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

• 한국해양학회지
• /
• v.30 no.4
• /
• pp.355-364
• /
• 1995

A heavy fluid is injected to a rotating cylindrical container of flat or inclined bottom filled with homogeneous lighter fluid. Continuous flow-in and spreading patterns over the bottom of the container are observed and at the same time upper-layer motions induced by the movement of the heavy fluid are traced by thymol blue solution. Regardless of bottom geometry, the injected denser fluid is deflected toward "western wall" and continuous its path along the boundary with radial spreading which occurs in the bottom boundary layer to make a quite asymmetric flow. When the bottom contains a slope(${\beta}$-plane), increased pressure gradient causes the fluid move faster to produce a stronger Coriolis force. This makes the width of the flow narrower than that of f-plane. But, when the denser flow reaches the southern part of the container, a local-depth of denser fluid increases (much greater than the Ekman-layer depth) such that the spreading velocity along the wall is reduced and the interfacial slope increases to make the upper-layer adjust geographically to have oppositely directed upper-layer motion along the interfacial boundary. The role of the denser fluid in terms of vorticity generation in the upper-layer is such that it produces local topographic effect over the western half of the container and also induces vortex-tube stretching which is especially dominant in the f-plane.

• Journal of Korea Water Resources Association
• /
• v.45 no.6
• /
• pp.545-555
• /
• 2012

A numerical modeling has become increasingly popular and more important to the study of water waves with a rapid advancement of computer technology. However, different types of problems are induced during simulating wave motion. One of the key problems is re-reflection to a computation domain at the incident boundary. The internal wave generating-absorbing boundary conditions have been commonly used in numerical wave models to prevent re-reflection. For the Navier-Stokes equations model, the internal wave maker using a mass source function of the continuity equation has been used to generate various types of waves. Nonetheless, almost every numerical experiment is performed in two dimensions and only a few tests have been expanded to three dimensions. More recently, a momentum source function of the Boussinesq equations is applied to generate essentially directional waves in the three dimensional Navier-Stokes equations model. In this study, the internal wave maker using a momentum source function is employed to generate targeted linear waves in the three-dimensional LES model.

• Physical Therapy Korea
• /
• v.15 no.1
• /
• pp.38-45
• /
• 2008

This study investigated gait characteristics, kinematics, and kinetics in the lower extremities between two different shoe conditions (high heeled shoes (7 cm), and high heeled shoes with a total contact insert (TCI)) after lower extremity muscle fatigue. Although TCI shave been applied in high heeled shoes to increase comfort and to decrease foot pressure, no study has attempted to identify the effects of TCI in fatigue conditions. The purpose of this study was to determine the effects of walking in high heeled shoes with TCI after lower extremity muscle fatigue was induced. This study was carried out in a motion analysis laboratory at Hanseo University. A volunteer sample of 14 healthy female subjects participated. All in fatigue conditions, the subjects were divided into two groups. The muscle fatigue was induced by 40 voluntary dorsi- and plantar-flexion exercises and 40 heel-rise exercises of the dominant foot. Surface electromyography was used to confirm the localized muscle fatigue using power spectral analysis of three muscles (tibialis anterior, gastrocnemius medialis and lateralis). The results were as follows: (1) In muscle fatigue conditions, the use of TCI decreased the peak flexion angle of the hip joint significantly in the early stance phase (p<.05) and increased the peak hip flexion moment in the terminal stance phase (p<.05). (2) In muscle fatigue conditions, the application of TCI also increased peak hip power generation in the early stance phase and peak hip power absorption in the terminal stance phase (p<.05). (3) In muscle fatigue conditions, the use of TCI reduced the impact force significantly and increased the secondary peak vertical GRF. These findings suggest that the TCI may provide beneficial effects when muscle fatigue occurs for a high heeled shoe gait. Future research employing the patient population and various types of TCI materials are required to clarify the effects of TCI.

• Clinical and Experimental Reproductive Medicine
• /
• v.23 no.3
• /
• pp.351-355
• /
• 1996

