• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.287-299
• /
• 2008

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

• Journal of Internet Computing and Services
• /
• v.18 no.2
• /
• pp.75-85
• /
• 2017

Open innovation, a new paradigm which utilizes customer ideas for organizational innovation directly, is evaluated as a useful method to innovate the organization itself. In this research, we analyze the case of Starbucks' online community, MyStarbucksIdea.com to examine how collective intelligence is formed out of mass customers in the community and how open innovation is to be implemented successfully. We review various challenges in implementing open innovation and then suggest practical approaches to the challenges, including customer relationship management, utilization of opinion leaders, application of engineering techniques, etc.

• Aerospace Engineering and Technology
• /
• v.5 no.2
• /
• pp.114-118
• /
• 2006

This paper describes the thrusters configuration optimized in preliminary performances for COMS (Communication, Ocean and Meteorological Satellite). The exact values of the thrusters tilt angles must be frozen for the manufacturing of COMS platform based on the EUROSTAR 3000 platform as these angles depend on the spacecraft center of mass position and thrusters location, the definition process has to be performed specifically for COMB. Concerning pitch control thrusters (6, 7), South thrusters (1, 2, 3), and East/West thrusters (4. ~, their optimum positions and force orientations based on the thrusters A/B middle position and MOL (Middle Of Life) are obtained. The torques of thrusters (plume and geometrical torques) are minimized to improve the preliminary performance of thrusters.

• Journal of the korean society of oceanography
• /
• v.33 no.1-2
• /
• pp.1-7
• /
• 1998

In the western Weddell Sea, winter mixed layer is characterized by near-freezing temperature and higher salinity due to brine injection through sea-ice formation. This layer becomes Winter Water being capped by warmer and less saline Antarctic Surface Water during the sea-ice melt-ing season. In this study, Winter Water was preliminarily identified by the oxygen isotopic com-positions. The ${\delta}^{18}$O values of Winter Water show the progressively increasing trend from south to north in the study area. It presumably reflects the enhanced mixing with Antarctic Surface Water due to the extent of influence by low S'"0 value of sea-ice/glacier meltwater. Correlations between salinity and 6'"0 values of seawater can be used to more generally characterize Winter Water with a view to identification. However, the prediction on the degree of mixing from these relationships needs more detailed isotope data, although this study allows the oxygen isotopic composition of seawater as a tracer to identify the water mass.

• Korean Journal of Applied Biomechanics
• /
• v.20 no.4
• /
• pp.355-364
• /
• 2010

The purpose of this study was to investigate the kinematical analysis of T-stop motion by inline skate rolling speed. Six subjects were participated in the experiment(age: $35.0{\pm}3.3$ yrs, weight: $72.70{\pm}5.1\;kg$, height: $176.30{\pm}3.1\;cm$, career: $10.00{\pm}2.5$ yrs). The study method adopted 3-dimensional analysis and 2 cameras for filming to analyze the required displacement of center of mass, displacement of right and left hip joint, displacement of right and left knee joint, displacement of trunk tilt using by APAS. The results were as follows; In anterior-posterior displacement of COM, the faster rolling speed, the longer displacement at phase 2. In vertical displacement of COM, the faster rolling speed, the lower displacement. In medial-lateral displacement of COM, there was no significant on rolling speed. In angular displacement of right thigh segment, the faster rolling speed, the bigger displacement in X and Z axis. In angular displacement of left thigh segment, the faster rolling speed, the lower displacement in X axis. In angular displacement of right shank segment, the faster rolling speed, the bigger displacement in Z axis. In angular displacement of left shank segment, the faster rolling speed, the bigger displacement in X and Y axis. In angular displacement of trunk segment, the faster rolling speed, the bigger displacement in Z axis.

• Korean Journal of Applied Biomechanics
• /
• v.21 no.5
• /
• pp.511-520
• /
• 2011

The purpose of this study was to provide scientific information to track and field coaches and athletes through the analyses of the biomechanics characteristics of the top 4 sprinters in the men's 100 m final in the IAAF World Championships Daegu 2011. Twelve video cameras (Sony, Japan) were used to capture the mid portion of the race (40 m - 70 m) with a sampling frequency of 60Hz. Biomechanical variables including the right ankle, knee and hip angles, the trunk angle, and the velocity of center of mass (COM) in the running direction, were calculated with the Kwon 3D program (Visol, Korea). Correlation coefficients between the COM velocity and each variables were calculated using Matlab 2008a (MathWorks, USA) at an alpha level of 0.05. The findings indicated that Yohan Blake (JAM) showed greater range of motion at the ankle and hip. Walter Dix(USA) showed greater knee and trunk movement, and Kim Collins (SKN) showed more dorsi-flexed and extended trunk angles during the race. Finally, Christophe Lemaitre (FRA) showed more plantar-flexed ankle with a less trunk motion, throughout the analyzed race.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.4
• /
• pp.445-453
• /
• 2014

