• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.110-112
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• 2016

In this paper, the captive model test of submerged body using RA test was carried out at the Square Basin. The target model is a submarine with four different types. For the comparison between theory and measurement, hydrodynamic coefficients are calculated according to the described method and compared with RA measurements on Submarine models. in addition, horizontal stability index of underwater vehicle was checked.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.135-147
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• 2004

This study was conducted to investigate the technical factors of Lu Yu Fu vault actually performed by three men gymnasts participated in artistic gymnastics competition of 2003 summer Universiade in Daegu through the DLT method of three dimensional cinematography. To analyze these vaults, the instant events of Lu Yu Fu were set in the board touchdown(BTD), the board takeoff(BTO), the horse touchdown(HTD), the horse takeoff(HTO), the peak height(PH), the mat touchdown(MTD) respectively and the phases of that vault were set in the board contact(BC), the preflight(PRF), the horse contact(HC), the postflight(POF), the grounding on mat(GM) respectively After calculating the performance times, the CG displacement velocity, the kinetic energy impulse reaction force moment arm torque at the horse, the released angle piked angle addressed angle, the angular momentum angular velocity of whole body in x axis, and the horizontal displacement between the feet and CG, the following conclusions were reached. To perform the better Lu Yu Fu vault, a gymnast must have the large horizontal velocity of whole body with fast run-up, decrease the duration time and the horizontal vertical displacement of whole body in PRF, have the enough time to judge the correct magnitude and direction of force to brake or push the horse so as to lengthen the HC duration time at any cost. Also it is desirable to increase the horizontal vertical displacement of whole body in POF if possible, maintain the adequate piked position to decrease the angular velocity of whole body in x axis, prepare the grounding on mat previously and delay the release of the hand from the body to keep the angular momentum.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Journal of the Korean Society of Clothing and Textiles
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• v.14 no.4 s.36
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• pp.292-304
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• 1990

The surface change of upperarm and shoulder blade area are caused by the extensive upper limb movement, thus it is necessary to measure the amount of change for constructing the clothing. Moire photography was taken after plastic casters of upperarm and shoulder blade area was prepared. 1. For the shoulder blade area, subjects showed the same change of surface area for the various limb positions, wherease, for the upperarm only at the $0^{\circ}\;and\;180^{\circ}$ limb position, same change was observed. 2. As the movement of the upperarm was increased, surface area of axillary part was increased and that of shoulder part was decreased. 3. To make a bodice pattern, the minimum size of the back with the ease were $\frac{B}{4}$+3.13 cm R for normal wear and $\frac{B}{4}$+5.75 cm for active wear. 4. As the movement of the arm was increased, the cross section for the upperarm were changed to elliptical shape. 5. For each horizontal basic line, there was a positive correlation between the amount of change of shoulder blad area and that of upperarm area.

• Journal of the Korean Home Economics Association
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• v.18 no.2
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• pp.1-13
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• 1980

When we design a dress, we should not only consider the esthetic sense and the relationship between movements of the body and the type of dress, but also the combination between the qualities and proper uses of textiles. recently the sale of ready-made clothes has been booming but I wonder whether they have been made in accordance with research concerning body movements and dresses. I would like to make the following observations on dresses, because I have personally suffered the inconvenience of restricted arm movements when wearing ready-made clothes. I have made four types types of foundations with muslin and Jersey, with these foundations I measured the degree of tension or how much the waist-line was drawn up then the arm was moved in increments of 45 degree angles and there by covering the entire span of vertical and horizontal movements. I have intended to experiment with sleeves of differing height in several ways. Concerning the movement factor, I have determined that with excessive activity vertical movements are twice as uncomfortable as horizontal movements. Concerning the faburic, I have found that because jersey has more elastic qualities than muslin, it has proven to be more responsive to body movements. concerning dresses, I have fund that the higher the height of the sleeves, the more uncomfortable it is to move the arms and the greater the degree to which the waist-line is drawn up. As a result this experiment I have made the following observations. Firstly, the vertical movement of the arms to a 180 degree angle has the most extreme influence on the breadth of movement of the waist-line. Secondly, because jersey permits freer body movements than muslin, it should be the preferred material for use in making sportswear. Thirdly, the formula A·H/4+3 of the sleev's cap height is suitable for making street dresses and formal wear. The formula A·H/5 and A·H/6 are properly used when making working clothes and sportswear, and the formula A·H/8 is proper for a sleeping garment and clothes for patients. Fourthly when deciding to any garments, it is important to consider the amount of arm movement anticipated and the relationship between the material and the degree to which the waistline is drawn up. In nder-blouse, when we raise our arms to the most extreme position, we should at that point still have 20∼25 cm of material remaining under the waist-line which includes the maximum of 14.1cm plus part of the blouse and breath of skirt's belt. In the case of the over blouse it is proper for us to have the length of 17∼20 cm remaining below the waist-line.

