• Korean Journal of Applied Biomechanics
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• v.15 no.3
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• pp.21-30
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• 2005

The purpose of this study is helps to make full use for perfect performance by grasping the defects of Tichonkich motion performed by athlete CSM For this, the study analyzed kinematical variables through Tichonkich motions performed at the first selection competition(1st trial) and final selection competition(2nd trial) for the dispatch to the 28th Athens Olympic Games using the three-dimensional cinematographical method with a high-speed video camera, and obtained the following results. 1. During Tichonkich motion, the execution time of up swing and the right hand moving to the left bar was shorter in the 2nd trial than the 1st one, while the execution time of down swing, the support of the left bar and the right hand moving to the right bar was longer in the 2nd trial than the 1st trial. 2. The horizontal position of COG in the 2nd trial was -35cm in the 1st stage, 42cm in the 3rd stage and 29cm in the 4th stage, that is, it showed a great swing focused on the circular movement compared to the 1st trial, while the vertical position of COG was -59cm in the 2nd stage, that is, it showed a small swing focused on a up and down movement. Also the 5th stage vertical position was 98cm, and the 6th stage vertical position was 95cm in the 2nd trial which were higher than those of the 1st trial, so it has provided magnificence required in the modern gymnastics. 3. And it was indicated that the horizontal velocity at the down swing phase proceeded forward more rapidly in the 2nd trial than that in the 1st trial, and the reverse ascent made a rapid vertical rise lessening left and right velocity change. And in the 5th stage, the 2nd trial was kept very slower in horizontal, vertical and left and right velocity that in the 1st trial, so it reached a handstand with leisurely movement. 4. In the 2nd trial, shoulder joint of the 1st, 2nd, 3rd stages kept a larger angle than that in the 1st trial, that is, it made a great swing while in the 1st trial, it showed a swing movement dependent on kick movement by the flexion and extension of hip joint. Also in the 2nd trial, the body formed a vertical posture with both hands supporting the left bar and hip joint was kept larger as $198^{\circ}$ and $190^{\circ}$ in the 5th and 6th stage than that in the 1st trial, so it made a handstand with the body uprightly stretched out, and magnificent and stable movement.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.7 no.2
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• pp.141-153
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• 1987

The prediction of the exact behavior of multistory building is one of the most complicated problem encountered in structural engineering practice. An efficient computer method for the three dimensional analysis of building structures is presented in this paper. A multistory building is idealized as an assemblage of a series of rectangular plane frames interconnected by rigid floor diaphragms. The matrix condensation technique is employed for the reduction of degrees of freedom, which results in a significant saving in computational efforts and the required memory size. Kinematical approach was used to assemble condensed stiffness matrices of plane frames into a three dimensional stick model stiffness matrix. The static analysis follows the modified tridiagonal approach. Since this procedure utilizes the condensed stiffness matrix of the structure, the dynamic equations of motion for the story displacement are developed by assigning proper mass for each story. Analysis results of several example structures are compared to those obtained by using the well-known SAP IV for verification of the accuracy and efficiency of the computer program PFS which was developed utilizing the method proposed in this study. The analysis method proposed in this study can be used as an efficient and economical means for the analysis of multistory buildings.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• Applied Microscopy
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• v.39 no.2
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• pp.175-183
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• 2009

In this paper we present sub-50 pm resolution images of atom columns simulated with the negative of the second derivative of the exit-plane wave function (EPW). The EPW can be retrieved from a focal series reconstruction in the (high resolution) transmission electron microscopy (HRTEM). The simulated images are for Si and InAs in [114] and [116] orientations, which give about sub-50 pm separations of atom columns. The theoretical reason for the validity of this method is given from analysis based on the kinematical diffraction theory, and the limitation for applicability of this method also is discussed.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.15-26
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• 2003

This study was conducted to investigate the performance times, CM position and CM speed, pole chord length and pole chord angle, whole body angular momentum(X axis), and grip width in pole vault event according to the event and phase; touch down, pole plant, take-off, maximum pole bending pole straight, pole release, peak height, and foot contact, pole contact, free flight. The pole vaulting of four male elite vaulters including six trial were filmed using two video digital cameras at 60 Hz at 56th national athletic match, and data were collected through the DLT method of three dimensional cinematography. In general the better jumper is, the longer the performance time is. And the greater CM speed is, and the better his transformation ability of CM horizontal speed into vertical speed is. As he uses a longer pole, his grip is higher, and it is a enough for him to rock back his body, so that he pulls and pushes the pole well keeping his hips close to. An greater maximum angular momentum and early positioning of the hips parallel to the bar makes his body far side of the bar and his bar clearance easier. Specially our national jumper needs to have more powerful braking force during foot contact phase, and take his body on the pole after maximum pole bending, and pull and push the pole strongly keeping his hips close to. Also he needs to have stronger muscular strength in order to control the longer pole and use the pole of proper tension more efficiently.

