• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• 한국정밀공학회지
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• 제19권7호
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• pp.43-50
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• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• Child Health Nursing Research
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• 제8권4호
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• pp.381-390
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• 2002

This study examines the factors that are associated with accidents from riding on inline skates and/or kick boards among students in the elementary schools. Data were collected from 902 students in 3 elementary schools in Seoul. Data were analyzed based on descriptive statistics and chi-square test. The results were as follows: 1. Thirty-eight percent of the students investigated were found to have kick boards while sixty-one percent of the students had inline skates. 2. The age of mothers who answered the questionnaires showed a statistically significant association with injuries of their children on inline skates and/or kick boards. Children whose mothers are younger had a lower percentage of injuries on inline skates and/or kick boards. 3. Children with a lower score on K-CBCL had a higher chance of having an accident from riding on inline skates and/or kick boards. That is, children with lack of attention were more likely to be involved in an accident. First-born children were less likely to have an accident. 4. While mothers' attitudes toward the safety of inline skates and kick boards appeared not to be associated with accidents of their children, their preventive actions for the safety related to riding on inline skates and kick boards reduced the chance to be involved in an accident of their children. In conclusion, this study shows that mothers with children going to the elementary schools should be more action-oriented to prevent their children's accidents from riding on inline skates and/or kick boards than merely recognizing the safety of inline skates and/or kick boards on their own. Implication of these findings and major findings of this study were discussed.

• 한국운동역학회지
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• 제21권1호
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• pp.57-65
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• 2011

This research was conducted to biomechanically analyze Tippelt motion in parallel bars, and establish technical understanding. To achieve that goal, the performances of the Tippelt acts carried out by five world top-class national gymnasts in the parallel bars 3-dimensional cinematographic analysis and EMG analysis were conducted and following conclusion were obtained. The Tippelt motions of excellent national gymnasts perform tap motion through the down swing of a large circular movements, and perform kick-out motion rapidly extending shoulder joint angle and hip joint angle with the trunk in a position close to perpendicular position at the vertical downwardness of the grasping the bars. At this time, if handstand starting the movement is too delayed or rapidly down swung, it was shown that from the initial falling, unnecessary muscular power was wasted in trapezius, anterior deltoid, erector spinae, latissimus dorsi, upper rectus abdominis, lower rectus abdominis. The muscular parts in tap motion generating muscle action potential were pectoralis major, rectus femoris, upper rectus abdominis, lower rectus abdominis, and those in kick-out motion were upper rectus abdominis, lower rectus abdominis, trapezius and anterior deltoid.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• 한국운동역학회지
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• 제17권2호
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• pp.131-143
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• 2007

In this study, we are concluded like this : 5 men who are soccer player of P university in B city measure the Electromyography with an angle of motion according to kinesiotaping's application when practicing in-step kick. When exercising in-step kick, the change of realization of muscle load of lower limbs enhence Gastrocnemius Lateralis and Vastus Medialis in the section of backswing, and improve Tibialis Anterior, Vastus Medialis, Rectus Femoris prior to impact after back-swing. Before impact, it mainly impoved Tibialis Anterior, Vastus Medialis, Rectus Femoris. After impact, it generally improved Gastrocnemius Lateralis, Vastus Medialis. Average integral electromyography value, it was such a small difference(; the difference of the value in Tibialis Anterior, Rectus Femoris, Vastus Medialis) that we can't compare case of after taping than before. In Electromyography, in case of after taping was considerably decreased at Gastrocnemius Lateralis, there was statistically significant difference between before and after. It was a little increased, after taping than before at Knee angle. And degree was a little decreased at Ankle angle. But, It's so delicate difference, there was not statistically significant difference between before and after.

