• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• The Journal of Engineering Geology
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• v.22 no.3
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• pp.353-363
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• 2012

The geology of Ulleung-Do is dominated by volcanic rocks with low strength and trachytic rocks with high strength but containing vertical joints that yield easily. Consequently, rockfalls along roadcuts are a major geological hazard, with the potential to affect the ring road of Ulleung-Do. In this study, we performed three types of rockfall hazard-risk assessment on the 3-km-long section of the ring road expected to have the highest possibility of rockfall. We used a rockfall ranking sheet in a roadside landslide hazard map, the Slope Stability Inspection Manual for National Highways (Japan), and a rockfall hazard rating system for inspection from the Japan Highway Public Corporation. We also employed the evaluation criteria of 'RHRS' developed by the Federal Highway Administration (FHA). An analysis of roadcuts at 27 sites with regard to geographic and geological conditions resulted in the identification of three classes of rockfall hazard (high, medium, and low). Of note, over 74% of slopes were assessed as high- and medium-class. Finally, a rockfall hazard map of the northeast region of Ulleung-Do was produced based on the evaluation results.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.16 no.3
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• pp.1-17
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• 2013

This study was conducted to understand the habitat characteristics of Psilotum nudum of Dosuncheon river and Anduck valley in Jeju Island. The total of 79 vascular plants taxa including 39 families, 58 genera, 75 species and 4 varieties were investigated in Dosuncheon river, while 59 vascular plants taxa consisting of 34 families, 50 genera, 53 species and 6 varieties were investigated in Anduck valley. When it comes to the life form, the rates of distribution of annual plants (therophytes) at the mouth of Dosuncheon river and Anduck valley were lower than those of the Korean peninsula and Jeju Island. However, the rates of distribution of chamaephytes and epiphytes were higher at the mouth of Dosuncheon river and Anduck valley. As for vegetation, epiphytes (such as Trachelospermum asiaticum var. intermedium, Trachelospermum asiaticum var. majus and Lemmaphyllum microphyllum) and adiantum plants (including Psilotum nudum, Cytomium fortunei and Rumohra aristata), which are typically easy to be dispersed in rocky zones, dominated these areas since they are vertical or horizontal joints containing wide rocky zones. The main threats to the habitats of Psilotum nudum are environmental pollution, lack of publicity, installation of various facilities such as recreational facilities, gathering for medical and horticulture purposes, vegetation succession and application of waterfront. The management of the rocky zones as habitats for Psilotum nudum is an important factor in their expansion.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.71-82
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• 2016

Objective: The purpose of this study was to investigate kinematic comparisons of Tsukahara vault in gymnastics between a top-level athlete and sublevel collegiate athletes in order to obtain information on key biomechanical points for successful Tsukahara vaults. Methods: An Olympic gold medalist (height, 160 cm; weight, 52 kg; age, 25 years) and five sublevel collegiate gymnasts (height, $168.2{\pm}3.4cm$; weight, $59.6{\pm}3.1kg$; age, $23.2{\pm}1.6years$) participated in this study. They repeatedly performed Tsukahara vaults including one somersault. Fourteen motion-capturing cameras were used to collect the trajectories of 26 body markers during Tsukahara vaults. Event time, displacement and velocity of the center of mass, joint angles, the distance between the two hands on the horse, and averaged horizontal and vertical impact forces were calculated and compared. Results: The top-level athlete showed a larger range of motion (ROM) of the hip and knee joints compared to sublevel collegiate athletes during board contact. During horse contact, the top-level athlete had a narrow distance between the two hands with extended elbows and shoulders in order to produce a strong blocking force from the horse with a shorter contact time. At the moment of horse take-off, reactive hip extension of the top-level athlete enhanced propulsive take-off velocity and hip posture during post-flight phase. Conclusion: Even though a high velocity of the center of mass is important, the posture and interactive action during horse contact is crucial to post-flight performance and the advanced performance of Tsukahara vaults.

• Earthquakes and Structures
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• v.18 no.2
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• pp.147-162
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• 2020

This paper presents a novel precast energy dissipation shear wall (PEDSW) structure system that using mild steel dampers as dry connectors at the vertical joints to connect adjacent wall panels. Analytical studies are systematically conducted to investigate the seismic performance of the proposed PEDSW under sequence-type ground motions. During earthquake events, earthquake sequences have the potential to cause severe damage to structures and threaten life safety. To date, the damage probability of engineering structures under earthquake sequence has not been included in structural design codes. In this study, numerical simulations on single-story PEDSW are carried out to validate the feasibility and reliability of using mild steel dampers to connect the precast shear walls. The seismic responses of the PEDSW and cast-in-place shear wall (CIPSW) are comparatively studied based on nonlinear time-history analyses, and the effectiveness of the proposed high-rise PEDSW is demonstrated. Next, the foreshock-mainshock-aftershock type earthquake sequences are constructed, and the seismic response and fragility curves of the PEDSW under single mainshock and earthquake sequences are analyzed and compared. Finally, the fragility analysis of PEDSW structure under earthquake sequences is performed. The influences of scaling factor of the aftershocks (foreshocks) to the mainshocks on the fragility of the PEDSW structure under different damage states are investigated. The numerical results reveal that neglecting the effect of earthquake sequence can lead to underestimated seismic responses and fragilities, which may result in unsafe design schemes of PEDSW structures.