• Computers and Concrete
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• v.15 no.5
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• pp.735-758
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• 2015

This work deals with unilateral effect of quasi-brittle materials, such as concrete. For this propose, a two-dimensional meso-scale model is presented. The material is considered as a three-phase material consisting of interface zone, matrix and inclusions - each constituent modeled by an appropriate constitutive model. The Representative Volume Element (RVE) consists of inclusions idealized as circular shapes randomly placed into the specimen. The interface zone is modeled by means of cohesive contact finite elements developed here in order to capture the effects of phase debonding and interface crack closure/opening. As an initial approximation, the inclusion is modeled as linear elastic as well as the matrix. Our main goal here is to show a computational homogenization-based approach as an alternative to complex macroscopic constitutive models for the mechanical behavior of the quasi-brittle materials using a finite element procedure within a purely kinematical multi-scale framework. A set of numerical examples, involving the microcracking processes, is provided. It illustrates the performance of the proposed model. In summary, the proposed homogenization-based model is found to be a suitable tool for the identification of macroscopic mechanical behavior of quasi-brittle materials dealing with unilateral effect.

• Korean Journal of Applied Biomechanics
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• v.14 no.2
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• pp.1-14
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• 2004

This study was intended to contribute to allowing athletes to raise a technical understanding of two motions of high difficulty such as the Swallow motion and the Nakayama motion and enhance their competitive power by analysing the kinematical factors required to link those two motions on the competitive scene on the rings for current national athletes. For this purpose, the game of the ring event was videotaped for male heavy gymnasts participating in the final elimination match of the 2004 Athens Olympic Games. This study attempted to select the performing motions of the final 1st-and 2nd-place athletes performing the linking motions from the Swallow motion and the Nakayama motion using the DLT(direct linear transformation) method. As a result, it arrived at the following conclusion : A1 properly performed the flexing and extending movements using the angular velocity of the segment and joint as the switching motion using the body at the time of linking the motion from the Swallow skill to the Nakayama skill. A2 was evaluated to perform the skill taking the form of depending on the force at the static state. Therefore, it is thought that A1 should take care of shaking at the time of using the elasticity of the body. It is thought that in case of A2 the proper use of the elasticity of the body take care of shaking at the switching motion while taking advantage of the force will contribute to his competitive power.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.2
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• pp.237-242
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• 1993

The bearing capacity of the sand foundation including a thin dense sand layer depends on the stiffiness, thickness and the location of the dense sand layer. In this paper was the influence of the dense sand layer on both the bearing capacity and the failure configuration is studied by means of K.E.M(Kinematic Element Method). K.E.M was implemented to get the excat solution starting from the upper bound of the analysis. The result show that the bearing capacity of the foundation and the failure configuration is greatly influenced by the dense sand layer, when the layer is located not deeper than 3/5 of the foundation width.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.82-90
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• 2005

Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.32.4-33
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• 2018

We study the kinematical properties of the Seyfert galaxy, NGC 4051 and Mrk 79. The data used in this study had been observed with OASIS spectrometer at CFHT 3.6m telescope using O300 grism, MR1. The wavelength coverage is $4760{\AA}$ $-5558{\AA}$, which includes emission lines, $H{\beta}4861{\AA}$, $[OIII]4959{\AA}$, and $[OIII]5007{\AA}$. We observe that forbidden lines have both narrow and broad components. Radial velocity of NGC 4051 is blue-shifted, perhaps due to the z value derived by the earlier studies, 0.002336. We use the revised z, 0.002099, according to the radial velocity of the central spectrum. NGC 4051 is face-on galaxy without rotation observed. Radial velocity of Mrk 79 shows a rotation characteristic in narrow components, relative to $PA=60^{\circ}$, red-shifted to north-west, and blue-shifted to south-east. In the [OIII] broad components, blue-shifted points are observed at the place at 2 arcsec apart from the center of Mrk 79 to north-west, which are likely to be gas outflow.