• 농업과학연구
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• 제42권1호
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• pp.63-71
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• 2015

Path planning is an essential part for traveling and mowing of autonomous lawn mower tractors. Objectives of the paper were to analyze operation patterns by a skilled farmer, to extract and optimize waypoints, and to demonstrate generation of formatted planned path for autonomous lawn mower tractors. A 27-HP mower tractor was operated by a skilled farmer on grass fields. To measure tractor travel and operation characteristics, an RTK-GPS antenna with a 6-cm RMS error, an inertia motion sensing unit, a gyro compass, a wheel angle sensor, and a mower on/off sensor were mounted on the mower tractor, and all the data were collected at a 10-Hz rate. All the sensor data were transferred through a software program to show the status immediately on the notebook. Planned path was generated using the program parameter settings, mileage and time calculations, and the travel path was plotted using developed software. Based on the human operation patterns, path planning algorithm was suggested for autonomous mower tractor. Finally path generation was demonstrated in a formatted file and graphic display. After optimizing the path planning, a decrease in distance about 13% and saving of the working time about 30% was achieved. Field test data showed some overlap, especially in the turning areas. Results of the study would be useful to implement an autonomous mower tractor, but further research needs to improve the performance.

• 한국컴퓨터정보학회논문지
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• 제16권1호
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• pp.47-52
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• 2011

본 논문은 수면을 이루는 침실의 수면 환경 데이터를 수집하고, 얻어진 조건 데이터들과 수면간의 관계를 분석한다. 이를 바탕으로 시뮬레이션 모델을 추출하여 개개인에 따른 최적의 수면 환경을 제공하도록 한다. 실험은 H-MOTE2420 센서의 온/습도 센서(SHT11)와 조도 센서(GL5507)를 이용하였다. 뒤척임 추출을 위하여 비디오에서 움직임을 추출하는 차영상 기법을 이용하였다. 또한, 수면에 영향을 미칠만한 가중치의 정보로 피로도, 음주도, 공복도 등의 정보를 입력 받는다. 실험 결과 최적의 수면 환경을 추출할 수 있었다. 향후에는, 수면의 특정 상황만 아니라 식사, 출근 등과 같은 유기적인 유비쿼터스 생활환경의 한 부분에도 상황에 따른 적절한 실내 환경 변화를 제공 해주어서 좀 더 쾌적한 일상생활을 영위할 수 있도록 도움을 주도록 개선하려 할 것이다.

• 수산해양기술연구
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• 제56권2호
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• pp.163-171
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• 2020

Engaged in trawling in limited fishing grounds with a number of fish schools could cause collisions between fishing vessels. Therefore, providing accurate maneuver information according to the situation could be regarded as essential for improving seafarers safety and fishing efficiency as well as safety of navigation. It is difficult to obtain all maneuver information through sea trial tests only, so a method through empirical formula is necessary. Since most empirical formulas are developed for merchant ship types, especially the characteristics of hull shape parameter like C_bB/L and dC_b/B etc. are clearly different between fishing vessels and merchant ships, this could occur estimation errors. Therefore, in this study, the authors have selected target fishing vessels and merchant ships and analyzed the characteristics of hull shape parameter according to the ship types. Based on this analysis, the empirical formula developed for the merchant ship type has applied to the target fishing vessels; it has verified through the turning motion simulation that the estimation error could be generated. In conclusion, it is necessary to include the characteristics of the hull shape parameter of fishing vessels in the empirical formula in order to apply the empirical formula has developed for merchant ship types to fishing vessel types.

• 한국정보통신학회논문지
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• 제18권3호
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• pp.510-518
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• 2014

본 연구에서는 유체 속에서의 로봇의 방향전환 메커니즘의 성능을 개선하고 최적화하기 위하여 물 속 자연환경에 최적화되어 있는 물고기의 CST(CST:C-shape sharp turn) 패턴을 모방하여 물고기 로봇의 꼬리 관절 궤적을 신경회로망(neural network)을 사용하여 제안하였다. 물고기의 CST 패턴을 모방하기 위해 CST 패턴을 순차적으로 기록한 정보를 수치적으로 변환하여 좌표 데이터를 생성하고 함수화하였다. 함수화된 모션 함수를 물고기 로봇의 상대 관절각으로 변환하였으나, 구해진 상대 관절 궤적은 잉어의 순차적 기록에 의해 구해진 각도이므로 분해능이 떨어져 실제 물고기 로봇의 제어에 적용하기 어렵다. 그러므로 상대 관절 궤적을 일반화 기능이 뛰어난 신경회로망을 사용하여 보간하고 물고기 로봇에 적용하였다. 모의실험을 통하여 신경회로망을 이용한 상대 관절 궤적 함수가 고차의 다항식 궤적 함수에 비하여 물고기 로봇의 CST 모션에 더 좋은 성능을 나타냄을 확인하였다.

