• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.213-216
• /
• 1996

This paper studies a class of in-parallel manipulators with special geometry where the forward displacement analysis problem can be solved easier than the fully parallel manipulators. Three horizontal links of this mechanism provide 3DOFs(Degrees of Freedom), which are one degree of orientational freedom and two degrees of translatory freedom. Three vertical links of this mechanism provide 3DOFs, which are two degrees of orientational freedom and one degree of translatory freedom. The main advantages of this manipulator, compared with the Stewart platform type, are the capability to produce pure rotation and to predict the motion of the moving platform easily. Since this manipulator has simple kinematic characteristics compared with the Stewart platform, controlling in real-time is possible due to less computational burden. The purpose of this investigation is to develope an analytical method and systematic method to analyze the basic kinematics of the manipulator. The basic kinematic equations of the manipulator are derived and simulation is carried out to show the performance of the mechanism.

• 제어로봇시스템학회논문지
• /
• 제12권10호
• /
• pp.1035-1043
• /
• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

• 한국자동차공학회논문집
• /
• 제8권5호
• /
• pp.138-147
• /
• 2000

Vehicle suspension systems are parts which effect performances of a vehicle such as ride quality, handing characteristics, straight performance and steering effort etc. Kinematic design is a decision of joints` position for straight performance and steering effort. But, when vehicle is rebounding and bumping, chang of joints` displacement is nonlinear and a surmise of straight performance and steering effort at that joints` position is difficult. So design of suspension systems is done through a inefficient method of tried-and-error depending on designer`s experience. In this paper, kinematic design of suspension systems was done through the optimal design using a genetic algorithm. For this optimal design, the function for quantification of straight performance and steering effort was made, and the kinematic design method of suspension systems having this function as the objective function was suggested.

• 한국수정란이식학회지
• /
• 제31권3호
• /
• pp.287-291
• /
• 2016

For evaluating the boar semen quality, sperm motility (MOT) is an important parameter because the movement of spermatozoa indicates active metabolism, membrane integrity and fertilizing capacity. Estrogen receptors 2(ESR2) is involved in estrogen related apoptosis in cell cycle spermatogenesis, but their functions have not been confirmed in pig until now. Therefore, this study was conducted to analyze their association with sperm motility and kinematic characteristics. DNA samples from 105 Duroc pigs with records of semen motility and kinematic characteristics [Total motile spermatozoa (MOT), Curvilinear velocity(VCL), Straight-line velocity(VSL), the ratio between VSL and VCL(LIN), Amplitude of Lateral Head displacement(ALH)] were analyzed. A SNP in coding region of ESR2 g.35547A > G in exon 5 was associated with MOT (p < 0.05) in Duroc population. Therefore, we suggest that the porcine ESR2 gene may be used as a molecular marker for Duroc boar semen quality, although its functional effects were not defined yet. These results might shed new light on the roles of ESR2 in spermatogenesis as candidate gene for boar fertility, but still the lack of association across populations should be considered.

• 대한물리의학회지
• /
• 제13권3호
• /
• pp.113-120
• /
• 2018

PURPOSE: This study was conducted to investigate the characteristics of a specific functional shoe in terms of the range of motion (ROM) of ankle and foot joints during walking when compared to a standardized shoe. METHODS: Kinematic ROM data pertaining to ankle, tarsometatarsal, and metatarsophalangeal joints were collected from twenty-six healthy individuals during walking using a ten-camera motion analysis system. Kinematic ROM of each joint in three planes was obtained over ten walking trials consisting of two different shoe conditions. Visual3D motion analysis was finally used to coordinate the kinematic data. All kinematic ROM data were interpolated using a cubic spline algorithm and low-pass filtered with a cutoff frequency of 6 Hz for smoothing. RESULTS: The overall ROM of the ankle joint in the sagittal and coronal planes when wearing the specific functional shoe was significantly decreased in both ankles during walking when compared to wearing a standard shoe (p<.05). Significantly more flexibility was observed when wearing the specific functional shoe in the tarsometatarsal and metatarsophalangeal joints compared to a standard shoe (p<.05). CONCLUSION: Although clinical application of the specific functional shoe has shown clear positive effects on knee and ankle moments, the results of this study provide important background information regarding the kinematic mechanisms of these effects.