Objective: To analyze the direct effect of nitre oxide, generated from sodium nitroprusside, on sperm motility and reactive oxygen species. Design: Human sperm samples were treated to allow swim-up and washing. And the samples were devided into four aliquots. Each aliquot was incubated with either concentration at 0, 100nM, $10{\mu}M$, 1mM of nitroprusside. Intervention: Samples were measured chemiluminosence for reactive oxygen species of each aliquot with concentrations at 0, 100nM, $10{\mu}M$, 1mM of nitroprusside at allowing swim-up and washing of sperm. Main Outcome Measures: Percent motion parameters and viability were asse-ssed at 0, 3, 6, 12, 24 hours incubation. Results: The percent viablity was lower slightly in control group (50.2%) than that in sperm treated with 100nM of nitroprusside(57.5%) at 24 hours after incubation, while was reduced significantly in sperm with concentra-tion of $10{\mu}M(42.1%)$ and 1mM(21.3%)of nitroprusside at 6 hours after incubation. And the sperm treated with 1mM of nitroprusside was immotile totally at 6 hours after incubation. The straight line$(35.3{\pm}5.6%)$, the rapid forward$(37.2{\pm}6.4%)$ and the weak curvilinear velocity$(9.6{\pm}2.4%)$were more favorable comparing with those ($32.4{\pm}4.2%$, $30.0{\pm}7.8%$ and $18.0{\pm}4.6%$ respectively) in control group at 3 hours after incubation, but reduced significantly in sperm treated with $10{\mu}M$ and 1mM of nitroprusside. The levels of reactive oxygen species in control(700 c.p.m.) is lower significantly than that in each experimental groups of sperm treated with nitroprusside. And the levels of reactive oxygen species were 2200 c.p.m. in 100nM, 6200c.p.m. in $1{\mu}M$ and 12800c.p.m. in 1mM respectively. Conclusion: These results suggested that the concentration of 100nM of nitroprusside on sperm is beneficial to the maintanance of viablity and motile velocity, but detriment in high concentration of $10{\mu}M$ or 1mM of nitroprusside.

• Korean Journal of Applied Biomechanics
• /
• v.19 no.2
• /
• pp.337-345
• /
• 2009

The purpose of this study were to find out the differences in kinematic variables of racket movement by performing the tennis serve. Three top male tennis players participated in this study. Three synchronized high-speed cameras were used to record the service action of top players for Three dimensional video analysis. The results of this study showed that (1) the velocity of the tennis racket at impact is important to the generation of racket velocity to Y-axis. This result indicates that forward motion and upward movement of the racket; (2) with respect to racket angular velocity at impact, the fast angular momentum of X-axis is important to generate the velocity of the tennis ball. This result indicate upward movement of the racket with a strong flexor of wrist joint; (3) the velocity of the tennis ball was influenced by the change of angular linking the Z-axis to -X-axis. This result indicates that the high velocity of the tennis ball is obtained from having the racket unitedly moving to the direction of the bill's flight at the acceleration interval and acquiring the distance of acceleration with the racket head vertically to the ground at the back scratching.

• Journal of Positioning, Navigation, and Timing
• /
• v.6 no.3
• /
• pp.125-133
• /
• 2017

Time comparison is necessary for the verification and synchronization of the clock. Two-way satellite time and frequency (TWSTFT) is a method for time comparison over long distances. This method includes errors such as atmospheric effects, satellite motion, and environmental conditions. Ionospheric delay is one of the significant time comparison error in case of the carrier-phase TWSTFT (TWCP). Global Ionosphere Map (GIM) from Center for Orbit Determination in Europe (CODE) is used to compare with Bernese. Thin shell model of the ionosphere is used for the calculation of the Ionosphere Pierce Point (IPP) between stations and a GEO satellite. Korea Research Institute of Standards and Science (KRISS) and Koganei (KGNI) stations are used, and the analysis is conducted at 29 January 2017. Vertical Total Electron Content (VTEC) which is generated by Bernese at the latitude and longitude of the receiver by processing a Receiver Independent Exchange (RINEX) observation file that is generated from the receiver has demonstrated adequacy by showing similar variation trends with the CODE GIM. Bernese also has showed the capability to produce high resolution IONosphere map EXchange (IONEX) data compared to the CODE GIM. At each station IPP, VTEC difference in two stations showed absolute maximum 3.3 and 2.3 Total Electron Content Unit (TECU) in Bernese and GIM, respectively. The ionospheric delay of the TWCP has showed maximum 5.69 and 2.54 ps from Bernese and CODE GIM, respectively. Bernese could correct up to 6.29 ps in ionospheric delay rather than using CODE GIM. The peak-to-peak value of the ionospheric delay for TWCP in Bernese is about 10 ps, and this has to be eliminated to get high precision TWCP results. The $10^{-16}$ level uncertainty of atomic clock corresponds to 10 ps for 1 day averaging time, so time synchronization performance needs less than 10 ps. Current time synchronization of a satellite and ground station is about 2 ns level, but the smaller required performance, like less than 1 ns, the better. In this perspective, since the ionospheric delay could exceed over 100 ps in a long baseline different from this short baseline case, the elimination of the ionospheric delay is thought to be important for more high precision time synchronization of a satellite and ground station. This paper showed detailed method how to eliminate ionospheric delay for TWCP, and a specific case is applied by using this technique. Anyone could apply this method to establish high precision TWCP capability, and it is possible to use other software such as GIPSYOASIS and GPSTk. This TWCP could be applied in the high precision atomic clocks and used in the ground stations of the future domestic satellite navigation system.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.214-214
• /
• 2003