• 대한치과교정학회지
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• 제49권4호
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• pp.254-264
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• 2019

Objective: To evaluate the short-term changes in masticatory muscle activity and mandibular movement patterns after orthognathic surgery in skeletal Class III patients with facial asymmetry. Methods: Twenty-seven skeletal Class III adult patients were divided into two groups based on the degree of facial asymmetry: the experimental group (n = 17 [11 male and 6 female]; menton deviation ${\geq}4mm$) and control group (n = 10 [4 male and 6 female]; menton deviation < 1.6 mm). Cephalography, electromyography (EMG) for the anterior temporalis (TA) and masseter muscles (MM), and mandibular movement (range of motion [ROM] and average chewing pattern [ACP]) were evaluated before (T0) and 7 to 8 months (T1) after the surgery. Results: There were no significant postoperative changes in the EMG potentials of the TA and MM in both groups, except in the anterior cotton roll biting test, in which the masticatory muscle activity had changed into an MM-dominant pattern postoperatively in both groups. In the experimental group, the amount of maximum opening, protrusion, and lateral excursion to the non-deviated side were significantly decreased. The turning point tended to be shorter and significantly moved medially during chewing in the non-deviated side in the experimental group. Conclusions: In skeletal Class III patients with facial asymmetry, the EMG activity characteristics recovered to presurgical levels within 7 to 8 months after the surgery. Correction of the asymmetry caused limitation in jaw movement in terms of both ROM and ACP on the non-deviated side.

• 한국해양공학회지
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• 제35권3호
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• pp.173-182
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• 2021

The maneuvering performance of a ship on the actual sea is very different from that in calm water due to wave-induced motion. Enhancement of a ship's maneuverability in waves at the design stage is an important way to ensure that the ship navigates safely. This paper focuses on the maneuvering prediction of a Russian trawler in wind and irregular waves. First, a unified seakeeping and maneuvering analysis of a Russian trawler is proposed. The hydrodynamic forces acting on the hull in calm water were estimated using empirical formulas based on a database containing information on several fishing vessels. A simulation of the standard maneuvering of the Russian trawler was conducted in calm water, which was checked using the International Maritime Organization (IMO) standards for ship maneuvering. Second, a unified model of seakeeping and maneuvering that considers the effect of wind and waves is proposed. The wave forces were estimated by a three-dimensional (3D) panel program (ANSYS-AQWA) and used as a database when simulating the ship maneuvering in wind and irregular waves. The wind forces and moments acting on the Russian trawler are estimated using empirical formulas based on a database of wind-tunnel test results. Third, standard maneuvering of a Russian trawler was conducted in various directions under wind and irregular wave conditions. Finally, the influence of wind and wave directions on the drifting distance and drifting angle of the ship as it turns in a circle was found. North wind has a dominant influence on the turning trajectory of the trawler.

• 대한조선학회논문집
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• 제59권6호
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• pp.423-431
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• 2022

In this paper, the results of Planar Motion Mechanism (PMM) test for a 1/15 scaled model of the MARIN Joubert BB2 submarine is dealt with to derive the maneuvering coefficients for surface condition. For the depth of surface navigation, the top of the sail was exposed 0.46 m above the water surface in the model scale, and it corresponds to 6.9 m in the full scale. The resistance and self-propulsion tests were conducted, and the model's self-propulsion point was obtained for 1.328 m/s, which corresponded to 10 knots in the full scale. The maneuvering tests were performed at the model's self-propulsion point, and the maneuvering coefficients were obtained. Based on the maneuvering coefficients, a turning simulation was performed for starboard 30 degree of stern fins. The straight-line stability and control effectiveness in the horizontal plane were analyzed using the maneuvering coefficients and compared with the appropriate range. For the analysis of the neutral fin angle of the X-type stern fin, the stern fin test with drift angles was carried out. As a result, the flow straightening effect at lower and upper parts of the stern fin was discussed.

• 트랜스-
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• 제3권
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• pp.109-135
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• 2017

