• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.35-42
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• 2012

The aim of the present study was to investigate effect of running speed conditions on the kinematic pattern of the metatarsus, mid-foot, calcaneus. Twenty-two healthy young adults were made to run on treadmill at three different running speeds(normal speed, 9.2; slow speed, 7.4; fast speed, 11.1km/hr.) and the trajectories of the 10 reflective markers for each subject were recorded by an eight-camera motion capture system at 200 Hz. Three-dimensional angles for the foot segment in the support phase during running were calculated according to Euler's technique. Results showed that running speed did not affect the peak of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction or their range of motion for each foot segment. However, when the running speed was fast, significant differences were found in the peak of the plantar flexion, eversion, and adduction and ROM(range of motion) of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction between the foot segments, metatarsus, mid-foot, and calcaneus. It was proposed that the foot segment should be analyzed from a multi-segment system point of view on the basis of anatomical reference during locomotion.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.69-79
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• 2007

The purpose of this study was to examine the characteristics of throwing motion in the elementary school students from the developmental point of view. For the purpose of this, total of nine subjects(each of three students in five, third, and first grades) were participated. They were asked to throw the ball as far as they can and the motions were videotaped with the 30frames/sec and 1/500 shutter speed. The successful motions for each subject were selected for three dimensional analysis. The collected data were analyzed using DV express 1.0 and Kwon3D 3.0 softwares. The results obtained from this study were as follows; 1. Total time for the throwing motion of the first grade was longer than that of the fifth and third grades. 2. The resultant displacement and velocity of COM for the fifth and third grades were greater than that of the frist grade. 3. The first grade tended to flex the trunk forward excessively during the throwing motion. 4. The fifth grade tended to place the upper arm close to the sagital plane and move the forearm and hand freely. 5. Looking at the greater variability of the angular velocity of the hand segment, the fifth grade seemed to have faster and more flexible movement of the wrist. 6. There were somewhat differences in the patterns and magnitudes of ground reaction forces among the different grades.

• Clinics in Shoulder and Elbow
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• v.26 no.2
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• pp.126-130
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• 2023

Background: Arm swing plays a role in gait by accommodating forward movement through trunk balance. This study evaluates the biomechanical characteristics of arm swing during gait. Methods: The study performed computational musculoskeletal modeling based on motion tracking in 15 participants without musculoskeletal or gait disorder. A three-dimensional (3D) motion tracking system using three Azure Kinect (Microsoft) modules was used to obtain information in the 3D location of shoulder and elbow joints. Computational modeling using AnyBody Modeling System was performed to calculate the joint moment and range of motion (ROM) during arm swing. Results: Mean ROM of the dominant elbow was 29.7°±10.2° and 14.2°±3.2° in flexion-extension and pronation-supination, respectively. Mean joint moment of the dominant elbow was 56.4±12.7 Nm, 25.6±5.2 Nm, and 19.8±4.6 Nm in flexion-extension, rotation, and abduction-adduction, respectively. Conclusions: The elbow bears the load created by gravity and muscle contracture in dynamic arm swing movement.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.51-62
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• 2003

This study was attempted to kinematical characteristics of the El-grip swing with 1turn to el-grip in elite horizontal bar for the purpose of improving performance. The subjects were three males who were 2002 Busan Asian Games in men's team. The three dimensional motion analysis with DLT method was executed using three video cameras of analyzing the actual competition situation. In point of analyzing the actual competition situation, it is expected that gymnastics and coaches have the effective informations, and the following conclusion had resulted. 1. In case of release, It is impotant to make fast horizontal velocity of CM, high vertical position of CM, large hip and shoulder angle. Also It should be performed release motion of trunk rotation angle(+). 2. During LHR the action should be made at higher position than the CM and the shoulder joint is moving within $127{\pm}16.82$. It is important to make large lunk rotation angle. 3. During Hop, the RHR motion should be done in high position with short time and fast twisting action and to reduce the vertical speed is important.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.167-176
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• 2007