The purpose of this study was to analyze the gait characteristics and interaction between lower extremity joints according to shoe's heel heights in young women. Participants were selected as subject consisted of young and healthy women (age: $23.71{\pm}1.49yrs$, height: $165.92{\pm}2.00cm$, body weight: $54.37{\pm}3.46kg$) and walked with 3 types of shoe's high-heel (0, 5, 9 cm). The variables analyzed consisted of the displacement of Y axis in center of mass ([COM]; (position, velocity), front rear(FR) and left right(LR) angle of trunk, lower extremity joint angle (hip, knee, ankle) and asymmetric index (AI%). The displacement of Y axis in COM position showed the greater movement according to increase of shoe's heel heights, but velocity of COM showed the decrease according to increase of shoe's heel heights during gait. The hip and knee angle didn't show significant difference statistically according to increase of shoe's heel height, but left hip and knee showed more extended posture than those of right hip and knee angle. Also ankle angle didn't show significant difference statistically, but 9 cm heel showed more plantarflexion than those of 5 cm and 0 cm. The asymmetric index (AI%) showed more asymmetric 9 cm heel than those of 0 cm and 5 cm. The FR and LR angle in trunk tilting didn't show significant difference statistically according to the increase of shoe's heel height during gait in young women.

• Korean Journal of Applied Biomechanics
• /
• v.27 no.2
• /
• pp.91-97
• /
• 2017

Objective: To investigate rotation movement of segment for performing each position and its effect on knee/hip angulation, COM inclination, and edging angle changes. Method: Twelve Alpine skiers (age: $25.8{\pm}4.8years$, height: $173.8{\pm}5.9cm$, weight: $71.4{\pm}7.4kg$, length of career: $9.9{\pm}4.6years$) participated in this study. Each skier was asked to perform counter-rotation, neutral, and rotation positions. Results: Shank and thigh were less rotated in the counter-rotation position than in other positions, whereas the trunk and pelvis were more counter-rotated (p<.05). Hip angulation, COM inclination, and edging angle were significantly greater in the counter-rotation position than in other positions (p<.05). Conclusion: Our finding proved that the counter-rotation position increases hip angulation, COM inclination, and edging angle. Consequently, we suggest that skiers should perform counter-rotation of the trunk and pelvis relative to the ski direction in the vertical axis for the counter-rotation position. Further analysis will continue to investigate the effects of the counter-rotation position in real ski slope with kinetic analysis.

• Nuclear Engineering and Technology
• /
• v.52 no.10
• /
• pp.2221-2229
• /
• 2020

After the Fukushima Daiichi nuclear power plant (NPP) accident, level 3 probabilistic safety assessment (PSA) has emerged as an important task in order to assess the risk level of the multi-unit NPPs in a single nuclear site. Accurate calculation of the radionuclide concentrations and exposure doses to the public is required if a nuclear site has multi-unit NPPs and large number of people live near NPPs. So, there has been a great need to develop a new method or procedure for the fast and accurate offsite consequence calculation for the multi-unit NPP accident analysis. Since the multi-unit level 3 PSA is being currently performed assuming that all the NPPs are located at the same position such as a center of mass (COM) or base NPP position, radionuclide concentrations or exposure doses near NPPs can be drastically distorted depending on the locations, multi-unit NPP alignment, and the wind direction. In order to overcome this disadvantage of the COM method, the idea of a new multiple location (ML) method was proposed and implemented into a new tool MURCC (multi-unit radiological consequence calculator). Furthermore, the MURCC code was further improved for the multi-unit level 3 PSA that has the arbitrary number of multi-unit NPPs. The objectives of this study are to (1) qualitatively and quantitatively compare COM and ML methods, and (2) demonstrate the strength and efficiency of the ML method. The strength of the ML method was demonstrated by the applications to the multi-unit long-term station blackout (LTSBO) accidents at the four-unit Vogtle NPPs. Thus, it is strongly recommended that this ML method be employed for the offsite consequence analysis of the multi-unit NPP accidents.

• Korean Journal of Applied Biomechanics
• /
• v.27 no.3
• /
• pp.157-164
• /
• 2017

Objective: The purpose of this study was to investigate kinematic differences in back pike somersault in platform diving according to skill level and to apply the findings to improve performance. Method: Korean divers participating in this study were divided into a skilled group (age: $21.6{\pm}4.16y$, height: $1.68{\pm}0.03m$, weight: $62.0{\pm}3.94kg$, career: $12.6{\pm}5.13y$) and a less-skilled group (age: $20.6{\pm}2.7y$, height: $1.72{\pm}0.05m$, weight: $64.8{\pm}6.76kg$, career: $12.2{\pm}2.49y$) and an independent t-test was performed to analyze differences between groups at the moment of takeoff. Results: The two groups showed significant differences in displacement and velocity of center of mass (COM), takeoff angle, hip joint angle, knee joint angular velocity, and hip joint angular velocity at the takeoff (p<.05), and significant differences in displacement of COM, hip joint, and ankle joint during flight (p<.05). Conclusion: For a successful back pike, the COM should rise quickly in the vertical direction and the hip joint angle and angular velocity should increase. To improve performance, the back pike turn should be practiced on the ground before an attempt on a 10-m platform, to stretch the ankle and knee joints and enable quick flexion of the hip joint when turning in flight.