본 논문의 목적은 스티브 팩스톤의 작품에서 드러난 일상적 움직임 특성을 분석하는 것이다. 예술작품은 오랜 시간동안 고급문화로서 높은 계층의 사람들에게만 향유되는 특별한 대상으로서 인식되어왔다. 일상과 예술의 간극은 크게 존재해왔고 때문에 예술작품에서 일상적인 요소의 출현은 사회적 변화를 수반한 대중의 인식전환을 의미한다. 예술과 일상의 경계가 불분명해지는 시대로서 포스트모더니즘의 시대는 2차 세계대전 이후의 전후사회 그리고 후기 자본주의사회로서 급변하는 정세를 배경으로 가진다. 이 시기의 변화는 학자들에게 일상과 관련한 개념들을 학문적으로 접근하게 하는 계기가 되어졌으며 예술가들에게는 총체성을 거부하는 다원주의 성향의 포스트모더니즘의 시대정신으로서 영향을 미쳤다. 같은 시기 현대 무용역시 포스트모던댄스로의 전환기를 맞이하게 되었다. 2차 세계대전 이후 현대무용은 그 한계점에 도달한 것으로 평가되기 시작했으며 이러한 상황에서 저드슨 댄스 씨어터를 비롯한 무용가들을 필두로 포스트모던댄스는 전개되었다. 저드슨 댄스의 설립자 중 한 명인 스티브 팩스톤은 머스 커닝햄의 무용수로 활동을 하며 움직임이 생성되는 과정과 계급적인 사회구조를 지닌 무용단의 생태에 문제의식을 가지게 되었다. 이러한 그의 사고는 일상적인 동작을 그대로 작품에 실현하는 시도로서 초기 작품 활동에 드러난다. 일상적인 동작의 활용이 포스트모던댄스의 공공연한 특징으로 간주되어지고 있음에도 이에 주목한 선행연구가 드물다는 점, 그리고 팩스톤 관련 연구들은 접촉즉흥에 관련한 것으로 편향되어 있다는 것에서 본 연구는 시작되었다. 때문에 접촉즉흥 기법에 치중하기 이전 일상적인 동작의 사용으로서 작품활동을 시작한 것에 주목하여 그 연결선상으로서 이후의 작품들을 살펴볼 것이다. 본 연구는 팩스톤의 작품인 ,,를 분석하고 이를 토대로 일상적 특성을 도출하였다. 일상에 관련한 개념을 고찰하고 포스트모던댄스의 무용사적 흐름을 파악하기 위하여 관련 저서와 학술 논문, 무용기사 및 평론을 참고하여 진행하였다. 팩스톤은 무용적 정제를 거치지 않은 일상에서의 동작을 작품에 그대로 차용하였으며 그 시작으로 보행동작은 비무용수인 공연자들의 보행으로서 일상적인 움직임에 미적 의의를 부여하였다. 팩스톤이 심취한 접촉즉흥의 움직임 역시 자연스러운 에너지의 흐름을 중시하는 것으로 일상적인 측면을 지니며 이후의 작품인 에서도 그는 이완된 신체로 평범한 동작들을 선보였다. 작품에 등장한 일상적 움직임의 특성은 반복되는 삶에서의 실천과 특별하지 않은 평범한 것이라는 기준으로서 분석되었다. 그의 작품에 내재된 일상적 움직임은 한 시대의 무용장르의 변화를 비롯하여 전통적으로 유지되어온 무용예술 작품에 관한 인식의 전환을 대변하는 것이다. 파격적인 시도와 실험성으로 점철된 그의 활동은 현대무용이 지녔던 한계점을 극복하기 위한 노력으로서 보다 높게 평가 되어져야 할 것이다.

• 한국운동역학회지
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• 제15권4호
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• pp.43-53
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• 2005

This study is to define how the difference of athletic change influence on the last regrasp after somersault in Belle movement of parallel bars. For his study, the following conclusion was produced by analysis of athletic change by means of three dimensional visual image in three athlete of nation. 1. As the picture of S1, there are total used time(2.01 sec), S3(2.17 sec) and S2(2.19 sec). In case of a short needed time, it is difficult for them to perform the remaining movement of the vertical elevating flight easily and comfortably, it is judged as performing the small movement with restrict swing. 2 In the change of body center sped by each event, it is calculated as $-89.1^{\circ}$ the narrowest in S1, $-81.96^{\circ}$ the widest and then $86.34^{\circ}$ in S3. In E3 event, average compound speed is 4.07m/s, S2 showed the fastest speed of 4.14m/s whereas S1 the narrowest angle of 3.95m/s. 3. A shoulder joint and coxa are the period of mention in E3. In E4 which was pointed out the longest vertical distance, S2 that is indicated the highest vertical height as the period of detach in parallel bars. showed -3.91m. This is regarded as a preparatory movement for dynamic performance after using effectively elastic movement of shoulder joint and coxa while easily going up with turning back movement. In the 5th phrase, long airborne time and vertical change position is showed as the start while regrasping securely air flight movement from high position. 4. In E5, a long flight time and a long vertical displacement were shown as the regrasp after somersault efficiently in high position with stability from the point of the highest peak of the center of the body. Especially, S2 is marked as a little bit long position, while S1 is reversely indicated as performing somersault and unstable motion in a low position. 5. In E3, at the point of the largest extension of the shoulder joint and hip joint the shoulder joint is largely marked in $182^{\circ}$ and the hip point $182^{\circ}$ in S2. The shoulder joint is marked at the smallest angle in $177^{\circ}$ and the hip point $176^{\circ}$ in S1. And S1 is being judged by its performance of the less self - confident motion with lessening a breath of swing. S2 makes the most use of flexion and extension of the shoulder joint and the hip joint effectively. It was performed greatly with swinging and dropping the rotary movement and the rotary inertia naturally. 6. In E6, as the point of regrasp of the upper arm in parallel bars it is recognized by the that of components of vertical and horizontal velocity stably. During this study, the insufficient thing and the study on the parallel bars at a real game later are more activated than now. If it is really used as the basic materials by means of Belle Picked Study of Super E level after Bell movement, you may perceive the technique movement previously and perform without difficulty. Especially, such technique as crucifix is quite advantageous for oriental people thanks to small body shape condition. In conclusion we will nicely prepare for our suitable environment to gradually lessen trials and errors by analyzing and studying kinematically this movement.

• 대한인간공학회지
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• 제35권1호
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• pp.11-27
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• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.