• 해양환경안전학회지
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• 제21권4호
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• pp.389-396
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• 2015

본 연구는 한국 해군의 해난구조능력 향상을 위해 임무수행의 주요 수단이 되는 잠수체계를 개선하는 방안에 대한 연구이다. 특히 구조작전시 잠수체계별 임무 가능구역이 제한되는 문제를 해결하기 위하여 이동식 포화잠수 체계를 중심으로 연구를 진행하였다. 연구는 먼저 임무의 범위를 확인하였고, 기존 연구결과와 현용 잠수체계를 분석한 결과를 활용하여 이동식 포화잠수체계의 요구조건과 표준구성을 정리 및 제안하였으며, 이동식 포화잠수체계를 활용한 기존 잠수체계의 보완 및 개선 가능성에 대하여 군의 전략 선택 기법인 적 가 용 판단에 따라 검토하였다. 또한, 도입방안에 대해서는 상용제품의 해외수입과 국내 개발로 구분하여 장 단점을 분석하고, 설치 및 운용방안에 대해서는 각 플랫폼별로 실효성을 분석하였다. 연구결과로 먼저, 200 m 이상에서 6명 이상의 잠수사가 약 17일 이상 포화잠수를 정상적으로 실시할 수 있도록 요구조건 및 표준구성안을 제안하였으며, 기존 잠수체계의 보완 및 개선 가능성에 대해서는 예비장비 공급 및 병행사용 등 다양한 보완이 기대되나 혼합기체잠수체계를 포화잠수체계로 개선하는 것은 경제성이 떨어졌다. 설치방안은 ATS-II 후속사업에서 이동식 포화잠수체계를 탑재가 가능하도록 제작하는 것을 제안하였으며 운용은 평시 교육 훈련 및 ARS 대체전력으로 사용하다 전시에 별도의 플랫폼에 탑재하여 추가적인 구조전력으로 활용해야 한다.

• 한국운동역학회지
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• 제23권3호
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• pp.209-218
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• 2013

This study was to perform the kinetic analysis of forward $1\frac{1}{2}$ somersault on the platform diving. Six men's diving players of the Korea national reserve athletes participated in this study. The variables were analyzed response time, velocity, center of mass (COM), angle, center of pressure (COP) and ground reaction force (GRF) of motion. For measure and analysis of this study, used to synchronized to 4 camcorder and 1 force plate, used to the Kwon3D XP (Ver. 4.0, Visol, Korea) and Kwon GRF (Ver. 2.0, Visol, Korea) for analyzed of variables. The results were as follows; Time factor were observed in maximum knee flexion depending on the extent of use at phase 1 of take-off to execute the somersault. This enabled the subject to secure the highest possible body position in space at the moment of jumping to execute the somersault and prepare for the entry into the water with more ease. Regarding the displacement of COM, all subjects showed rightward movement in the lateral displacement during technical execution. Changes in forward and downward movements were observed in the horizontal and vertical displacements, respectively. In terms of angular shift, the shoulder joint angle tended to decrease on average, and the elbow joints showed gradually increasing angles. This finding can be explained by the shift of the coordinate points of body segments around the rotational axis in order to execute the half-bending movement that can be implemented by pulling the lower limb segments toward the trunk using the upper limb segments. The hip joint angles gradually decreased; this accelerated the rotational movement by narrowing the distance to the trunk. Movement-specific shifts in the COP occurred in the front of and vertical directions. Regarding the changes in GRF, which is influenced by the strong compressive load exerted by the supporting feet, efficient aerial movements were executed through a vertical jump, with no energy lost to the lateral GRF.

