• Journal of Information Processing Systems
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• v.16 no.1
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• pp.120-131
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• 2020

In order to solve the problem of point clouds coordinate conversion of non-directional scanners, this paper proposes a basic Rodrigues rotation method. Specifically, we convert the 6 degree-of-freedom (6-DOF) rotation and translation matrix into the uniaxial rotation matrix, and establish the equation of objective vector conversion based on the basic Rodrigues rotation scheme. We demonstrate the applicability of the new method by using a bar-shaped emboss point clouds as experimental input, the three-axis error and three-term error as validate indicators. The results suggest that the new method does not need linearization and is suitable for optional rotation angle. Meanwhile, the new method achieves the seamless splicing of point clouds. Furthermore, the coordinate conversion scheme proposed in this paper performs superiority by comparing with the iterative closest point (ICP) conversion method. Therefore, the basic Rodrigues rotation method is not only regarded as a suitable tool to achieve the conversion of point clouds, but also provides certain reference and guidance for similar projects.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1330-1333
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• 1997

In this paper, the optimal torque shaping is obtained for 3-axis rotation of a spacecraft. The true optimal 3-axis rotation of rigid spaeraft is first investigated via parameter optimization method with prescribed switching times. Input torque shape of the troque generating device mounted on the central hub is optimized using fourier Series expansion so that the spacecraft may slew while minimizing the vibration energy of flexible modes. Numerical results show that proposed method suggests a reference trahectory for open-loop control, and also verify that it can minimize the vibratory modes of the spacecraft during/after the rest-to-rest maneuver.

• Journal of the Korean Society for Precision Engineering
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• v.4 no.2
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• pp.47-55
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• 1987

Recently, in precision working, precision is in submicron. Therefore, when we measure various finished goods in superfine measurement, because it is relatively difficult to disregard effect of surroundings, these effect of surroundings must be compensated or canceled. In this study, for roundness measurement, three point method is researched which is able to cancel the effect of rotation accuracy of axis and eccenricity of workpiece. It is difference between this three point method and tradi- tional three point method whose measuring apparatus have three movable pickups posit- ioned with angle and between the pickups. As a results, when rotation accuracy of axis is varied from $0.02\mu\textrm{m}$ to $0.05\mu\textrm{m}$ the width of variation of measured roundness is $0.04\mu\textrm{m}$. And, when eccentricity of workpiece is varied from 0 to $4\mu\textrm{m}$, the width of variation of measured roundness is $0.005\mu\textrm{m}$. These error width are disregardable because they are in 10% of measured roundness. Therefore, by this three point method, the effect of rotation accuracy of axis and the effect of eccentricity of workpiece are canceled. And we are able to select the angle between the pickups ($\phi$ and $\tau$) by means of relation between $F_{k}$ and K.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1994.10a
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• pp.33-43
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• 1994

A series of tensile tests have been performed to investigate the hardening behavior of rolled steel sheets. Tensile tests consist of three stages. At the 1st stage, full size tensile specimens were prestrained in the direction of rolling, then mid-sized tensile specimens were cut from the gauge sections of the full size specimens at angles to the rolling direction. At the 2nd stage, mid-sized specimens were prestrained by predetermined magnitudes of strains and miniature tensile specimens were prepared from each of the mid-sized specimens at every 10 degrees. At the final stage, from tests on miniature tensile specimens the hardening behavior of the prestrained sheets has been investigated. According to the experimental results, orthotropic symmetry is reserved during tensile elongation, and one of the orthotropy axes is continuously rotated to specimen axis. Existing theories seem to fail to explain the rotation of orthotropy axis. A new phenomenological model is proposed to explain the strain induced rotation of orthotropy axes.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.105-115
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• 2005

Recently among several tennis techniques forehand stroke has been greatly changed in the aspect of spin, grip and stance. The most fundamental factor among the three factors is the stance which consists of open, square and closed stance. The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle according to open, close, and square stance patterns during forehand stroke in tennis. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 6.1 graphical programming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and racket head angle were defined. In conclusion, the first hypothesis, "In three dimensional maximum linear velocity of racket head would be significant difference among the stance patterns during forehand stroke in tennis" was rejected. The second hypothesis, "In three dimensional anatomical angular displacement of trunk would be significant difference among the stance patterns during forehand stroke in tennis" was rejected and the result showed that the internal-external rotation showed most important role among the three dimensional anatomical angular displacement of trunk The third hypothesis, "In three dimensional anatomical angular displacement of upperlimb would be significant difference among the stance patterns during forehand stroke in tennis" was rejected and the result showed that The three dimensional anatomical angular displacement of shoulder joint showed most important role in forehand stroke. Flexion-extension and internal-external rotation the open stance showed the largest angular displacement and is follwed by square stance and closed stance. The fourth hypothesis, "In three dimensional anatomical angular velocity of upperlimb would be significant difference among the stance patterns during forehand stroke in tennis" was rejected and the result showed that X-axis angular velocity and Z-axis angular velocity the square stance showed the largest angular velocity of the trunk and X-axis angular velocity and Y-axis angular velocity the closed stance showed the largest angular velocity of the shoulder joint.

