• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• Journal of Astronomy and Space Sciences
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• v.20 no.3
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• pp.205-216
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• 2003

The attitude motion of a spin-stabilized, upper-stage spacecraft is investigated based on a two-body model, consisting of a symmetric body, representing the spacecraft, and a spherical pendulum, representing the liquid slag pool entrapped in the aft section of the rocket motor. Exact time-varying nonlinear equations are derived and used to eliminate the drawbacks of conventional linear models. To study the stability of the spacecraft's attitude motion, both the spacecraft and pendulum are assumed to be in states of steady spin about the symmetry axis of the spacecraft and the coupled time-varying nonlinear equation of the pendulum is simplified. A quasi-stationary solution to that equation and approximate resonance conditions are determined in terms of the system parameters. The analysis shows that the pendulum is subject to a combination of parametric and external-type excitation by the main body and that energy from the excited pendulum is fed into the main body to develop the coning instability. In this paper, numerical examples are presented to explain the mechanism of the coning angle growth and how angular momenta and disturbance moments are generated.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.43-51
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• 2006

The purpose of this study was to analyze kinematic variables during turing back kick motion of Taekwondo. The subjects of this study were the 4 skilled and 4 unskilled of male university player in respectively. The experiment of this study was used two 16mm high speed cameras and its speed 125 frames/s. Analysis of this data was three dimensional cinematography using KWON3D program package. The results were as following; 1. In the elapsed time, there was no significance difference statically between a skilled and unskilled group. But skilled group was more fast during the motion of I phase. And unskilled group was more fast during the motion of II phase so called force production section, which had an influence on Diechagi's velocity. 2. In the center of gravity of human body, the changing of it was $1.10{\pm}0.04m$, $1.12{\pm}0.03m$ of LFM(left foot movement) and $1.36{\pm}0.08m$, $1.39{\pm}0.09m$ of RKF(right knee flection), and $1.44{\pm}0.08m$, $1.42{\pm}0.09m$ of RFI(right foot impact). There was no significance difference statically between the two groups. 3. The velocity of heel on impact was 1.13m/s in the skilled group and 1.23m/s in the unskilled group, when each angle of knee was $110.4{\pm}10.9deg/s$, $114.8{\pm}28.4deg/s$. The maximum velocity of each performance was reached before the RKF, and the velocity and angle at impact along by two groups did not show any significant difference statically. 4. In the angular velocity of just RKF of lower leg, there was significance difference statically between the two groups(p<.05).

• Proceedings of the KSME Conference
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• 2000.11b
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• pp.397-403
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• 2000

In the present study, flow characteristics of turbulent pulsating flow in a square-sectional $180^{\circ}$ curved duct were experimentally investigated. Experimental studies for air flows were conducted to measure axial velocity and wall shear stress distributions and entrance length in a square-sectional $180^{\circ}$ curved duct by using the LDV with the data acquisition and the processing system. The experiment was conducted in seven sections from the inlet (${\phi}=0^{\circ}$) to the outlet (${\phi}=180^{\circ}$) at $30^{\circ}$ intervals of the duct. The results obtained from the experimentation were summarized as follows ; (1) When the ratio of velocity amplitude ($A_1$) was less than one, there was hardly any velocity change in the section except near the wall and any change in axial velocity distributions along the phase. When the ratio of velocity amplitude ($A_1$) was 0.6, the change rate of velocity was slow. (2) Wall shear stress distributions of turbulent pulsating flow were similar to those of turbulent steady flow. The value of the wall shear stress became minimum in the inner wall aid gradually increased toward the outer wall where it became maximum. (3) The entrance length of turbulent pulsating flow reached near the region of bend angle of $90^{\circ}$, like that of turbulent steady flow. The entrance length was changed by the dimensionless angular frequency (${\omega}^+$).

• Journal of the Korean Society of Clothing and Textiles
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• v.39 no.1
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• pp.63-76
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• 2015

This study conducted a survey to gauge the buying and wearing propensities of wearers of leg guards made for baseball catchers, as well as product characteristics of preferred leg guards. Data from the survey were analyzed to obtain basic data for the development of an advanced leg guard design. Degree of compression, horizontal distance, cross section view and outline 3D sketch were also analyzed from the 3D data of leg guards; in addition, mobility and kinematic analysis were conducted through a wearing test. The survey indicated that imported products dominate the current retail market because they are appreciated by customers in terms of fit, price, brand, and protection. Representative complaints of products were discomfort, pressure, and the heavy-weight of the leg guards in general attributed to overall structure and 3D shape. When the pressure was lower on the front area of knee, it feels better to wear and the average knee angular velocity during the up and down motion increased, which suggests a better design from a kinematic point of view. The knee is the primary part of the body responsible for any movement of the lower limbs; consequently, the degree of compression and support stability of the leg guards near the knee area are important factors to evaluate the performance of leg guards. The results of our study indicate significant opportunities for improvement in product design and the development of baseball leg guards along with an ergonomic design that considers the mobility of the knee, skin deformations is necessary to improve performance. The process followed in this study will be applicable to studies on other personal protective equipment for sports.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.6
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• pp.579-589
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• 2004

The radar signals are generally very sensitive to relative orientations between radar and target. Thus, the performance of a target recognition system significantly deteriorates as the region of aspect angles becomes broader. To address this difficulty, in this paper, we propose a method based on the multi-aspect information in order to improve the classification capability ever for a wide angular region. First, range profiles are used to extract feature vectors based on the central moments and principal component analysis(PCA). Then, a classifier with the use of multi-aspect information is applied to them, yielding an additional improvement of target recognition capability. There are two different strategies among the classifiers that can fuse the information from multi-aspect radar signals: independent methodology and dependent methodology. In this study, the performances of the two strategies are compared within the frame work of target recognition. The radar cross section(RCS) data of six aircraft models measured at compact range of Pohang University of Science and Technology are used to demonstrate and compare the performances of the two strategies.