The purpose of this study was to offer suitable model for performing Tippelt motion and data for training Tippelt motion through the quantitative kinematical analysis of Tippelt motion in parallel bars. The results of analysing kinematic variations through three-dimensional reflection analysis of three members of the national team as the objects of the study were shown as follows. 1. It seemed that the shoulder-joints which are stretched as much as possible affects the whole Tippelt motion while one is swinging downward. The time of process of the center of mass for the body reaching to the maximum flection point should be quick and body's moving from the vertical phase to the front direction should be controled as much as possible. 2. While one is swinging upward, the stability of flying motion could be made certain by the control of body's rapid moving to the front direction and stretching shoulder-joints and hip-joint to reverse direction. 3. While one is flying upward, the body should be erected quickly and lessening the angle of the hip-joint affects the elevation of flight. When the powerful counter turn motion is performed, the stable motion could be made. As a result of this study, It seems that sudden fall and the maximum stretch of shoulder-joints is important during performing Tippelt motion in parallel bars. Also, it concludes that the maximum bending of hip-joints at the starting point of upward swing, sudden stretch to the reverse direction of shoulder-joints and hip-joints when one is leaving bars, control of body's moving to the front direction, and lessening the angle of hip-joints at the flying phase is important.

• The Journal of the Korea Contents Association
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• v.7 no.3
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• pp.9-16
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• 2007

This paper describe methodology that is distributed on 2-dimensional plane to much high-dimensional facial motion datas using Isomap algorithm, and user interface techniques to control facial expressions by selecting expressions while user navigates this space in real-time. Isomap algorithm is processed of three steps as follow; first define an adjacency expression of each expression data, and second, calculate manifold distance between each expressions and composing expression spaces. These facial spaces are created by calculating of the shortest distance(manifold distance) between two random expressions. We have taken a Floyd algorithm for it. Third, materialize multi-dimensional expression spaces using Multidimensional Scaling, and project two dimensions plane. The smallest adjacency distance to define adjacency expressions uses Pearson Correlation Coefficient. Users can control facial expressions of 3-dimensional avatar by using user interface while they navigates two dimension spaces by real-time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1995.10b
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• pp.165-173
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• 1995

In order to eliminate position errors existing at the steady state in the motion control of robotic maniprlators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller, This controller is applied to the tracking control of robotic manipulators in Cartesian space. Three dimensional look-up table is used to reduce the computational time in rel-time control. Simulation and experimental studies are conducted to evaluate the control performance for the two axis direct drive SCARA robot system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.383-388
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• 2005

Depth recovery in robot vision is an essential problem to infer the three dimensional geometry of scenes from a sequence of the two dimensional images. In the past, many studies have been proposed for the depth estimation such as stereopsis, motion parallax and blurring phenomena. Among cues for depth estimation, depth from lens translation is based on shape from motion by using feature points. This approach is derived from the correspondence of feature points detected in images and performs the depth estimation that uses information on the motion of feature points. The approaches using motion vectors suffer from the occlusion or missing part problem, and the image blur is ignored in the feature point detection. This paper presents a novel approach to the defocus technique based depth from lens translation using sequential SVD factorization. Solving such the problems requires modeling of mutual relationship between the light and optics until reaching the image plane. For this mutuality, we first discuss the optical properties of a camera system, because the image blur varies according to camera parameter settings. The camera system accounts for the camera model integrating a thin lens based camera model to explain the light and optical properties and a perspective projection camera model to explain the depth from lens translation. Then, depth from lens translation is proposed to use the feature points detected in edges of the image blur. The feature points contain the depth information derived from an amount of blur of width. The shape and motion can be estimated from the motion of feature points. This method uses the sequential SVD factorization to represent the orthogonal matrices that are singular value decomposition. Some experiments have been performed with a sequence of real and synthetic images comparing the presented method with the depth from lens translation. Experimental results have demonstrated the validity and shown the applicability of the proposed method to the depth estimation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.12C
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• pp.1208-1215
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• 2006

In this paper, we propose an algorithm that creates three-dimensional (3D) stereoscopic video from two-dimensional (2D) video encoded by H.264 instead of using the conventional stereo-camera process. Motion information of each frame can be obtained by the given motion vectors in most of videos encoded by MPEG standards. Especially, we have accurate motion vectors for H.264 streams because of the availability of a variety of block sizes. 2D/3D video conversion algorithm proposed in this paper can create the left and right images that correspond to the original image by using cut detection method, delay factors, motion types, and image types. We usually have consistent motion type na direction in a given cut because each frame in the same cut has high correlation. We show the improved performance of the proposed algorithm through experimental results.