• Geomechanics and Engineering
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• v.18 no.6
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• pp.595-603
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• 2019

A modified model combining Kriging and Monte Carlo method (MC) is proposed for probabilistic estimation of tunnel face stability in this paper. In the model, a novel uniform design is adopted to train the Kriging, instead of the existing active learning function. It has advantage of avoiding addition of new training points iteratively, and greatly saves the computational time in model training. The kinematic approach of limit analysis is employed to define the deterministic computational model of face failure, in which the Hoek-Brown failure criterion is introduced to account for the nonlinear behaviors of rock mass. The trained Kriging is used as a surrogate model to perform MC with dramatic reduction of calls to actual limit state function. The parameters in Hoek-Brown failure criterion are considered as random variables in the analysis. The failure probability is estimated by direct MC to test the accuracy and efficiency of the proposed probabilistic model. The influences of uncertainty level, correlation relationship and distribution type of random variables are further discussed using the proposed approach. In summary, the probabilistic model is an accurate and economical alternative to perform probabilistic stability analysis of tunnel face excavated in spatially random Hoek- Brown media.

• ETRI Journal
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• v.33 no.4
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• pp.569-579
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• 2011

This paper presents a novel approach for human activity recognition (HAR) using the joint angles from a 3D model of a human body. Unlike conventional approaches in which the joint angles are computed from inverse kinematic analysis of the optical marker positions captured with multiple cameras, our approach utilizes the body joint angles estimated directly from time-series activity images acquired with a single stereo camera by co-registering a 3D body model to the stereo information. The estimated joint-angle features are then mapped into codewords to generate discrete symbols for a hidden Markov model (HMM) of each activity. With these symbols, each activity is trained through the HMM, and later, all the trained HMMs are used for activity recognition. The performance of our joint-angle-based HAR has been compared to that of a conventional binary and depth silhouette-based HAR, producing significantly better results in the recognition rate, especially for the activities that are not discernible with the conventional approaches.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.450-456
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• 2014

Humanoid robot is the most suitable robot platform for effective human and robot interaction. However, the robot's complicated body structure containing more than twenty joint actuators makes it difficult to generate stable and elaborate postures using the conventional inverse kinematic method. This paper proposes an alternative approach to generate difficult postures of touching an object placed in front of the foot by the left or right hand with its torso bent forward in single support phase using the fast computational optimization method, particle swarm optimization. The simulated postures are also applied to a commercial humanoid robot platform, which validates the feasibility of the proposed approach.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• International Journal of Contents
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• v.15 no.4
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• pp.16-26
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• 2019

The efficient implementation of various physical actions of agents to respond to dynamically changing situations is essential for the simulation of realistic agents and activities in a cyber world. To achieve a maximum diversity of actions and immediate responsiveness to abrupt changes in situations, we have developed an animation technique in which complex actions are recursively constructed by reusing a set of primitive motions, and agents are designed to react in real-time to abrupt ambient changes by computationally satisfying kinematic constraints on body parts with respect to their goals. Our reusing scheme is extended to visualize the procedure of realistic intricate situations involving many concurring events. Our approach based on motion reuse and recursive assembly has clear advantages in motion variability and action diversity with respect to authoring scalability and motion responsiveness compared to conventional monolithic (static) animation techniques. This diversity also serves to accommodate the characteristic unpredictability of events concurring in a situation due to inherent non-determinism of associated conditions. To demonstrate the viability of our approach, we implement several composite and parallel actions in a dynamically changing example situation involving events that were originally independent until coincidentally inter-coupled therein.

• Journal of Korean Society of Steel Construction
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• v.9 no.3 s.32
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• pp.401-419
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• 1997

In this paper the kinematics of damage for finite strain, elasto-plastic deformation is introduced using the fourth-order damage effect tensor through the concept of the effective stress within the framework of continuum damage mechanics. In the absence of the kinematic description of damage deformation leads one to adopt one of the following two different hypotheses for the small deformation problems. One uses either the hypothesis of strain equivalence or the hypotheses of energy equivalence in order to characterize the damage of the material. The proposed approach in this work provides a general description of kinematics of damage applicable to finite strains. This is accomplished by directly considering the kinematics of the deformation field and furthermore it is not confined to small strains as in the case of the strain equivalence or the strain equivalence approaches. In this work, the damage is described kinematically in both the elastic domain and plastic domain using the fourth order damage effect tensor which is a function of the second-order damage tensor. The damage effect tensor is explicitly characterized in terms of a kinematic measurure of damage through a second-order damage tensor. Two kinds of second-order damage tensor representations are used in this work with respect to two reference configurations.