During a model test of Hutton TLP, a "ringing" response was first observed about 20 years ago. This phenomenon is a resonant build up over the time of wave period and this burst-like motion can cause the extreme load on the TLP tether. It is often detected in the large and steep irregular waves but the generation mechanism leading to the "ringing" is not yet well understood. According to the research since then, the higher order harmonic components may account for the "ringing" on the floating offshore structures. The main purpose of the present research is, thus, to measure the higher harmonic forces exerted on a vertical truncated circular column and to compare them with available data. A vertical truncated cylinder with a diameter of 3.5inch and a draft of 10.5inch is used as a test structure, which is a scaled model of ISSC TLP column. The cylinder is installed at a distance of 45ft from the wave maker in order to avoid parasitic waves created in the wave flap. Attached to the upper part of the cylinder are two force gages to measure the horizontal (surge) and vertical (heave) forces on the cylinder. The incoming waves are Stokes waves with a slope ranging from 0.06 to 0.24. The forces and waves are measured for 60 seconds with a sampling rate of 50 Hz. Among the recorded data, the first 10 waves are excluded because of transient behavior of the waves and the next The horizontal and vertical forces are analyzed up to 5th order harmonics. The horizontal forces are then compared to the values from the theoretical model called "FNV model". In addition, force transfer functions are also investigated. Major findings in this research are below. 1) The first order forces measured are slightly larger than the theoretical values of "FNV model" 2) The "FNV model" considerably overpredicts the second order forces. 3) The larger the amplitude and more extreme the wave slope, the smaller the predictions are compared to the experimental. 4) The higher harmonic forces are significantly smaller than the first harmonic force for all wave parameters. 5) The normalized forces vs. waves slopes are almost constant in the lower harmonics but vary a lot in the higher harmonics. 6) The trend of forces is more nonlinear in the horizontal forces than in the vertical forces as the wave slope increases. 7) The part of the results above is also observed by other researchers and confirmed again through the present work.

• Journal of Korean Society of Environmental Engineers
• /
• v.35 no.10
• /
• pp.710-716
• /
• 2013

New and renewable energy sources have drawn attention because of climate change. Many studies have been carried out in waste-to-energy field. Fast pyrolysis of waste lignocelluosic biomass is one of the waste-to-energy technologies. Bubbling fluidized bed (BFB) reactor is widely used for fast pyrolysis of the biomass. In BFB pyrolyzer, bubble behavior influences on the chemical reaction. Accordingly, in the present study, hydrodynamic characteristics and fast pyrolysis reaction of waste lignocellulosic biomass occurring in a BFB pyrolyzer are scrutinized. The computational fluid dynamics (CFD) simulation of the fast pyrolysis reactor is carried out by using Eulerian-Granular approach. And two-stage semi-global kinetics is applied for modeling the fast pyrolysis reaction of waste lignocellulosic biomass. To summarize, generation and ascendant motion of bubbles in the bed affect particle behavior. Thus biomass particles are well mixed with hot sand and consequent rapid heat transfer occurs from sand to biomass particles. As a result, primary reaction is observed throughout the bed. And reaction rate of tar formation is the highest. Consequently, tar accounts for 66wt.% of the product gas. However, secondary reaction occurs mostly in the freeboard. Therefore, it is considered that bubble behavior and particle motions hardly influences on the secondary reaction.

• Journal of Broadcast Engineering
• /
• v.15 no.1
• /
• pp.52-62
• /
• 2010

Recently, DVC (Distributed Video Coding) is attracting a lot of research works since this enables us to implement a light-weight video encoder by distributing the high complex tasks such as motion estimation into the decoder side. In order to improve the coding efficiency of the DVC, the existing works have been focused on the efficient generation of side information (SI) or the virtual channel modeling which can describe the statistical channel noise well. But, in order to improve the overall performance, this paper proposes a new scheme that can be implemented with simple bit operations without introducing complex operation. That is, the performance of the proposed scheme is enhanced by using the fact that the Wyner-Ziv (WZ) frame and side information are highly correlated, and by reducing the effect of virtual channel noise which tends to be clustered in some regions. For this aim, this paper proposes an efficient pixel-domain WZ (PDWZ) CODEC which effectively exploits the statistical redundancy by using the code conversion and Gray code, and then reduces the channel noise by using the bit interleaver. Through computer simulations, it is shown that the proposed scheme can improve the performance up to 0.5 dB in objective visual quality.