• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.539-544
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• 1991

In order to verify robot motions for a desired work, it is necessary to visualize it on a computer screen. This paper presents a simulation algorithm for robot manipulator motion. Kinematic description is based on the Denavit- Hartenberg link representation. In order to be applied to various types of the robot manipulator, inverse kinematics make use of the Newton-Raphson iterative method with the least squares method. Joint variables are interpolated by the lowest polynomial segment satisfying acceleration continuity. The robot motions are generated and then animated on a computer screen in the form of skeleton type.

• Journal of the Ergonomics Society of Korea
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• v.4 no.2
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• pp.25-31
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• 1985

Mechanical energy consumption during human running was studied. The subject was modeled by an eleven segment planar open linkage system and analyzed by Newtonian equations of motion from film data with a sampling rate of 50 Hz. The motion data from films were smoothed by lower 7 harmonics before analysis. And this study was tried for a normal male subject running on a concrete floor. The mechanical energy consumption was evaluated from the five different criteria suggested by others and a joint energy consumption criterion newly devised based on the muscle contraction.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.34D no.7
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• pp.88-96
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• 1997

As the need of automatized system has been increased recently together with the development of industrial and military technologies, the adaptive real-time target detection technologies that can be embedded on vehicles, planes, ships, robots and so on, are hgihly demanded. Accordingly, this paper proposes a novel approach to detect and segment the moving targets using the binary phase extraction joint transform correlator (BPEJTC), the advanced image subtraction filter and convex hull processing. The BPEJTC which was used as a target detection unit mainly for target tracking compensating the camera movement. The target region has been detected by processing the successful three frames using the advanced image subtraction filter, and has become more accurate by applying the developed convex hull filter. As shown by some experimental results, it is expected that the proposed approaches for compensation of the camera movement and segmentationof of target region, can be used for th emissile guiddance, aero surveillance, automatic inspectin system as well as the target detection unit of automatic target recognition system that request adaptive real-time processing.

• Proceedings of the Korea Concrete Institute Conference
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• 2005.05a
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• pp.43-46
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• 2005

Precast prestressed concrete hollow slab bridge is one of segmented bridge which can be long span, so that the structural behavior of joints of adjacent segment should be evaluated by the analysis as well as experiment. In this study, small scaled beam tests were carried out to determine joint shear key shape and restraint stress by prestressing. From the tests and the analysis, it was found that the joint key shape and the restraint stress affect the behavior of segments and the segments which has the height to the width of shear key as 1/3 possess maximum shear resistance.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.5A
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• pp.379-387
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• 2011

According to the development of ultra-high performance concrete (UHPC), its mechanical performance have been known as superior than normal and/or high performance concrete. However, its construction and structural safety must have studied with revisions and supplements. In this study, tests have been performed on UHPC precast segment joint with different levels of joint types and lateral forces under direct shear. From the results of the experimental tests, it can be concluded that the properties of the referred joints are significant for the resistance of shear behavior, and the increase of lateral force in these joints may suggest as critical lateral stress on that behavior.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.25 no.2
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• pp.39-46
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• 2019

Background: Ground repulsion or impact on the ground during daily activities, sports, or occupational activities may cause injury to the knee when walking. Non-elastic taping is effective in treating these problems in previous studies. Non-elastic taping strengthens the structure of the soft tissues of the injured knee joint to maintain constant tension, improves muscle rearrangement and function, and improves proprioception. Based on previous studies, we intended to see the therapeutic changes of non-elastic taping in patients with patellofemoral joint pain syndrome. Methods: The non-elastic taping application method was applied to the patient three times for five hours for one week. Non-elastic taping was applied to the patellar tendon with little space above the skin segment of the patellar femur, with both sides fixed by taping. Muscle strength and gait change were evaluated with non-elastc taping. Results: The knee flexion, extension strength and gait evaluation of the knee joint with inelastic taping showed significant differences after treatment. There was a significant difference in the comparison between the two groups after the treatment method was applied (p<.05). Conclusion: As a result, this study confirms that the non-elastic taping method applied for the treatment of patellar femoral joint pain syndrome is effective in the treatment.

• Journal of Korean Neurosurgical Society
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• v.49 no.5
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• pp.308-313
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• 2011

Posterior cervical foraminotomy is an attractive therapeutic option in selected cases of cervical radiculopathy that maintains cervical range of motion and minimize adjacent-segment degeneration. The focus of this procedure is to preserve as much of the facet as possible with decompression. Posterior cervical inclinatory foraminotomy (PCIF) is a new technique developed to offer excellent results by inclinatory decompression with minimal facet resection. The highlight of our PCIF technique is the use of inclinatory drilling out for preserving more of facet joint. The operative indications are radiculopathy from cervical foraminal stenosis (single or multilevel) with persistent or recurrent root symptoms. The PCIFs were performed between April 2007 and December 2009 on 26 male and 8 female patients with a total of 55 spinal levels. Complete and partial improvement in radiculopathic pain were seen in 26 patients (76%), and 8 patients (24%), respectively, with preserving more of facet joint. We believe that PCIF allows for preserving more of the facet joint and capsule when decompressing cervical foraminal stenosis due to spondylosis. We suggest that our PCIF technique can be an effective alternative surgical approach in the management of cervical spondylotic radiculopathy.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.41 no.2
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• pp.102-108
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• 2015

In surgery for facial asymmetry, mandibles can be classified into two types, rotational and translational, according to the required mandibular movements for surgery. During surgery for rotational mandibular asymmetry, a bilateral sagittal split ramus osteotomy (BSSRO) may cause a large bone gap between the proximal and distal segments as well as condylar displacement, resulting in a relapse of the temporomandibular joint disorder, especially in severe cases. The intraoral vertical ramus osteotomy has an advantage, in this respect, because it causes less rotational displacement of the proximal segment on the deviated side and even displaced or rotated condylar segments may return to their original physiologic position. Unilateral intraoral vertical ramus osteotomy (UIVRO) on the short side combined with contralateral SSRO was devised as an alternative technique to resolve the spatial problems caused by conventional SSRO in cases of severe rotational asymmetry. A series of three cases were treated with the previously suggested protocol and the follow-up period was analyzed. In serial cases, UIVRO combined with contralateral SSRO may avoid mediolateral flaring of the bone segments and condylar dislocation, and result in improved condition of the temporomandibular joint. UIVRO combined with contralateral SSRO is expected to be a useful technique for the treatment of rotational mandibular asymmetry.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.277-285
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• 2014

Nakcyguri is one of the offensive weapons most often used in Taekkyon games, The purpose of this study was to investigate kinetic factors on two types of Nakcyguri, one of which uses hip bending and the other uses little it. 12 taekkyoners (males) who are the students of Y University participated in this study. They have been practicing on Taekkyon for five years or more. Positions of CoM, the elapsed time of each phase, ROM of joint and segment angles, ground reaction forces, joint moments of supporting leg were analyzed for this study. The results were as follows; in Nakcyguri with hip bending than without hip bending, anterior/posterior ROM of pelvis, head and swing foot were larger by flexing-extending more, and both vertical and posterior components of GRF were larger during phase 4. It was considered that hip bending produced posterior momentum as well as vertical momentum of trunk during Nakcyguri. In conclusion hip bending was essential and so useful to the successful attack.