• Korean Journal of Applied Biomechanics
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• v.15 no.2
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• pp.129-138
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• 2005

The purpose of this study was to investigate the techniques used by long jumpers who recorded over 8meters in 2002 Busan Asian Game and 2003 Daegu Universiade. The kinematic characteristics from the last three stride to takeoff at the takeoff board were analyzed such as velocities, heights and angles. The real-life three-dimensional coordinates of 20 body landmarks during each trial were collected using a Direct Linear Transformation procedure. The conclusion were as follows; 1. The height variation who recorded over 8 meters of center of gravity of the jumpers at the last stride was under 8cm. In order to record over 8meters the national long jumpers should have under 10cm height variation. 2. In the approach phase the horizontal velocity of the jumpers should reach to 10.5m/s in last three strides and 9.79m/s in touch down at take off board. 3. The horizontal velocity at take off board must have over 8.51m/s and the vertical velocity must have 3.75m/s simultaneously in order to record 8meters. 4. The forward body lean angle should have over 20degrees with pushing the take off board in forwarding movement. The appropriate body variation range ratio between take off and touch down should be 1.2 vs 1 and the trunk angle at touch down on the board should be close to the erect posture for higher body flight.

• Journal of Korea Water Resources Association
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• v.38 no.7 s.156
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• pp.555-564
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• 2005

In this study, a simple rainfall-runoff model was proposed by using the hydraulic routing model that requires relatively few parameters. The parameters of this model were estimated by the watershed characteristics data, and were applied to the Soyang watershed and Ui stream watershed by using the kinematic wave for overland flow and dynamic wave routing for channel routing. In order to demonstrate validity, the proposed approach was compared to the HEC-1 model for the Soyang watershed. As the results of modeling have shown, the hydraulic model shows reasonable results similar to that of the HEC-1 model. This model also represents good results for the Ui stream watershed. Hence, even if this model is a simple rainfall-runoff model using general methodology, it is competitive to the natural watershed. However, it is still difficult to estimate the roughness coefficient and the catchment width, and therefore this model is in need of such supplements.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.11-21
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• 2007

The purpose of this study was to examine the differences of kinematics and muscle activities depending on the changes of angle approaching balls during backhand drive in squash. The results are as follows. Stride time took the longest at AD2 and step lengths were the biggest at AD1 of left foot contact and right foot contact and AD2 of impact and follow-through. The center of gravity and the speed of racket head were the highest at AD3 and at AD2. Angle of shoulder joint were the biggest at AD1 of left foot contact, right foot contact and impact and AD3 of follow-through. Angle of elbow joint were the biggest at AD3 of left foot contact, right foot contact and follow-through and AD2 of impact. Angle of pelvis joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of knee joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of ankle joint were the biggest at AD1 of left foot contact and AD3 of right foot contact, impact and follow-through. According to the analysis results of triceps brachii, latissimus dorsi, brachioradialis muscle and flexor carpi ulnaris muscle activities were high at AD1 of all phases. Analysis results of vastus lateralis, vastus medialis, tibialis anterior and gastrocnemius medial muscle activities were high at AD2 of phase1 and phase3. Those of vastus lateralis, vastus medialis and tibialis anterior, gastrocnemius medial were high at AD3 of Phase 2 and AD1 of phase2.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.327-334
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• 2011

The objective of this study was to develop a scientific approach for investigating Korean dance in detail, and to examine the intense expressions and various movements, which are based on Danjeon breathing. For the purpose, we analyzed the movement changes and distribution of forces resulting from the switch in movement between exhalation and inhalation while bending, which is the most basic movement in Korean dance. The following conclusions were drawn from this study. In Korean dance, bending with breathing involves less back-and-forth-movement and more up-and-down movement, as compared to bending without breathing; this indicates greater body stability and a wider range of movements while bending with breathing. In addition, less time is required for bending with breathing at the point of switching from exhalation to inhalation, and it involves less movement of the supporting leg; thus, vending with breathing involves faster switching from bending movements to extending movements. While bending, the raised leg goes through a less smooth curve while breathing, which indicates stronger movement of the toes. Bending with breathing requires a greater braking force than bending without breathing, and the vertical force, generated by switching from exhalation to inhalation, is transferred to extending movements using the ground load. The results of this study can be potentially employed to investigate the expressions used in Korean dance on th basis of its principle of forces. Korean dance has evolved into various creative forms, and basic analytical studies of these diverse forms and related breathing methods re required in the future.