• Title/Summary/Keyword: rotation degree of freedom

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The Change of Shoulder Flexion by Degree of Freedom in The Individuals (운동자유도에 따른 어깨관절 굴곡각도의 변화)

  • Kim, Tae-Yoon;Choi, Jae-Won
    • PNF and Movement
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    • v.7 no.1
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    • pp.25-32
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    • 2009
  • Objective : The purpose of this study was conducted to find the change of shoulder flexion by degree of freedom between the Proprioceptive Neuromuscular Facilitation(PNF) pattern, the flexion- abduction- external rotation, and not PNF pattern, the flexion- exteral rotation(except abduction)movement. Method : PNF pattern applied on the unilateral upper extremity in all subjects were the flexion- abduction- external rotation, and not PNF pattern, and twenty-six normal subjects(13 male, 13 female) were tested by Cybex Norm Testing & Rehabilitation System. Results : PNF pattern showed significant increase of flexion than not PNF pattern, the flexion-exteral rotation(except abduction)movement, and also the female group was significantly increased than male group. Conclusion : The results suggested that the application of PNF pattern to the unilateral upper extremity had affected on the shoulder flexion by degree of freedom.

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The Finite element with Normal Rotational Degree Freedoms (유한요소의 Normal rotation 연구)

  • Cho, Soon-Bo
    • Journal of Korean Association for Spatial Structures
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    • v.4 no.4 s.14
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    • pp.85-89
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    • 2004
  • A frame element embedded normal to a shear wall or slab (shell element) is common in the structural systems. In that case there is a need for a membrane or shell element to have a normal rotation degree of freedom at each node in order to have a good result of stresses. Even if Many other people studied this area, All man, Cook and Sabir are representative investigators in this area. In this research paper, Sabir's methods of vertex rotation stiffness matrix in a membrane element are studied. New stiffness of vertex rotation are proposed by taking advantage of beam stiffness theory. Rectangular elements stiffness with rotational degree of freedom are compared in accuracy ratio each other.

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The Shell Elements with vertex Degree of Freedoms (Shell요소의 Normal Rotation)

  • Cho, Soon-Bo
    • Proceeding of KASS Symposium
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    • 2006.05a
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    • pp.256-264
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    • 2006
  • This paper describes the formulation of rectangular flat shell element that is modeled with the six degree of freedoms including a rotational degree of freedom. The rectangular finite element matrix with a rotational degree of freedom is developed using a beam stiffness matrix and compared with other methods. The outputs of the quantity of vertical deflection of cantilever beam show us the improving evidence of the Frame-Shell finite element matrix in a calculation of vertical deflections of cantilever beam.

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PC Input Device Using Inertial Sensor (관성센서를 이용한 PC 입력장치 개발)

  • Jin, Yong;Lee, Jun-Ho;Park, Chan-Guk
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.79-79
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    • 2000
  • In this Paper, the PC input device using MEMS gyros and accelerometer is newly developed, so that it can measure rotation rate and linear acceleration of the human body in space. In General, the human motion has 6 degree of freedom but 2 degree of freedom is enough PC monitor with 2D display. Therefore the simple method is proposed to achieve minimum degree of freedom. It is also applied to the PC mouse. This method can be expanded to the input device for internet set-top box or internet TV.

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A Study on the Beam Permutation Technique for Frame Type Offshore Structures (프레임형 해양구조물의 보치환 기법에 관한 연구)

  • Piao Chun-Jun;Park, Han-Il
    • Journal of Ocean Engineering and Technology
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    • v.13 no.1 s.31
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    • pp.23-28
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    • 1999
  • For offshore structures, dynamic analysis becomes increasingly important as water depth increases and structural configuration becomes more slender. In the case of dynamic analysis of frame structures, much computer time and high cost are required due to many degrees of freedom, In this paper, a new technique of permutating a segment of frame structure to a beam is developed, which is called here Beam Permutation Technique. The technique is based on definition of stiffness matrix of the beam which is obtained by defining the actions(or forces) required to obtain unit translation or rotation for each degree of freedom wiht al other degree of freedom restrained to zero displacement or rotation. In the technique, an assumption is made that relative positions of nodes in the ends of the segment are not variable, The technique can significantly reduce the degrees of freedom of frame structures and thus the computiong time in dynamic analysis. The natural frequencies and static displacements of the permutated beam are obtained and compared to those of ANSYS with a good agreement.

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Kinematic analysis of a 6-degree-of-freedom micro-positioning parallel manipulator (6자유도를 갖는 정밀 위치제어용 병렬 매니퓰레이터의 기구학 해석)

  • 박주연;심재홍;권동수
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.213-216
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    • 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.

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A Study on I-PID-Based 2-DOF Snake Robot Head Control Scheme Using RBF Neural Network and Robust Term (RBF 신경망과 강인 항을 적용한 I-PID 기반 2 자유도 뱀 로봇 머리 제어에 관한 연구)

  • Sung-Jae Kim;Jin-Ho Suh
    • The Journal of Korea Robotics Society
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    • v.19 no.2
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    • pp.139-148
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    • 2024
  • In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

A Three-Degree-of-Freedom Anthropomorphic Oculomotor Simulator

  • Bang Young-Bong;Paik Jamie K.;Shin Bu-Hyun;Lee Choong-Kil
    • International Journal of Control, Automation, and Systems
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    • v.4 no.2
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    • pp.227-235
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    • 2006
  • For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

Multi-Degree-of-Freedom Displacement Measurement of a Rigid Body Using a Diffraction Grating as a Cooperative Target (회절 격자 표식을 이용한 강체의 다자유도 변위 측정)

  • Kim, Jong-Ahn;Bae, Eui-Won;Kim, Kyung-Chan;Kim, Soo-Hyun;Kwak, Yoon-Keun
    • Proceedings of the KSME Conference
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    • 2000.04a
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    • pp.415-419
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    • 2000
  • Multi-degree-of-freedom (MDOF) displacement measurement Is needed In many application fields: precision machine control, precision assembly, vibration analysis, and so on. This paper presents a new MDOF displacement measurement method using a laser diode (LD), two position-sensitive detectors (PSDs), and a conventional diffraction grating. It utilizes typical features of a diffraction grating to obtain the information of MDOF displacement. MDOF displacement is calculated from the independent coordinate values of the diffracted ray spots on the PSDs. Forward and inverse kinematic problems were solved to compute the MDOF displacement of a rigid body. Experimental results show maximum absolute errors of less than ${\pm}10$ micrometers in translation and ${\pm}30$ arcsecs in rotation.

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Simplified projective transform for reconstruction of cylindrical panorama (실린더 파노라마 영상의 재구성을 위한 단순화된 사영 변환)

  • Lee Kang-Ho
    • Journal of the Korea Society of Computer and Information
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    • v.11 no.2 s.40
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    • pp.169-175
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    • 2006
  • In this paper we propose a method of reconstruction of cylindrical panorama using simplified projective transform from the panning image on the fixed camera. For the practical construction of cylindrical panorama we consider the rotation of the camera on the Y-axis only, even though considering the rotation components on all of the X,Y,Z axis on three-dimensional space for projective transform between general panoramas. The restriction mentioned above simplifies projective transform with existing 8 degrees of freedom into the one with 4 degrees of freedom. In the results, overall computation for projective transform can be decreased to the great extents in quantify, because the number of corresponding points required for inducing the transforming formula is gone down by half. Proposed algorithm from the simulation carried out in this paper shows similar performance and decreased computational quantity compared with existing algorithm. Also, it shows the construction of cylindrical panorama using simplified projective transform.

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