabs of building structures. In this paper, dynamic stability analysis of tapered opening thick plate is done by use of Serendipity finite element with 8 nodes considering shearing strain of plate. To verify this finite element method, buckling stress and natural frequencies of thick pate with or without in-plane stress are compared with existing solutions. The results are as follow that this finite element solutions with $4{\times}4$ meshes are shown the error of maximum 0.56% about existing solutions, and the larger foundation parameters, the farther dynamic instability regions are from vertical axis of graph presented relation of ${\beta}\;and\;\overline{\omega}/\omega$.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.955-962
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• 2006

This paper has the objects of deciding dynamic instability regions of thick plates on Pasternak foundation by finite element method and providing kinematic design data for mats and slabs of building structures. In this paper, dynamic stability analysis of tapered opening thick plate is done by use of Serendipity finite element with 8 nodes considering shearing strain of plate. To verify this finite element method, buckling stress and natural frequencies of thick pate with or without in-plane stress are compared with existing solutions. The results are as follow that this finite element solutions with 4x4 meshes are shown the error of maximum 0.56% about existing solutions, and obtained dynamic instability graph according with variation of opening positions.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.

• Korean Journal of Applied Biomechanics
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• v.32 no.1
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• pp.9-16
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• 2022

Objective: The purpose of this study was to investigate how the chronic ankle instability affects postural control during forward jump landing. Method: 20 women with chronic ankle instability (age: 21.7 ± 1.6 yrs, height: 162.1 ± 3.7 cm, weight: 52.2 ± 5.8 kg) and 20 healthy adult women (age: 21.8 ± 1.6 yrs, height: 161.9 ± 4.4 cm, weight: 52.9 ± 7.2 kg) participated in this study. For the forward jump participants were instructed to stand on two legs at a distance of 40% of their body height from the center of force plate. Participants were jump forward over a 15 cm hurdle to the force plate and land on their non-dominant or affected leg. Kinetic and kinematic data were obtained using 8 motion capture cameras and 1 force plates and joint angle, vertical ground reaction force and center of pressure. All statistical analyses were using SPSS 25.0 program. The differences in variables between the two groups were compared through an independent sample t-test, and the significance level was to p < .05. Results: In the hip and knee joint angle, the CAI group showed a smaller flexion angle than the control group, and the knee joint valgus angle was significantly larger. In the case of ankle joint, the CAI group showed a large inversion angle at all events. In the kinetic variables, the vGRF was significantly greater in the CAI group than control group at IC and mGRF. In COP Y, the CAI group showed a lateral shifted center of pressure. Conclusion: Our results indicated that chronic ankle instability decreases the flexion angle of the hip and knee joint, increases the valgus angle of the knee joint, and increases the inversion angle of the ankle joint during landing. In addition, an increase in the maximum vertical ground reaction force and a lateral shifted center of pressure were observed. This suggests that chronic ankle instability increases the risk of non-contact knee injury as well as the risk of lateral ankle sprain during forward jump landing.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1177-1180
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• 2007

This paper has the objects of deciding dynamic instability regions of thick plates by finite element method and providing kinematic design data for mats and slabs of building structures. In this paper, dynamic stability analysis of tapered opening thick plate is done by use of Serendipity finite element with 8 nodes considering shearing strain of plate. To verify this finite element method, buckling stress and natural frequencies of thick pate with or without in-plane stress are compared with existing solutions. The results are as follow that this finite element solutions with $4{\times}4$ meshes are shown the error of maximum 0.56% about existing solutions, and obtained dynamic instability graph according with variation of opening positions.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.