• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.8
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• pp.1756-1763
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• 2011

This paper was researched the straight cruise of fish robot according to biological mimic, and it was compared the proposed method which was considered up to 7th order components in fourier series of Liu's tail motion function with the approximate method which was used general sine function by simulation. If fish robot has a large number of links and if the length of tail link is long. The end rotary joint trajectory of tail motion function generally is different from sine function. Therefore The approximate method which expresses tail motion trajectories as fundamental component in fourier series has a problem. Through the computer simulation, the proposed method showed 10% excellent propulsion and velocity than the conventional method.

• Current Optics and Photonics
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• v.5 no.5
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• pp.532-537
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• 2021

We present a compact endoscopic probe in a needle form which has a fast beam-scanning capability for optical coherence tomography (OCT). In our study, a beam-scanning OCT imaging needle was fabricated with a 26G syringe needle (0.46 mm in outer diameter) and a thin OCT imaging probe based on the stepwise transitional core (STC) fiber. The imaging probe could freely rotate inside the needle for beam scans. Hence, OCT imaging could be performed without rotation or translation of the needle body. In our design, the structural integrity of the needle's steel tubing was preserved for mechanical robustness. Probing the optical signal was performed through the needle's own window formed at the end. For hand-held operation of our imaging needle, a light and compact scanner module (130 g and 45 × 53 × 60 mm³) was devised. Connected to the imaging needle, it could provide rotational actuation driven by a galvanometer. Because of its finite actuation range, our scanner module did not need a fiber rotary joint which might add undesirable complexity. The beam scan speed was 20 Hz and supported 20 frames per second at the maximum for endoscopic OCT imaging.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.55-63
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• 2006

The purpose of this study is to prove the kinematical characteristics of Deff motion, the high bar performance, in terms of flying phases so that we can provide basic sources for improving gymnastic performance. To do this, we selected and analyzed the performance of two athletes who did Deff motion in the high bar competition of male artistic gymnastic in the 22nd Universiade 2003 Daegu. We drew the conclusions from the kinematical factors that were came out through analyzing three-dimensional cinematography of the athletes' movements, by using a high speed video camera. To make a successful performance, a performer releases the bar at a height of a high bar vertically and at a height of 82cm horizontally, and the flying performance should be made without moving forward, as maintaining the proper balance, in order to rise over 118cm high during the flying phase. When the performer is releasing the bar, an increase of the vertical speed in the center of the body and extension of a knee joint and a hip joint contribute to increasing a flying height. And when the moving body is twisted, leaning to left side is caused by the winding movement of a knee joint, which causes an unstable bar grasp. To grasp the bar stably, just before releasing the performer should gain propulsive force from twisting rotation through increasing the speed of shoulder rotation. And before the peak point, the performer should make sure of a body rotation distance over $164^{\circ}$ so that he or she can do an aerial rotary performance smoothly. When grasping the high bar, the center of the body should be above the bar and the angle of shoulder rotation should be maintained close to $540^{\circ}$ simultaneously. he high point performance(S1) has more speed on an ascending phase and less speed on a descending phase than the low point performance (S2). At the peak point, both the rotation angle of the body and that of the shoulder in high point performance are big as well. In conclusion, it is shown that a performer can make a jump toward the high bar easily with the body straight because the performer can hold the upper part of the body erect early in a descending phase.

• The Journal of the Korea Contents Association
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• v.20 no.11
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• pp.669-675
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• 2020

This research has focused on comparing the capacity predicted by the theoretical formula with the one measured by field load tests to examine characteristics of the bearing capacity of a helical pile. The helical pile is featured by a central shaft with one or more helical-shaped bearing plates. Being established by a small rotary attached to an excavator that applies toque, the helical piles can be readily constructed at narrow sites, especially in an urban area with relatively less noise than the others requiring driving and excavation. Although many cases of the helical pile constructions can be recently found, the bearing capacity of the pile has been limitedly studied. To this end, this contribution analyzes and presents comprehensive results of the ten field loading tests with an application of different parameters depending on joint condition and specification of the helical piles, and types of tests and grouting.