• 한국운동역학회지
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• 제27권3호
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• pp.157-164
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• 2017

Objective: The purpose of this study was to investigate kinematic differences in back pike somersault in platform diving according to skill level and to apply the findings to improve performance. Method: Korean divers participating in this study were divided into a skilled group (age: $21.6{\pm}4.16y$, height: $1.68{\pm}0.03m$, weight: $62.0{\pm}3.94kg$, career: $12.6{\pm}5.13y$) and a less-skilled group (age: $20.6{\pm}2.7y$, height: $1.72{\pm}0.05m$, weight: $64.8{\pm}6.76kg$, career: $12.2{\pm}2.49y$) and an independent t-test was performed to analyze differences between groups at the moment of takeoff. Results: The two groups showed significant differences in displacement and velocity of center of mass (COM), takeoff angle, hip joint angle, knee joint angular velocity, and hip joint angular velocity at the takeoff (p<.05), and significant differences in displacement of COM, hip joint, and ankle joint during flight (p<.05). Conclusion: For a successful back pike, the COM should rise quickly in the vertical direction and the hip joint angle and angular velocity should increase. To improve performance, the back pike turn should be practiced on the ground before an attempt on a 10-m platform, to stretch the ankle and knee joints and enable quick flexion of the hip joint when turning in flight.

• 한국운동역학회지
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• 제18권1호
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• pp.53-62
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• 2008

본 연구는 플랫폼 다이빙 종목 205B를 3차원 영상분석을 통하여 운동학적 분석을 하였다. 총소요시간은 평균 $1.112{\pm}0.12s$로 나타났으며 여유 있는 연기를 수행하기 위해 많은 소요시간을 확보하여야 할 것으로 사료된다, 이지시 신체중심의 높이는 평균 88.8cm이며 수평거리는 144.8cm, 수평, 수직속도는 평균 1.08m/s, 1.3m/s로 나타났으며, 회전동작은 높은 위치에서 수행해야 하며, 수평거리는 짧아야 입수자세에 유리 할 것으로 판단된다. 하지분절의 속도변화는 이지 시 속도가 감소한 이후 회전이 이루어지는 시점까지 상승하며 이지 순간에는 회전보다는 점프동작에 더 큰 영향을 미치며, 신체중심을 축으로 회전동작으로 이어지고 속도가 상승하는 것으로 판단된다. 몸통각속도는 이지 시에 크게 나타났는데, 이는 상 방향으로 점프하여 회전에 필요한 힘을 얻기 위해 상체분절을 최대한 곧게 펴고 신체중심을 높게 유지하여 도약을 해야 효과적인 동작을 수행 할 수 있기 때문으로 사료된다.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.489-497
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• 2010

This paper presents the design of hardware platform, which is a test bed for the navigation system and hovering type AUV (Autonomous Underwater Vehicle) under the OCP (Open Control Platform). The developed AUV test bed consists of two hulls, four thrusters, and the navigation system which uses a SBC2440II with IMU (Inertial Measurement Unit). And the SMC (Sliding Mode Control) is chosen for the diving and steering control of the AUV. This paper uses ACE/TAO RTEC (Real-Time Event Channel) as a middleware platform in order to control and communicate in the developed AUV test bed. In this paper, two computers are used and each of them is dedicated for the specific purpose, the first computer is used as the SMC module and the middleware platform for the ACE/TAO RTEC and the second computer is used for the sensor controller. We analyze the performance of the AUV test bed under the OCP.

• 한국운동역학회지
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• 제16권4호
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• pp.13-20
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• 2006

A platform diving with categorizing 624C motion was video taped and 3D kinematic variables were analyzed. This motion is consist of 3 parts from the headstand position to the act of turning after take-off. The results indicated that it took a very short time from the moment of take-off to the act of 1/2 turning because the turning motion has already started from preparing motion even before the fingertips have parted from the ground. Also, there was barely any jumping height due to the use of upper limbs segment and there was little difference in the moving distance compared to the standing events judging from horizontal movement of 1.1m. The horizontal velocity of the center of human body was increased before take-off while the vertical velocity was decreased right after take-off and the velocity of lower limbs segment was faster than the upper limbs segment showing contrary results to the standing events. In the aspects of angular velocity, the upper limbs segment starts the turning motion when take-off by rapidly extending its angular velocity while lower limbs segment make large angular velocity even before take-off.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권1호
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• pp.63-69
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• 2005

The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.