• Journal of Ocean Engineering and Technology
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• v.30 no.1
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• pp.25-31
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• 2016

In this study, hydrodynamic coefficients were obtained from a Rotating Arm (RA) test, which is one of the captive model tests used to provide accurate coefficients in the control motion equation of an underwater vehicle. The RA test was carried out at the RA facility of ADD (Agency for Defense Development), and the forces and moments acting on the underwater vehicle were measured using a six-axis waterproof gage. A multiple regression analysis was used in the analysis of the measured data. The experimental results were also verified by comparison with the theoretical values of the previous linear coefficients. In addition, the stability indices in the horizontal plane were calculated using the linear and nonlinear coefficients, and the dynamic stability of the underwater vehicle was estimated to have a good dynamic performance with a depth ratio of 6.0.

• Physical Therapy Korea
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• v.19 no.2
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• pp.12-19
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• 2012

The purpose of this study was to assess the influence of scapular alignment on the electromyographic (EMG) activity of the trapezius in people with a short pectoralis minor muscle. For the study, we recruited 15 volunteers who had positive results for short on a pectoralis minor muscle length test. We measured the EMG activity of the upper, middle and lower trapezius muscles. The participants lifted their dominant arm to ear level with the thumb up toward the ceiling in the prone position on a table with the shoulder at a flexion angle of 180 degrees and a horizontal abduction angle of 120 degrees. Scapula was manually aligned by an experienced physical therapist prior to arm lift for the scapular alignment condition. A paired t-test was used to compare the effects of scapular alignment on the EMG activity of the trapezius muscles. The EMG activity of the lower trapezius muscle was significantly increased during the test with the scapular alignment compared to that without scapular alignment (p<.05), while the upper trapezius and middle trapezius exhibited no significant difference between the two conditions (p>.05). The findings of this study suggest that a scapular alignment may alter the recruitment of the lower trapezius muscle during arm lifting in the prone position in people with a short pectoralis minor muscle.

• Korean Journal of Human Ecology
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• v.24 no.5
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• pp.687-700
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• 2015

Lines of non-extension (LoNEs) on torso surface during arm abduction were investigated to provide appropriate location for inserting less-extensible yarns which can be used as seams for design and or clothing pressure variation. As experimental methods, reference points about 3 cm apart were marked on the skin and scanned at 30, $90^{\circ}$ and $135^{\circ}$ arm abduction. Skin deformation was measured by connecting reference points in horizontal, vertical and various angles of diagonal directions. Observation of skin deformation was made within the separated sections of the torso as well as integrated ones to cover the various occasions of design application. LoNEs of front and back torso were provided as mapping lines. Actual compression wear of three types was constructed with different pattern reduction rate at each separated section using LoNEs as boundary cutting lines. Clothing pressure and subjective evaluations of those three compression wear were evaluated by six subjects. LoNEs found in this study were useful as seam lines to differentiate clothing pressure at each part of the body, providing positive wear sensation. It is also expected that LoNEs can be paths for less strechable conductive yarns of IT-integrated upper garments.

• Journal of radiological science and technology
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• v.40 no.4
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• pp.549-556
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• 2017

This study compared the spatial scattered dose distribution according to whether the recently developed radiation shielding is used or not in order to understand the spatial scattered dose distribution of C-arm. The horizontal side distribution increased by $30^{\circ}$ in the interval of the radius 50 cm on the height of 95 cm based on the head of the patient, and it was measured by increasing $30^{\circ}$ with the interval of 50 cm in the vertical side of each horizontal side. In the same method, the radiation shielding was installed and measured. The result of measurement shows that the horizontal side of 50 cm distance was $0^{\circ}$, $90^{\circ}$ and $180^{\circ}$, was $1.77{\pm}0.12$, $1.90{\pm}0.13$, $2.12{\pm}0.14$, and $2.69{\pm}0.15mSv/h$ in the $270^{\circ}$ direction, and was $1.59{\pm}0.12$, $0.99{\pm}0.09$, $1.47{\pm}0.11$, and $1.37{\pm}0.11mSv/h$ after the use of the radiation shielding. In addition, the vertical distribution in horizontal direction $90^{\circ}$ with 50 cm distance was $30^{\circ}$, $60^{\circ}$, $120^{\circ}$, was $3.85{\pm}0.18$, $9.15{\pm}0.28$, $10.82{\pm}0.31$, and $5.40{\pm}0.22mSv/h$ in $150^{\circ}$, and was $2.03{\pm}0.13$, $4.32{\pm}0.19$, $2.76{\pm}0.16$, and $1.92{\pm}0.13mSv/h\;mR/h$ after the use of the radiation shielding. Both direction showed decrease according to the use of the radiation shielding. Therefore, radiation related workers who work in operating rooms should recognize the spatial scattered dose distribution exactly and need to try to prevent the risk of radiation exposure with proper protective measures.