• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 3부
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• pp.326-333
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• 2007

To simulate solid dynamics,a we must com-pute the mass, the center of mass, and the products of inertia about the axes of the body of interest. These mass property computations must be continuously re-peated for certain simulations with rigid bodies or as the shape of the body changes. We introduce a GPU-friendly algorithm to approximate the mass properties for an arbitrarily shaped body. Our algorithm converts the necessary volume integrals into surface integrals on a projected plane. It then maps the plane into a frame-buffer in order to perform the surface integrals rapidly on the GPU. To deal with non-convex shapes, we use a depth-peeling algorithm. Our approach is image-based; hence, it is not restricted by the mathematical or geometric representation of the body, which means that it can efficiently compute the mass properties of any object that can be rendered on the graphics hardware. We compare the speed and accuracy of our algorithm with an analytic algorithm, and demonstrate it in a hydrostatic buoyancy simulation for real-time applications, such as interactive games.

• 대한의용생체공학회:의공학회지
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• 제30권3호
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• pp.247-254
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• 2009

We studied the postural response induced by plantar sole vibration with various frequencies(20, 60, 100Hz) and vibration zone(the anterior and posterior foot zone) of both soles during standing. Eight healthy young adults were exposed to 15s periods of plantar sole vibration while blindfolded. Body sway(COM, center of mass), the angle of neck, trunk, hip, knee, ankle and EMG of four lower limb muscles(tibialis anterior, lateral and medial gastrocnemial, soleus muscle) were recorded during 15s plantar sole vibration using 3D motion analysis system. Simulating each zone separately resulted in spatially oriented body tilts; oppositely directed backward and forward, respectively, the amplitude of which was proportional to the vibration frequency. EMG activity of lower limb muscles also varied according to the direction of the vibration zone and linearly according to the frequency. These findings led us to consider the plantar sole vibration as useful method of postural balance control and adjustment.

• 한국운동역학회지
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• 제33권1호
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• pp.34-44
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• 2023

Objective: The purpose of this study was to examine the effects of increasing running speed on human stability by comparing the Lyapunov Exponent (LyE) and Coefficient of Variation (CV) methods, with the goal of identifying key variables and uncovering new insights. Method: Fourteen adult males (age: 24.7 ± 6.4 yrs, height: 176.9 ± 4.6 cm, weight: 74.7 ± 10.9 kg) participated in this study. Results: In the CV method, significant differences were observed in ankle (flexion-inversion/eversion; p < .05) and hip joint (internal-external rotation; p < .05) movements, while the center of mass (COM) variable in the coronal axis movements showed a significant difference at the p < .001 level. In the LyE method, statistical differences were observed at the p < .05 level in knee (flexion-extension), hip joint (internal-external rotation) movements, and COM across all three directions (sagittal, coronal, and transverse axis). Conclusion: Our results revealed that the stability of the human body is affected at faster running speeds. The movement of the COM and ankle joint were identified as the most critical factors influencing stability. This suggests that LyE, a nonlinear time series analysis, should be actively introduced to better understand human stabilization strategies.

• 한국운동역학회지
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• 제22권1호
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• pp.55-63
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• 2012

The purpose of this study was to investigate the balance differences between skilled players and less-skilled players during Hakdariseogi motion of Keumgang Poomsae in Taekwondo. To achieve the study goal, total of 10 Taekwondo athletes; 5 skilled players(S, body mass: $67.0{\pm}5.7$ kg, height: $174.0{\pm}4.8$ cm, age: $20.0{\pm}2.0$ yrs) and 5 less-skilled players(LS, body mass: $73.0{\pm}4.9$ kg, height: $176.4{\pm}6.1$ cm, age: $20.8{\pm}1.3$ yrs) participated in this study. A three-dimensional motion analysis with 8 infrared cameras and one force plate whose sampling frequency as 30 Hz and 300 Hz, respectively, were performed. Participants' motion were divided into three phases which were preparation phase(P1), performing phase(P2) and maintaining phase(P3). The range and velocities of COP, the range and RMS of ground reaction torque and displacement between COM and center of BOS of each phase were computed. In this study, at P1 and P3 which were double and single stance, respectively, the range and M-L velocities of COP revealed significantly higher in LS compared with those of S(p<.05). At P2 which was single stance, LS indicated significantly higher in range of COP and ground reaction torque, and M-L velocities of COP than those of S(p<.05). The significantly shorter displacement between COM and center of BOS, however, was found in LS compared with that of S(p<.05). The results from our study indicated that S revealed more stable performance and a better posture control ability during performing Hakdariseogi motion.

• 한국운동역학회지
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• 제28권3호
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• pp.181-185
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• 2018

Objective: The purpose of this study was to investigate the effect of types of drive-in initial steps in basketball on technical factors, to provide basic information for the enhancement of basketball skill. Method: Ten men (age: $24.70{\pm}2.26years$; height: $181.00{\pm}5.72cm$; weight: $75.70{\pm}8.23kg$; career length: $10.00{\pm}3.59years$), each with a career length of over five years and no history of injury to the lower extremities within the prior six months, participated in this study. They were asked to perform four types of drive-in movements at $35{\sim}60^{\circ}$, wearing their own shoes, after running from a start line 5 m away and catching a basketball passed by an expert passer. The drive-in movements were measured by eight infrared cameras (Oqus 300, Qualisys, Sweden). Collected raw data were used to calculate total initial step time, displacement, velocity, center of mass (COM) height, and COM velocity. Results: Total initial step displacement and velocity of cross drive-ins (JC, SC) were greater than that of direct drive-ins (JD, SD; p < .05). COM velocity of cross drive-ins (JC, SC) was also greater than that of direct drive-ins (JD, SD; p < .05). Conclusion: Our results indicated that cross drive-ins, regardless of stop step type, are more effective than direct drive-ins. This is because cross drive-ins are technically bold due to less influence from walking violations and double dribble rules in basketball. However, using one-sided movement is too difficult to play in competitive game; therefore, basketball players should develop the ability to choose appropriate movement frequency.