• Journal of Convergence for Information Technology
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• v.10 no.4
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• pp.160-167
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• 2020

This study analyzes the effects of changes in running velocity and slope on the biomechanical factors of the lower limb joints. For this purpose, 15 adult males in their 20s ran according to changes in running speed (2.7, 3.3 m/s) and slope ( -9°, -6°, 0°, 6°, 9°) on the treadmill, and their running characteristics (stride length, stride frequency). The range of motion of the lower limb joint and the vertical ground reaction force were greater in UR (p <.05), and the moment of the lower limb joint, braking force, thrust and load factor was large in DR (p <.05). In joint power, the ankle joint was greater in DR, and hip joint was greater in the UR (p <.05). These results show that the injuries of the ankle joint will be greater than other cases when running DR at a speed of 3.3 m/s.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.143-151
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• 2005

This study was conducted to investigate the technical factors of Cuervo forward straight vaults with single twist, single and half twists, and double twists actually performed by three execellent male gymnasts participated in artistic gymnastics competition of 2003 summer Universiade in Daegu and the 85th National Sports Festival in Cheongju. To accomplish the research goals the Cuervo vaults of three gymnasts were filmed by using three digital camcorders set by 60 Hz, and data were collected through the DLT method of three dimensional cinematography. The kinematic and kinetic variables as each phasic time, CM displacement velocity, release angle inclination angle hip joint angle landing angle, average horse reaction force average moment arm average torque, whoe body's total remote local angular momentum were analyzed, so the following conclusions were reached. Generally to perform the better Cuervo vault, a gymnast should touch down on the board with the great horizontal velocity of the whole body through the fast run-up, and touch down on the horse by decreasing the horizontal displacement of the whole body during the preflight, so raise CM height gradually within a short horse contact time. He should increase the horse reaction force through checking the horizontal velocity of the whole body effectively and the inclination angular displacement of the handstand, if so he can have the large vertical velocity of the whole body. By using the acquired the velocity and the angular momentum of the whole body, he can vault himself higher and twist sufficiently, then he can get better if the body could be tilted by swinging both arms and perform the cat twist with a little flexions at hip joints. According to the above outcomes we can judge that the best athletes is LuBin, the better is YTY, and the next is JSM.

• Korean Journal of Applied Biomechanics
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• v.20 no.2
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• pp.139-148
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• 2010

The purpose of this study was to comparatively analyze the kinematic variables between the squash backhand and racquetball backhand strokes through three-dimensional cinematography. Three expert racquetball players and three expert squash players were involved in the data gathering process. The horizontal, vertical and lateral displacement of racket and trunk segment, intersegmental angular velocity of the wrist, elbow and shoulder joints, and the linear velocity of the racket were descriptively analyzed, and the followings were concluded. The racket of the squash backhand stroke showed an 'U' shaped movement where the racket moved rapidly downward and moved forward to make an impact and followed through to a front-top finish, while the racket of racquetball backhand stroke showed an 'O' shaped movement where the racket showed circular movement through the rear and bottom positions for the impact, and showed rotation through the lower-front and upper front to a upper-rear-ward finish during the follow-through. The peak velocity of racket was found before the impact point in the squash backhand stroke and at the impact point in the racquetball backhand stroke. For the final conclusion, for the squash backhand stoke, instructors might be better to make the racket move downward to make highest velocity before the impact and finished short follow-through, while for the racquetball backhand stroke, to make the racket move forward to make highest velocity at the impact and finished rather long follow-through.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.157-171
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• 2009

A 151 storey super high-rise building located in an area of reclaimed land constructed over soft marine clay in Songdo, Korea is currently under design. This paper describes the design process of the foundation system of the supertall tower, which is required to support the large building vertical and lateral loads and to restrain the horizontal displacement due to wind and seismic forces. The behaviour of the foundation system due to these loads and foundation stiffness influence the design of the building super structure, displacement of the tower, as well as the raft foundation design. Therefore, the design takes in account the interactions between soil, foundation and super structure, so as to achieve a safe and efficient building performance. The site lies entirely within an area of reclamation underlain by up to 20m of soft to firm marine silty clay, which overlies residual soil and a profile of weathered rock. The nature of the foundation rock materials are highly complex and are interpreted as possible roof pendant metamorphic rocks, which within about 50m from the surface have been affected by weathering which has reduced their strength. The presence of closely spaced joints, sheared and crushed zones within the rock has resulted in deeper areas of weathering of over 80m present within the building footprint. The foundation design process described includes the initial stages of geotechnical site characterization using the results of investigation boreholes and geotechnical parameter selection, and a series of detailed two- and three-dimensional numerical analysis for the Tower foundation comprising over 172 bored piles of varying length. The effect of the overall foundation stiffness and rotation under wind and seismic load is also discussed since the foundation rotation has a direct impact on the overall displacement of the tower.

• Journal of the Korean Society for Railway
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• v.17 no.4
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• pp.245-250
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• 2014

This paper, as a study for the serviceability design of railway bridges with concrete track, presents the effects of design parameters of tracks and bridges on the forces acting on the rail supports of the track. To calculate the forces acting on the track, an unequal spacing discrete supported model with different spacing of rail supports was induced. Design parameters are the rail support spacing of expansion joints above abutments or piers of bridges, the distance from the support of a girder to the last rail support on the end of the girder, and the number of additional rail supports. The causes of the displacement of track are axial force, unit vertical displacement, and unit rotation. From the analysis, the maximum compressive force and the maximum uplifting force acting on the rail supports were determined and the effects of the rail support spacing on the forces acting on the track were presented.