• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.131-142
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• 2002

The purpose of this study was to analyze kinematic variables of a Mae-ukemi (forward breakfall :MU) in Judo through 3-D image analysis with five Judoka with over 2 years' career (2nd dan, 3rd dan). The kinematic variables include posture, and distance variables; the mean values and the standard deviations for each variable were obtained to analyze kinematic variables of a MU in Judo. From the data analysis and discussion, the following conclusions were drawn : 1) Posture variables : The angles of wrists during right before Mae-ukemi (RBU) were extended from the just MU position(MUP) and flexed from in the right after MU(RAU), and there was a difference in the displacement between the angles of the right and left wrists. The angles of elbows were flexed in the ready position from in the RAU. The angles of ankles were flexed from the ready position to that down position, extended from the down position to that transition, and flexed from the transition positiont to that RAU. 2) Distance variables : The distance height between the mat and shoulders in the RBU(32.2cm) to in the MUP(18.3cm) and in the RAU(20.5cm). during that height between the mat and hips in the RBU(48.0cm) to in the MUP(23.4cm), and in the RAU(30.6cm).

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.81-98
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• 2003

The purpose of this study is to closely examine kinematic characteristics by jump phase of Li Xiaopeng motion in horse vaulting and provide the training data. In doing so, as a result of analyzing kinematic variables through 3-dimensional cinematographic using the high-speed video camera to Li Xiaopeng motion first performed at the men's vault competition at the 14th Busan Asian Games, the following conclusion was obtained. 1. It was indicated that at the post-flight, the increase of flight time and height and twisting rotational velocity has a decisive effect on the increase of twist displacement. And Li Xiaopeng motion showed longer flight time and higher flight height than Ropez motion with the same twist displacement of entire movement. Also the rotational displacement of the trunk at peak of COG was much short of $360^{\circ}$(one rotation) but twist displacement showed $606^{\circ}$. Likewise, Li Xiaopeng motion was indicated to concentrate on twist movement in the early flight. 2. It was indicated that at the landing, Li Xiaopeng motion gets the hip to move back, the trunk to stand up and the horizontal velocity of COG to slow down. This is thought to be the performance of sufficient landing, resulting from large security of rotational displacement of airborne and twist displacement. 3. It was indicated that at the board contact, Li Xiaopeng motion made a rapid rotation uprighting the trunk to recover slowing velocity caused by jumping with the horse in the back, and has already twisted the trunk nearly close to $40^{\circ}$ at board contact. Under the premise that elasticity is generated without the change of the feet contacting the board, it will give an aid to the rotation and twist of pre-flight. Thus, in the round-oH phase, the tap of waist according to the fraction and extension of hip joint and arm push is thought to be very important. 4. It was indicated that at the pre-flight, Li Xiaopeng motion showed bigger movement than the techniques of precedented studies rushing to the horse, and overcomes the concern of relatively low power of jump through the rapid rotation of the trunk. Li Xiaopeng motion secured much twist distance, increased rotational distance with the trunk bent forward, resulting in the effect of rushing to the horse. 5. At horse contact, Li Xiaopeng motion makes a short-time contact, and maintains horse take-off angle close to vertical, contributing to the increase of post-flight time and height. This is thought to be resulted from rapid move toward movement direction along with the rotational velocity of trunk rapidly earned prior to horse contact, and little shave of rotation axis according to twist motion because of effective twist in the same direction.