• 한국정밀공학회지
• /
• 제22권11호
• /
• pp.72-81
• /
• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• 한국운동역학회지
• /
• 제23권4호
• /
• pp.319-326
• /
• 2013

The objective of this study is to help golfers to select adequate putters and to provide golfers basic scientific data for improving athletic performance by showing differences of kinematic variables according to the shape of putter head. In this research three right-handed male pro-golfer who are listed at KPGA were studied and three video camera (GR-HD1KR, JVC, Japan) were used and recording speed was 60 frame/sec during the research. In this study kinematic variables were calculated using Kwon3D XP program and analysed on the 4 events and 3 phases. This study showed the following results : (1) The swing of heel-toe putter showed longer time than that of face balanced putter, and there are statistical significant difference of kinematic variables of each objective (2) As of the trajectory of putter head, heel-toe putter showed more approximating curve trajectory than that of in-between, face balanced putter on the X-axis (3) heel-toe putter showed longer distance follow-through than that of other putters by statistically significant difference on the Y-axis (4) Heel-toe putter showed longer distance swing trajectory over the ground than that of other putters by statistically significant difference on the Z-axis.

• 천문학회보
• /
• 제43권1호
• /
• pp.54.2-54.2
• /
• 2018

It is important to understand very fast CMEs which are the main cause of geomagnetic storms and solar particle events (SPEs). During this solar cycle 24, there are 10 very fast CMEs whose speeds are over 2000 km/s. Among these, there were only two fronside events (2012 January 23 and 2012 March 7) and they are associated with two major flares (M8.7 and X5.4) and the most strong SPEs (6310 pfu and 6530 pfu). They have a similar characteristics: there were successive CMEs within 2 hours in the same active region. We analyze their magnetic properties using SDO HMI magnetograms and kinematic ones from STEREO EUVI/COR1/COR2 observations. We can measure their speeds and initial accelerations without projection effects because their source locations are almost the limb. Additionally, we are investigating magnetic and kinematic characteristics of 8 backside events using AI-generated magnetograms constructed by deep learning methods.

• Spatial Information Research
• /
• 제9권2호
• /
• pp.309-324
• /
• 2001

본 연구에서는 실시간 동적 GPS 측량의 응용을 위해 우선 전국에 분포된 상시관측점들의 공경기준계 성과를 도출하고, 후처리에 의한 연속 동적 GPS 방법과 실시간 동적 GPS 방법을 적용하여 육상과 해상지역에 대한 지형 해석을 시도하였다. 실시간 동적 GPS 측량을 위한 초기 조건과 관측 시간대를 고려한 다음, 후처리에 의한 연속 동적 GPS 측량과 실시간 동적 GPS 측량을 수행하였으며, 본 연구를 의해 실시간으로 GPS 관측자료를 저장할 수 있는 프로그램을 개발하여 결과값을 동시에 저장하고 controller를 통해 관측 당시의 위성 상태를 모니터링 할 수 있는 시스템을 제안하였다. 실시간으로 관측된 GPS관측값의 위치 정확도는 후처리에 의한 정확도와 같은 정도로 획득할 수 있었으며, 항만의 매립, 준설공사나 하천에서의 유사량 변화 탐지등에 매우 높은 정확도로 수치지형모형을 구축할 수 있었고, 해안 지형의 특성해석에 유용하게 응용될 것으로 기대된다.

• 한국수정란이식학회지
• /
• 제31권3호
• /
• pp.281-285
• /
• 2016

Cluster-of-differentiation antigen 9 (CD9) gene expressed in the male germ line stem cells is crucial for sperm-egg fusion, and was therefore selected as a candidate gene to investigate Duroc boar semen motility and kinematic characteristics. This study was performed to investigatetheir association with semen motility and kinematic characteristics. DNA samples from 96 Duroc pigs with records of sperm motility and kinematic characteristics [Total motile spermatozoa (MOT, $82.27{\pm}5.58$), Curvilinear velocity(VCL, $68.37{\pm}14.58$), Straight-line velocity(VSL, $29.06{\pm}6.58$), the ratio between VSL and VCL(LIN, $47.36{\pm}8.42$), Amplitude of Lateral Head displacement(ALH, $2.88{\pm}0.70$)] were used in present study. A single nucleotide polymorphism (g.358A>T) in intron 6 was associated with MOT, VCL, VAP and ALH in Duroc population (p<0.05). Therefore, we suggest that the porcine CD9 may be used as a molecular marker for Duroc boar semen quality, although its functional effect was not clear yet. These results will improve the understanding of the functions of the CD9 in spermatogenesis within the reproductive tracts, and will shed light on CD9 as a candidate gene in the selection of good sperm quality boars.