• 디지털콘텐츠학회 논문지
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• 제19권4호
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• pp.815-819
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• 2018

본 논문에서는 Foot Placement Estimator (FPE)를 사용하여 point foot을 갖는 이족 로봇의 3차원 시뮬레이션을 진행하고 이족로봇의 균형유지를 연구하였다. FPE 방법은 에너지 보존에 근거한 제어 방법으로서 보행 중인 로봇의 모든 에너지가 위치 에너지로 변환되는 지점에 로봇이 발을 디뎌 몸체가 넘어지지 않고 균형을 유지하며 이동하도록 하는 제어방법이다. 본 연구에서는 로봇이 이동하지는 않고 제자리에서 균형을 유지하며 서 있는 시뮬레이션을 진행하였다. 이를 위해 point foot을 갖는 6자유도 이족 로봇을 모델링하였으며 바닥과의 접촉 및 마찰 환경을 구현하였다. 로봇의 무게는 1kg이며 지면과 무게 중심점과의 거리는 1m로, 무게중심점은 로봇 몸체의 정 중앙에 위치하도록 설계하였다. 다음으로 로봇 몸체의 각속도와 직선속도 그리고 무게 중심점의 높이로 부터 FPE 지점을 계산하고 로봇이 해당 지점을 디뎌 균형을 유지하게 끔 하였다. 몸체의 초기 각도를 $5^{\circ}$, $-5^{\circ}$로 변화시키며 시뮬레이션 한 결과, 모든 초기 조건에서 로봇이 쓰러지지 않고 자세의 균형을 유지하며 서 있는 것을 확인할 수 있었다.

• 한국안전학회지
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• 제33권6호
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• pp.144-156
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• 2018

Level 3 Probabilistic Safety Assessment (PSA) is performed for the risk assessment that calculates radioactive material dispersion to the environment. This risk assessment is performed with a tool of MELCOR Accident Consequence Code System (MACCS2 or WinMACCS). For the off-site consequence analysis of multi-unit nuclear power plant (NPP) accident, the single location (Center Of Mass, COM) method has been usually adopted with the assumption that all the NPPs in the nuclear site are located at the same COM point. It was well known that this COM calculation can lead to underestimated or overestimated radionuclide concentration. In order to overcome this underestimation or overestimation of radionuclide concentrations in the COM method, Multiple Location (ML) method was developed in this study. The radionuclide concentrations for the individual NPPs are separately calculated, and they are summed at every location in the nuclear site by the post-processing of radionuclide concentrations that is based on two-dimensional Gaussian Plume equations. In order to demonstrate the efficiency of the ML method, radionuclide concentrations were calculated for the six-unit NPP site, radionuclide concentrations of the ML method were compared with those by COM method. This comparison was performed for conditions of constant weather, yearly weather in Korea, and four seasons, and the results were discussed. This new ML method (1) improves accuracy of radionuclide concentrations when multi-unit NPP accident occurs, (2) calculates realistic atmospheric dispersion of radionuclides under various weather conditions, and finally (3) supports off-site emergency plan optimization. It is recommended that this new method be applied to the risk assessment of multi-unit NPP accident. This new method drastically improves the accuracy of radionuclide concentrations at the locations adjacent to or very close to NPPs. This ML method has a great strength over the COM method when people live near nuclear site, since it provides accurate radionuclide concentrations or radiation doses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.134.2-134
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• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• 한국자동차공학회논문집
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• 제13권2호
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• pp.10-15
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• 2005

This study was initiated to evaluate the cooling performance of CAC (charged air cooler) and radiator in the engine room of a mini bus. So we had firstly to predict the mass flow rate coming from radiator grille and front bum per opening using computational fluid dynamics (CFD) simulation based on 3D configuration. And simulations were carried out for different cooling module layout and bum per opening hole size on sam e vehicle operating condition. Simulation results show that CAC cooling performance at reverse protecting plate-applying model was much efficient than that of the bum per opening hole size-increasing model in IMTD point of view. Part of the CFD simulation results was com pared to with experimental data. It was confirm ed that the CFD approach using STAR-CD based on pursuing no-com promise solution could provide design engineers with useful design information in the early design stage of vehicle development.

• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.837-844
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• 2012

We introduce a pattern generation method for a hopping one-legged robot and verify it experimentally. The pattern is derived from the liner and angular momentum of a COM (Center of Mass), which are pre-scheduled. Because of the relation between angular velocities of joints and momemtums of the COM, joint angle trajectories are easily obtained. In addition, the landing impact force is reduced by only adjusting the landing timing. In the experiment, the one-legged robot hops in place with 0.06 s of flying time, and makes continuous hopping. Based on our experimental results, the proposed method can be applied to hopping and running of biped humanoid robots.