• Journal of Astronomy and Space Sciences
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• v.21 no.4
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• pp.233-242
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• 2004

The $HCO^+$ 1-0 transition line was observed toward the Sgr B2 region in our Galactic center. We found that there exist two large-scale velocity structures of $v_{lsr}\;{\sim}50\;and\;{\sim}100kms^{-1}$, which are thought to interact with each other. A new gas clump 'OF28 Cloud'('Odenwald & Fazio FIR 38' Cloud), showing different chemical and kinematical properties with the Sgr B2(M) cloud, was found in the $50kms^{-1}$ gas component. Toward the core of this component, we derive the $HCO^+$ total column density, $N(HCO^+)=(2-5){\times}10^{14}cm^{-2}$ and the mass $M=1{\times}10^6M_{\odot}$, by estimating its size, ${\sim}15pc$, from the half-power width of this component. We also found that there is a highly turbulent component in this region in the velocity range of about $100kms^{-1}$. The column density of this component is $N(HCO^+)=1{\times}10^{13}cm^{-2}$. The $HCO^+$ in this region may form effectively by the reaction between $C^+$ and OH, which are the elements whose abundances increase rapidly in shocked region.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.2
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• pp.167-174
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• 2020

The purpose of this study was to investigate the kinematic comparison between successful and failed trials of Lopez vault techniques in male gymnastics. The subject, an Olympic gold medalist, was YHS (age: 27 years, height: 1.6 m, and mass: 53 kg) and fourteen high speed motion capturing cameras were used for data collection. The 26 reflective sensors were attached on major anatomical positions and 15 segment-body model was used to calculate the kinematic variables. According to results, the contact duration of the spring-board for successful trial(ST) was longer and that of failed trial(FT) and the range of motion of knee joint for ST was greater than that of FT. The movement times during pre-flight between ST and FT were same, but the movement time of horse contact period for ST was shorter than that of FT. The ST showed a longer movement time during post-flight and the longer horizontal distance than those of FT. Conclusively, YHS needs to approach the horse with a higher position of the body and higher incidence angle, as well as make faster twist angular velocity in an attempt to achieve ST.

• Journal of Astronomy and Space Sciences
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• v.22 no.2
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• pp.125-138
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• 2005

S152 is a small bright emission nebula located in the Perseus arm. Its optical diameter corresponds to 1.5 pc for an adopted distance 3.5 kpc. However, S152 is a part of a giant molecular cloud complex, which consists of several dense cores, containing active star-forming sites, and well aligned arm-like features. We analyzed the FCRAO $^{12}CO(J=\;1{\to}0)$ Outer Galaxy Survey data in this region to study the kinematical structure of this region, which resembles a big "scorpion". We found that there exist three different velocity components, about -54.5, -50.4, -48.8 km $s^{-1}$, depending on the position of the "scorpion". There also exist velocity gradients of 0.21 km $s^{-1}pc^{-1}$ and 0.16 km $s^{-1}pc^{-1}$ through the whole extent of the "scorpion". Interestingly, these two velocity gradients show an opposite direction with each other. It is likely that the velocity structure of this region may result from the mergence of different gas clouds, and the interaction with the SNR 109.1-1.0 occurred later, mostly at the region around the "head of the scorpion" only.

• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.131-143
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• 2009

Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.487-496
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• 2020

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.89-99
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• 2006

The study were to assess technical factors between the high score group and the low score group, from the subjects of 16 male national gymnasts, and to analyze the kinematical characteristic and main technical cause on technique of Akopian's 3D motion analysis of the male vaulting game in 2001 classification championship. The result of this study is this. There were not so much difference between the two groups in term; of the time of board contact, pre-flight, and total performance, but it takes shorter time when the players who are in the high point group take down the board, and they take long time for post-flight(p<.01). The high point group has a longer perpendicular distance in the moment of horse taking off, 0.05m on the average, than the low point group. The high point group shows 0.16m higher on the average than the other group in term; of the height of post-flight(p<.01). In the phase of board contact, the range of horizontal velocity at board take on were $7.66m/s{\sim}7.33m/s$, but there weren't significantly statistic differences between two groups. The hight score group were 0.68m/s faster than the low point group at the horizontal velocity at board take off event(<.05). About the average horizontal velocity of deceleration, AG1(-1.95m/s) reduces the speed more than AG2(-1.57m/s)(p<.05). And the hight score group were 0.37m/s faster than the low point group at the vertical velocity at horse take off event(<.05). When board taking off, the projectile angle of com were $38.7{\sim}37.8degree$ on the average. the comparative groups show almost same results. When horse taking off, the HPVy of the high point group were 37.6 degree which were a little higher than the low point group. The angular velocities of the players who takes on the horse with a right hand and then takes off with a left hand in the high point group were 14.97rad/sec, 10.82rad/sec in the low point group. However, the angular velocity of the players who takes on the horse with a left hand and then takes off on a right hand with the high point group were 14.97rad/sec, 15.56rad/sec in the low point group.

• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.117-131
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• 2004

The foreign superior players and national team players' turning phase was measured, compared and analyzed to help the representative players improve the skill of turn. The underwater video camera used to analyze and evaluate the representative players' skill of turn in detail and the result is as follows. 1. The record for the phase of turn was similar to the rank of the last record. The improvement of the skill of turn was required because Korean players' record was lower than the foreign players' one. In case of 200m events the 1st turn was the fastest and it took more time as the turn is repeated. 2. It shows that the preparation phase and turing motion cause the difference between the players and within one player. 3. The horizontal movement of center of gravity moves to turning point slowly in the preparation phase, does not move nearly in the turning phase and increase again in the propulsion phase. Good record has short time for turn phase. The result means that the shorten the turning phase is the most important factor. Therefore the preparation for this is required. The vertical movement is maintained or increase a little and then move to from the turning phase. 4. The characteristic of horizontal velocity in center of gravity is that there is any big changes at the preparation phase, the faster velocity is found from the better record and the accelerating time is fast at the propulsion phasen. The wrong motion is made by not using the swimming velocity for fuming and waiting and more time is required by this. 5. The angle of knee when the player touch the turning point is 106.22-135.56 and the maximum angle of knee during the driving after the touch of tuning point is full extension. The size of maximum angle of knee did not match with the required time of propulsion phase. It seems that the individual difference is big when the players touch the turning point the angle of knee and the research for the individual angle which can reveal the maximum power should be carried out. The national team player's skill for the him is behind the foreign players' one and a lot of problems were found. It shows that the players could not practice the skill for turn during the training. The 1st reason for it is the various facilities like underwater window or analyzing equipment like underwater camera with which the coaches can teach and correct the players' detailed skill. It is need to evaluate the players' detailed skill exactly and correct it by objective data to complete the good skill in the future. In this regard, the investment for the facility is necessary.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.1-11
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• 2005

The study were to assess technical factors between the high score group and the low score group, from the subjects of 8 male national gymnasts, and to analyze the kinematical characteristic and main technical cause on technique of Kasamatsu movement on Vault. The result of this study is this. In case of horse contact time the high score group was swifter than low score group, and there was significant difference between the high score group and the low score group(<.01). On high score group the time of taking on from horse showed shorter than that of taking off from horse, while of the low score group the time of taking on the horse was similar to that of taking off from horse on the average. And in time of pre-flight the high score group on average the was 0.16sec shorter times than the low score group, and so there was significantly difference between groups(<.05). Also It is a characteristic that the high score group was short in horse contact time and longer in post-flight. In the horizontal distance of post-flight, the high score group was 0.11m longer than the low score group and there was significantly statistic difference between groups(<.05). In the vertical height of the cog in Post-flight's phrase, the high score group was 0.15m higher than the low score group and there was significantly statistic difference between groups(.<01). The horizontal velocity and vertical velocity in the event of taking on and off Beat board and Vault weren't significantly statistic differences between two groups. In the slow-down of average horizontal velocity during keeping contact with the beat board, the high score group was larger than the low score group. And in an increased average vertical velocity during keeping contact with the beat board, the high score group was even larger than the low score group. In the projectile angle of cog in taking off the beat board, 40.2deg., the angle of low score group and 39.5deg., the angle of high score group are nearly alike. In the projectile angle of cog in taking off the beat, the high score group showed 1.6Wt larger on average than the low score group. However the average reaction force on the board and Vault wasn't almost different between two groups, showed 0.3~0.6Wt larger in the high score group.