• 한국운동역학회지
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• 제16권1호
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• pp.139-149
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• 2006

This study is to analyze the kinematic variables of inward $1{\frac{1}{2}}$ somersault in platform diver. For the manner, 3 people form the national diving team in the year 2000were chosen as the subjects and two S-VHS video cameras set in 60frames/sec were used for recording their motions. Coordinated raw positions data through digitizing are smoothing by butter-worth's low-pass filterin method at a cut off frequency 6.0Hz. and the direct linear transformation(DLT) method was employed to obtain 3-D position coordinates. The conclusions were as follows. However, horizontal distance which is the change of the COG, form the point of the jump to the point of Event 3 where the player is out of the board range completely, Subject B showed 105.1cm and 71.1cm of the vertical distance which are shorter horizontal distance and higher vertical distance, thus, took a great advantage of the position to prepare for the entry. Therefore, if a player takes higher position by speeding up the vertical velocity at the moment of the jumping off the board, and stays in the air longer, the player can have more time to show his skill. Because of the use of the characteristics of the inward somersault, keeping the safe distance form the board is important but in order to higher the completeness, it is ideal to keep the horizontal distance little over 100cm. Also, the angles of shoulder and elbow from Event 1 to 4, depending on swing of the arms, motions in the air, getting ready for the entry, showed some difference individual by individual, according to the velocity of the thigh and shank showed much difference while getting ready and take-off, and it's because of the individual's different bending and straightening for horizontal and vertical distance.

• Ocean and Polar Research
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• 제43권4호
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• pp.321-334
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• 2021

'Marine mammals-based observations' refers to data acquisition activities from marine mammals by instrumenting CTD (Conductivity-Temperature-Depth) sensors on them for recording vertical profiles of ocean variables such as temperature and salinity during animal diving. It is a novel data collecting platform that significantly improves our abilities in observing extreme environments such as the Southern Ocean with low cost compared to the other conventional methods. Furthermore, the system continues to create valuable information until sensors are detached, expanding data coverage in both space and time. Owing to these practical advantages, the marine mammals-based observations become popular to investigate ocean circulation changes in the Southern Ocean. Although these merits may bring us more opportunities to understand ocean changes, the data should be carefully qualified before we interpret it incorporating shipboard/autonomous vehicles/moored CTD data. In particular, we need to pay more attention to salinity correction due to the usage of an unpumped-CTD sensor tagged on marine mammals. In this article, we introduce quality control methods for the marine mammals-based CTD profiles that have been developed in recent studies. In addition, we discuss strategies of quality control specifically for the seal-tagging CTD profiles, successfully having been obtained near Terra Nova Bay, Ross Sea, Antarctica since February 2021. It is the Korea Polar Research Institute's research initiative of animal-borne instruments monitoring in the region. We anticipate that this initiative would facilitate collaborative efforts among Polar physical oceanographers and even marine mammal behavior researchers to understand better rapid changes in marine environments in the warming world.

• 수산해양기술연구
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• 제36권2호
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• pp.96-104
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• 2000

본 연구에서는 저자 등이 개발한 인공해저를 대상으로 어류의 위집행동 및 분포구조를 잠수관찰 및 어군탐지기를 이용하여 조사하였다. 인공해저와 같은 해양구조물 주변에서의 군집구조를 파악하는 것은 인공어초의 위집기구 연구에 중요한 사항이다. 연구에서 얻어진 결과를 요약하면 다음과 같다. 1. 잠수관찰에 의하면 어류의 분포층은 인공해저의 구조와 밀접한 관계를 가지고 있어, 표층 해저면에서는 회유성 어종인 고등어, 전갱이가 군을 형성하여 일시적으로 위집되었다. 한편, 중층 시험 어초 부근에는 정착성 어종인 돌돔, 붉바리, 돔감펭볼락 등이 군을 형성 장시간 체류하는 것이 관찰되어, 이들 어류는 인공어초를 먹이장소 또는 휴식공간으로 긴밀하게 이용하고 있다고 판단되었다. 2. 어군탐지기를 사용하여 인공해저 주변을 24시간 항주조사 한 결과, 어류의 행동생태는 일출몰 시각의 전후로 변화하는 것을 알 수 있었다. 주간에 군을 형성하여 인공해저의 중$.$저층 부근에서 유영하던 어군에코는 야간에는 분산형태로 표층부근에 폭 넓게 산재하고 있어, 어군의 일주행동이 분명하게 밝혀졌다.