• The Journal of Korea Robotics Society
• /
• v.12 no.1
• /
• pp.86-93
• /
• 2017

The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of $R^2$ into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as "free-flying object". In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.

• Journal of Biosystems Engineering
• /
• v.18 no.2
• /
• pp.91-99
• /
• 1993

Kinematic analysis was made on a gear type high speed planting mechanism for riding-type rice transplanters. The kinematic equations thus derived were computer coded to simulate its motion characteristics such as a planting locus, velocities and accelerations of gears and planting knife, etc. Using the simulation program a sensitivity analysis of design parameters was also carried out to determine their effects on the planting performance. Of the design parameters the eccentricity of the gear was found most influential.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.16 no.1
• /
• pp.27-40
• /
• 1998

This paper addresses the suitability of GPS positioning technology to monitoring deformation and movement of structures. The first part of the study is an empirical quantitative study of the repeatability of GPS observations and the second part is a performance evaluation of kinematic GPS, which requires only a few minutes per a point, for monitoring deformation of an engineering structure. On the test network for monitoring of a earth am, four observations have been conducted repeatedly on different seasons and water levels. The reference network was observed in static mode, and monitoring points were observed respectively in rapid-static mode as well as in kinematic mode in each epoch and then the results were compared with those obtained by conventional surveying techniques. The repeatability of baseline vectors to better than average 7 mm in three dimensions was achieved in base line observations between reference points and also the unclosure of reference networks showed the range of 4 ppm to 27 ppm. Compared with conventional surveying techniques, the kinematic approach showed the differences of 3∼4 m in slope distances which were observed from reference points to monitoring points, and showed the differences of 4∼8 m in height. It was ascertained that the kinematic GPS technology provides an efficient alternative to deformation monitoring by conventional means which are capable of detecting movements in the order of 5 mm.

• Korean Journal of Applied Biomechanics
• /
• v.27 no.3
• /
• pp.165-169
• /
• 2017

Objective: The Star Excursion Balance Test (SEBT) and Y-Balance Test (YBT) have been commonly applied to measure dynamic postural stability ability. These two tests are utilized interchangeably in various settings. However, they could in fact require different movements to assess dynamic postural stability, as one uses a platform and different measuring techniques than the other. The purpose of this study was to determine if there was a significant difference in the kinematic patterns in physically active population while performing the SEBT and the YBT. Method: Seventy participants performed in the Anterior (AN), Posteromedial (PM), and Posterolateral (PL) directions of the SEBT and the YBT. The kinematics of hip, knee, and ankle in sagittal plane was calculated and analyzed. Paired-sample t-tests were performed to compare joint angular displacement in the ankle, knee, and hip between the SEBT and the YBT. Results: Significant differences in angular displacement at the hip, knee, and ankle joints in the sagittal plane between performance on the SEBT and on the YBT were observed. Conclusion: Clinicians and researchers should not apply these dynamic postural control tasks interchangeably from one task to another. There appear to be kinematic pattern differences between tests in healthy physical active population.

• Proceedings of the KIEE Conference
• /
• 1989.07a
• /
• pp.679-684
• /
• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• Structural Engineering and Mechanics
• /
• v.90 no.1
• /
• pp.97-106
• /
• 2024

This paper presents a significant contribution to aided design by conducting an analytical examination of geometric links with the aim of establishing criteria for assessing an analogy measure of the extrinsic geometric and kinematic characteristics of the Variable Compression Ratio (VCR) engine with a Geared Mechanism (GBCM) in comparison to the existing Fixed Compression Ratio (FCR) engine with a Standard-Reciprocating Crankshaft configuration. Employing a mechanical approach grounded in projective computational methods, a parametric study has been conducted to analyze the kinematic behavior and geometric transformations of the moving links. The findings indicate that in order to ensure equivalent extrinsic behavior and maintain consistent input-output performance between both engine types, precise adjustments of intrinsic geometric parameters are necessary. Specifically, for a VCR configuration compared to an FCR configuration, regardless of compression ratio and gearwheel radius, for the same crankshaft ratios and stroke lengths, it is imperative to halve lengths of connecting rods, and crank radius. These insights underscore the importance of meticulous parameter adjustment in achieving comparable performance across different engine configurations, offering valuable implications for design optimization.

• Journal of Navigation and Port Research
• /
• v.45 no.6
• /
• pp.284-297
• /
• 2021

A simple kinematic model for the prediction of ship manoeuvres based on trial data is proposed in this study. The model consists of first order differential equations in surge, sway, and yaw directions which simulate the time series of each velocity component. Actually instead of sea trial data, dynamic model simulations are conducted with randomly varied control inputs such as propeller revolution rates and rudder angles. Based on learning of control inputs and velocity outputs of dynamic model simulations in sufficient time, kinematic model coefficients are optimized so that the kinematic model can be approximately reproduce the velocity outputs of dynamic model simulations with arbitrary control inputs. The resultant kinematic model is verified with new dynamic simulation sets.

• Journal of the Ergonomics Society of Korea
• /
• v.18 no.3
• /
• pp.141-152
• /
• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• Proceedings of the KIEE Conference
• /
• 1992.07a
• /
• pp.386-390
• /
• 1992

Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.7
• /
• pp.904-914
• /
• 2004

In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.