• The korean journal of orthodontics
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• v.48 no.3
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• pp.143-152
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• 2018

Objective: This study examined cone-beam computed tomography (CBCT)-derived multiplanar-reconstructed (MPR) cross-sections to clarify the salient characteristics of patients with skeletal class III malocclusion with midface deficiency (MD). Methods: The horizontal and sagittal plane intersection points were identified for middle-third facial analysis in 40 patients in the MD or normal (N) groups. MPR images acquired parallel to each horizontal plane were used for length and angular measurements. Results: A comparison of the MD and N groups revealed significant differences in the zygoma prominence among female patients. The convex zygomatic area in the N group was larger than that in the MD group, and the inferior part of the midface in the N group was smaller than that in the MD group for both male and female patients. A significant difference was observed in the concave middle maxillary area among male patients. Conclusions: This study was conducted to demonstrate the difference between MD and normal face through MPR images derived from CBCT. Male patients in the MD group had a more flattened face than did those in the N group. Female patients in the MD group showed a concave-shaped lower section of the zygoma, which tended to have more severe MD. These findings indicate that orthognathic surgery to improve skeletal discrepancy requires different approaches in male and female patients.

• Bulletin of the Society of Naval Architects of Korea
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• v.6 no.1
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• pp.43-67
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• 1969

The effect of a circular hole reinforced by a ring of different material in a plate under biaxial loadings is considered. In this problem, an infinitely large flat is assumed. The reinforcing ring is of uniform rectangular cross-section of same thickness as the plate. The outer boundary of the ring is cemented to the inner boundary of the hole in the plate. The plate is subjected to hydrostatic tension and pure shear loadings. The stress distribution around the hole is obtained by means of the two dimensional theory of elasticity. To conform the validities of above solutions, a series of photo-elastic stress analysis for a composite model was carried out. Fair agreements were observed between two sets of values. The conclusions arrived at are as follows: 1) The theoretical solutions are exact ones for the case of infinitely large flat plate. 2) The solutions can be used for most case of engineering problem if the bonding between the plate and ring is perfect. 3) If the ratio of Young's moduli of the ring and the plate is increased, the stresses in the plate decrease whereas those in the ring increase. 4) The stress concentration near the hole has localized effect. 5) Under hydrostatic tension, maximum principal stress and maximum shear stress increase as the ratio of inner and outer diameters of the ring increases. 6) Under pure shear, the stresses depend upon angular orientations of the points and maximum principal stress and maximum shear stress appear at 45 degree. They increase as the ratio of inner and outer diameters of the ring increases.

• Journal of the Optical Society of Korea
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• v.16 no.4
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• pp.331-335
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• 2012

A miniaturized laser beam transmitter, in which a visible laser module at ${\lambda}$=650 nm is precisely stacked upon an infrared (IR) module at ${\lambda}$=905 nm, has been proposed and constructed to provide an IR collimated beam in conjunction with a collinear monitoring visible beam. In particular, the IR beam is selectively dispersed through a perforated sheet diffuser, so as to create a rapidly diverging close-range beam in addition to a highly defined long-range beam simultaneously. The complementary close-range beam plays a role in mitigating the blind region in the vicinity of the transmitter, which is inevitably missed by the main long-range beam, thereby uniformly extending the transmitter's effective trajectory that is sensed by a receiver. The proposed transmitter was designed through numerical simulations and then fabricated by incorporating a diffuser sheet, perforated with an aperture of 2 mm. For the manufactured transmitter, the IR long-range beam was observed to have divergences of ~2.3 and 1.6 mrad in the fast and slow axes, respectively, while the short-range beam yielded a divergence of ~24 mrad. The angular alignment between the long-range IR and visible beams was as accurate as ~0.5 mrad. According to an outdoor feasibility test involving a receiver, the combination of the IR long- and short-range beams was proven to achieve a nearly uniform trajectory over a distance ranging up to ~600 m, with an average detectable cross-section of ${\sim}60{\times}80cm^2$.

• Journal of the Korean Applied Science and Technology
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• v.36 no.2
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• pp.448-455
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• 2019

This study aims to discover whether there are other factors, such as the ball position and address that will increase the percentage of holed putts from different angles of surface. In this study, we selected five male tour professional golfers that has been of 15 years or longer on the Korea Golf Association. As a research tool, after installing a video camera at an artificial site that's similar with the real green, and with the player's own putter, motion analysis was carried out using a Titleist V1x, which is commonly used by golfers. We use SPSS programs, significance level a=.05. According to the ball movement during the ball movement during the ball position putt by section, it is confirmed that the ball speed and angular velocity increase as the ball position changes from left to right. If the uphill putt, ball movement was found to be increased same change flat putt and There is no significance deviation. In this study, we investigate how the clubface and ball move during impact by varying the position of the address ball according to the slope during the ascent putt, which should increase the success rate among the various slopes. This study was conducted to present scientific data.