• Journal of Astronomy and Space Sciences
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• 제12권1호
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• pp.112-122
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• 1995

1995년 7월에 발사될 무궁화호 통신위성이 원지점 모터 분사의 오차로 인해 예정된 지구정지궤도진입에 실패했을 경우를 가정하였다. 원지점 모터 분사시에 연료 저장 상태의 불균형, 추력축의 회전 등으로 인하여 원지점 모터 분사가 잘못되어, 통신위생이 정지 궤도 요소 충 궤도 경사각이 $0^{\circ}$가 아닌 지구 통주기 궤도를 도는 상황을 모의실험하였다. 이 때, 궤도 의 진화과정을 섭통론을 통해 분석하였고 이심율과 경사각의 변화를 조사하였다. 궤도 경사각이 $0^{\circ}$가 아닌 지구동주기 궤도를 도는 통신위성이 8자 궤적을 그리게 되면 빔 지향점도 위성의 이동에 따라 움직이는데 이 문제를 해결하기 위해 위성의 roll각을 조정하여 빔 지향점을 고정시킬 수 있는 알고리즘을 무궁화호에 적용시켰다. 그리고 승교정과 강교점을 통과할 때 일어나는 펀파면의 회전 현상도 통신 효율에 큰 영향을 주는데, 편파변의 회전 현상을 줄일 수 있는 yaw각 조정방법올 역시 무궁화호에 적용했다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.424-426
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• 2005

We propose an analytic trajectory planning method using a wavelet neural network (WNN) for a natural and stable locomotion of the 9-link biped robot. We design a appropriate locomotion, which have a kick-action, by means of a ballastic walking model condition. In this paper, a WNN is used to interpolate the trajectory planed by the analytic method. Finally, we show the proposed trajectories through the computer simulation.

• 한국컴퓨터그래픽스학회논문지
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• 제21권1호
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• pp.23-31
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• 2015

본 논문은 모션 캡쳐 데이터를 이용하여 쉽고 빠르게 사실적인 2차원 스틱 피규어애니메이션을 제작할 수 있는 방법을 소개한다. 스틱 피규어 애니메이션은 대개 전체 시간 구간에 대하여 매 프레임마다 하나씩의 자세를 일일이 그리는 방식으로 제작된다. 반면, 제안된 방법에서는 스틱 피규어 형태의 자세 위에 신체 부위의 움직임을 나타내는 동선을 추가하는 방식으로 한 장의 그림 안에 여러 프레임에 걸친 동작(예를 들어, 발차기나 점프)을 축약하여 표현하도록 한다. 이러한 그림으로부터 자동으로 시간에 따른 자세 변화를 합성하기 위하여, 먼저 사용자가 그린 스틱 피규어를 2차원 평면에서 변형시킬 수 있는 캐릭터 모델을 생성한다. 이 후, 미리 구축된 모션 데이터베이스로부터 주어진 자세 및 동작선 정보에 가장 근접한 동작 구간을 검색한다. 검색 결과로 추출된 동작에 따라 캐릭터 모델을 변형시킴으로써 최종적인 스틱 피규어애니메이션을 합성한다. 여러 형태의 스틱 피규어에 이동, 격투 등의 다양한 동작을 적용한 실험을 통하여, 제안된 방법이 적은 노력만으로 흥미로운 스틱 피규어애니메이션을 제작하는데 매우 유용함을 확인하였다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.306-309
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• 2019

매년 멧돼지, 고라니 등의 야생동물로 인한 농가의 피해가 증가하지만 현 시스템은 정부 측 포수들이 직접 야간에 총과 손전등을 이용해 동물들을 찾아다니며 포획하는 상황이다. 이는 시간적으로 매우 비효율적이며 피해 받는 즉시 즉각적인 조치가 불가능하다. 이에 본 논문에서는 야간에도 동물이나 사람을 인식 할 수 있는 열화상 카메라와 딥러닝을 사용한 적외선카메라를 이용해 야생동물을 탐지하고 쫓아내거나 빠르게 포획 할 수 있는 시스템에 대해서 소개하고자 한다.