• Journal of Advanced Marine Engineering and Technology
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• v.40 no.2
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• pp.120-130
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• 2016

In general, a series of ship steering motions is composed of a combination of translational motions and rotational motions of the ship. In particular, a series of rotational motions frequently occurs in narrow areas such as ports and canal zones. In this paper, a method was suggested for composing an integrated control algorithm based on the jog dial as a command instrument for rotational motion control. In order to realize the rotational motions, several algorithms were suggested for generating rotational commands, for selecting motion variables, for choosing reference input values for the motion variables, for computing required accelerations and thrusts, and for allocating thrusts to actuators. A simulation program was compiled to execute simulations for three rotational motions. Finally, the effectiveness of the suggested method was verified by analyzing the simulation results.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.2
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• pp.1019-1031
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• 2017

In this study, we propose a new method for simulating water responding to human motion. Motion data obtained from motion-capture devices are represented as a jointed skeleton, which interacts with the velocity field in the water simulation. To integrate the motion data into the water simulation space, it is necessary to establish a mapping relationship between two fields with different properties. However, there can be severe numerical instability if the mapping breaks down, with the realism of the human-water interaction being adversely affected. To address this problem, our method extends the joint velocity mapped to each grid point to neighboring nodes. We refine these extended velocities to enable increased robustness in the water solver. Our experimental results demonstrate that water animation can be made to respond to human motions such as walking and jumping.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.8
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• pp.129-136
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• 1994

In this paper an adaptive moving method of the search region tracking the motion is proposed. The search region in BMA is determined by the capability of hardware implementation and the degree of motion. But once determined nothing can be changed during coding procedure. In this paper we predict the level of motion of the current block using motion vectors of previous frames without overhead information and change the location of the search region according to the level of the motion predicted. In short the proposed method can be archieved the dsirable effect such that the size of search region gets large when the motion is large. Results of experiments show that prediction efficiency has been improved by using adaptive moving method resulting in reduced prediction error in the blocks with large motion.

• Journal of information and communication convergence engineering
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• v.11 no.4
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• pp.274-281
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• 2013

In this study, we consider the challenges in motion planning for automated driving systems. Most of the existing online motion-planning algorithms, which take dynamics into account, find it difficult to operate in an environment with narrow passages. Some of the existing algorithms overcome this by offline preprocessing if environment is known. In this work an online algorithm for motion planning with dynamics in an unknown cluttered environment with narrow passages is presented. It utilizes an idea of hybrid planning with sampling- and discretization-based motion planners, which run simultaneously in a full configuration space and a derived reduced space. The proposed algorithm has been implemented and tested with a real autonomous vehicle. It provides significant improvements in computational time performance over basic planning algorithms and allows the generation of smoother paths than those generated by the recently developed hybrid motion planners.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.52-63
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• 1995

This paper presents a detailed derivation of the equations of motion for the stable member of a four-axis platform. Gimbal bearing friction is considered for motion analysis. First, dynamic characteristics of platform, gimbal and gyro with Coulomb friction are studied due to vehicle's angular motion. Second, Vehicle's motion is assumed the sinusoidal function and dynamic characteristics of platform, gimbal and gyro are studied. Conclusively, considering effects of Coulomb friction, they could not follow the vehicle's angular motion and have constant errors. In case of sinusoidal motion, relative angles for each gimbal are amplified, but they are sinusoidal function with almost the same phases.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Structural Engineering and Mechanics
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• v.59 no.4
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• pp.719-737
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• 2016

The present study investigated the earthquake behavior of R/C structures considering the vertical earthquake motion with the help of a comparative study. For this aim, the linear time-history analyses of a high-rise R/C structure designed according to TSC-2007 requirements were conducted including and excluding the vertical earthquake motion. Earthquake records used in the analyses were selected based on the ratio of vertical peak acceleration to horizontal peak acceleration (V/H). The frequency-domain analyses of the earthquake records were also performed to compare the dominant frequency of the records with that of the structure. Based on the results obtained from the time-history analyses under the earthquake loading with (H+V) and without the vertical earthquake motion (H), the value of the overturning moment and the top-story vertical displacement were found to relatively increase when considering the vertical earthquake motion. The base shear force was also affected by this motion; however, its increase was lower compared to the overturning moment and the top-story vertical displacement. The other two parameters, the top-story lateral displacement and the top-story rotation angle, barely changed under H and H+V loading cases. Modal damping ratios and their variations in horizontal and vertical directions were also estimated using response acceleration records. No significant change in the horizontal damping ratio was observed whereas the vertical modal damping ratio noticeably increased under H+V loading. The results obtained from this study indicate that the desired structural earthquake performance cannot be provided under H+V loading due to the excessive increase in the overturning moment, and that the vertical damping ratio should be estimated considering the vertical earthquake motion.

• Journal of Korean Physical Therapy Science
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• v.24 no.2
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• pp.61-70
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• 2017

Purpose : The purpose of this study was to examine the effect of therapeutic massage and Mckenzie exercise on pain and range of motion in chronic neck pain patient: a case study. Method : A Twenty-year old female subject with chronic neck pain was selected, she received therapeutic massage and Mckenzie exercise for 30 minutes a day, three days a week for five weeks. Pain was measured visual analog scale(VAS), neck disability index(NDI) and the Copenhagen neck functional disability scale (CNFDS). Range of motion was measured using a goniometer(shoulder joint) and the CROM Deluxe(cervical range of motion instrument). Result : VAS, NDI and CNFDS were decreased 3 score, 4 score and 6 score(respectively) than before the training. The range of motion was increased in shoulder joint and neck movement than before the training. Conclusion : The massage and Mckenzie exercise increased range of motion in shoulder joint and neck movement, and decreased neck pain in chronic neck pain patient. Additional research on therapeutic massage and Mckenzie exercise for improving pain and range of motion is need.

• Korean Journal of Applied Biomechanics
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• v.19 no.4
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• pp.627-636
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• 2009

This study aims to provide a scientific basis for the abstract beauty of dance by analyzing the effects of controlling the breath during the walking motion of Korean dance. The objective of the study is to determine the significance of breathing during Korean dance, as it is externally expressed and technologically segmented, let alone the internal beauty of Korean dance. The results of this study show that the position of the body center and ASIS during the walking motion that uses breath was lower than that of the walking motion that does not use the breath. In addition, in each replacement of the knee joint and ankle joint, a narrow angle, in which bending is used a lot, appeared during the walking motion that uses the breath, but not during the walking gesture that does not use the breath. This occurred during the bending motion. In the first peak point, the vertical ground reaction force during the walking motion that uses the breath was higher than that during the walking motion that does not use the breath.

• Journal of The Korean Association For Science Education
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• v.24 no.5
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• pp.886-901
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• 2004

The purpose of this study was to document the changes in astronomical concepts for preservice and inservice elementary school teachers after being presented with the newly devised Earth Motions Centric Solar System Model. The subjects of the study were 31 preservice and 30 inservice elementary schools teachers in the Jeonbuk Province. First, the author investigated the naive theories of the subjects, and then, compared that data to the data obtained after their exposure to the model. The total number of items on the instrument for this study was 10. These items included questions about the motion of interior planets, the phases and sizes of interior planets, and the motion of exterior planets and comets. After analyzing the answers to the items before the experiment, the author was able to confirm the existence of the naive theories regarding astronomical phenomena. Also, after the experiment, the author was able to observe the conceptual change in thought of the preservice and inservice elementary school teachers. Results showed that learning through the new model had positive effects on the preservice and inservice elementary school teachers' conceptualization of the interior planets' motion, phases and sizes, and the exterior planets' motion.