• Journal of Biosystems Engineering
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• v.35 no.1
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• pp.21-30
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• 2010

This study was performed to develop an active tire pressure control system that can adjust tire pressure to the optimum level according to traveling and working condition of agricultural tractor. For the development of active tire pressure control system, pneumatic supplier, solenoid valve block including pneumatic supply line, infinite rotation type pneumatic supplier with rotary joint unit, tire pressure transceiver module and control algorithm were developed. Also, tire simulator was developed. Using this tire simulator, the feasibility of each part constructing actual system was tested by checking the performance. The average communication success ratio was 98.3% between tire pressure transmitter and receiver module according to the various tire rotational speed and data receipt position of receiver module. The communication performance of the developed transmitter and receiver module was very stable in any condition. The tire pressure control system was accomplished by using the proportional control algorithm in this study. Also tire pressure control performance of developed control system was analyzed by using the tire simulator. As a result of control performance analysis to the developed system, the developed control system took 307 seconds to inflate agricultural tractor's tire from 50 kPa to 180 kPa. In opposite case, it took 210 seconds. Also it was able to control the tire pressure accurately under ${\pm}0.9%$ (FS) in any condition.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Journal of the Korean Society of Physical Medicine
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• v.13 no.4
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• pp.85-94
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• 2018

PURPOSE: This study was conducted to determine the effects of therapeutic exercise on range of motion (ROM), the manual muscle test (MMT), functional movement screen (FMS) and radiological evaluation in a youth football player with football-specific anterior pelvic tilt (APT). METHODS: The subject of this case report was a 12-year-old youth football player, who presented with football-specific APT. Therapeutic exercise consisted of hamstring stretch, prone hip extension, abdominal crunch, bridging with isometric hip abduction, plank exercise with posterior tilt and posterior pelvic tilting exercise using a swiss-ball for 40 min/day, twice a week for 8-weeks. ROM, MMT, FMS (deep squat, hurdle step, inline lunge, shoulder mobility, active straight-leg raise, rotary stability and trunk stability push-up) and radiographs (lumbar lordotic and sacral horizontal angle) were analyzed before and after week 8 of therapeutic exercise. RESULTS: The ROM, MMT, and FMS increased and the lumbar lordotic angle and sacral horizontal angle improved after 8-weeks of therapeutic exercise. CONCLUSION: The results of this case report suggest that therapeutic exercise improves ROM, MMT and radiography associated parameters in youth football players with football-specific APT. These findings have clinical implications for therapeutic exercise in youth football players with football-specific APT.

• Trans-
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• v.8
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• pp.95-127
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• 2020

This research is based on using Bartenieff Fundamentals to analyze the fundamentals of Tai Chi Chuan's movements in order to develop the methods of relaxation from Tai Chi Chuan's principle movement movements It also shows that the two techniques have commonalities in many ways. First of all, taking a philosophical approach on the body movements of Tai Chi Chuan and Bartenieff, for both methods the ultimate goal is the integration of mind and body. In other words, there is a thread of connection between the East's body and mind monism and the west's Body Awareness. Secondly, looking at it from a Breath Support standpoint as used in the Bartenieff method, the two methods both use the breathing to naturally move the body and relax the body. In Tai Chi Chuan the Breath is the basis of life and the strength of the Body. So the breathing of Tai Chi chuan is what makes body and mind communicate, harmonize and integrate. In other words, Breathing in Tai Chi is realized through mental fusion and affects the movements. This is the same as the Breath Support of Bartenieff. It is said that in every aspect the Breath Support of Bartenieff influences the movement and changes both the inner and outer form of the body. Thirdly, looking at the Core Support used in the Bartenieff method, both methods emphasize core. At the same time of moving and being conscious of one's core, the usage of muscles can be deeper rather than superficial and this enables strong and flexible movement. In Tai Chi Chuan abdominal muscles used when one coughs are consciously engaged through abdominal breathing and so strength is collected in the core. When one exercises like that the core becomes more stable and breathing becomes more smooth. Fourthly, analyzing the Rotary Factor used in the Bartenieff Fundamentals, they both use rotary movement to reach the goal of physical relaxation. The rotation factor of Bartenieff allows movement to be easier and more free because of the characteristic of joint exercise where the center axis moved in three dimensions, this is the same in Tai Chi chuan. According to Tai Chi chuan's circle and Spiral Movements, it can achieve the relaxation through switching into a seamless flow and access space as much as possible. Finally, when looking at Developmental Patterning through Bonnie Bainbridge Cohen's Body-Mind Centering Work theory, presented from Bartenieff developmental model are similar with the developmental process of Tai Chi chuan Breath, Core-Distal Connectivity/Navel Radiation, Head-Tail Connectivity/Spinal Movement, Upper-Lower Connectivity/Homologous, Body-Half Connectivity/Homo-Lateral Connectivity, Cross-Lateral Connectivity/Contra-Lateral Connectivity. They are all similar. In other words, in Tai Chi Chuan energy is gathered in the core through breathing, upper and lower body are connected through the spine, not only homo-laterally but also cross-laterally. Through this study the expression of the dance movements can be more natural. Additionally based on the Body Awareness balance usage of the central axis, joints and body can develop the relax technique.