• Clinics in Shoulder and Elbow
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• v.17 no.1
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• pp.25-30
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• 2014

Background: Normal elbow joint kinematics has been widely studied in cadaver, whilst in vivo study, especially of the forearm, is rare. Our study analyses, in vivo, the kinematics of normal forearm and of malunited forearm using a three-dimensional computerized simulation system. Methods: We examined 8 patients with malunited Monteggia fracture and 4 controls with normal elbow joint. The ulna and radius were reconstructed from CT data placing the forearm in three different positions; full pronation, neutral, and full supination using computer bone models. We analyzed the axis of rotation 3-dimentionally based on the axes during forearm rotation from full pronation to full supination. Results: Axis of rotation of normal forearm was pitch line, with a mean range of 2 mm, from full pronation to full supination, connecting the radial head center proximally and ulnar fovea distally. In normal forearm, the mean range was 1.32 mm at the proximal radioulnar joint and 1.51 mm at the distal radioulnar joint. However in Monteggia fracture patients, this range changed to 7.65 mm at proximal and 4.99 mm at distal radoulnar joint. Conclusions: During forearm rotation, the axis of rotation was constant in normal elbow joint but unstable in malunited Monteggia fracture patients as seen with radial head instability. Therefore, consideration should be given not only to correcting deformity but also to restoring AOR by 3D kinematics analysis before surgical treatment of such fractures.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.85-95
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• 2005

The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle during One Hand Backhand Stroke and Two Hand Backhand in tennis. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 6.1 graphical programming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and racket head direction were defined. 1. In three dimensional maximum linear velocity of racket head the X axis and Y axis(horizontal direction) showed $-11.04{\pm}2.69m/sec$, $-9.31{\pm}0.49m/sec$ before impact, the z axis(vertical direction) maximum linear velocity of racket head did not show at impact but after impact this will resulted influence upon hitting ball. It could be suggest that Y axis velocity of racket head influence on ball direction and z axis velocity influence on ball spin after impact. The stance distance between right foot and left foot was mean $75.4{\pm}5.86cm$ during one hand backhand stroke and $72.6{\pm}4.67cm$ during two hand backhand stroke. 2. The three dimensional anatomical angular displacement of trunk in interna rotation-external rotation showed most important role in backhand stroke. and is follwed by flexion-extension. the three dimensional anatomical angular displacement of trunk did not show significant difference between one hand backhand stroke and two hand backhand stroke but the three dimensional anatomical angular displacement of trunk was bigger than one hand backhand stroke. 3. while backhand stroke, the flexion-extension and adduction-abduction of right shoulder joint showed significant different between one hand backhand stroke and two hand backhand stroke. the three dimensional anatomical angular displacement of right shoulder joint showed more flex and abduct in one hand backhand stroke. 4. The three dimensional anatomical angular displacement of left shoulder showed flexion, adduction, and external rotation at impact. after impact, The angular displacement as adduction-abduction of left shoulder changed motion direction as abduction. angular displacement of left shoulder as flexion-extension showed bigger than the right shoulder.

• Journal of The Korean Association For Science Education
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• v.29 no.7
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• pp.759-766
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• 2009

This study was conducted to examine 10 Belizean teachers' conceptions about the causes of seasonal change. This research was conducted with an integrated method using a open ended written test and an interview which included a drawing. There are four categories, explained by the teachers, as the causes of seasonal changes. They are; climate, rotation of the earth on its axis, revolution of the earth around the sun, and the tilting of earth's axis as it revolves. Most teachers misunderstood that the first of three categories was responsible for seasonal change. Second, it is more effective to use the integrated method shown in this research than to use only a written test when seriously investigating the causes and understanding of seasonal change. Third, 8 out of 10 teachers could not correctly explain the causes of seasonal change. The reasons for seasonal change seemed to be hard for the informants to understand even though it was taught in elementary, middle, high school, and college elective classes.

• Steel and Composite Structures
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• v.20 no.3
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• pp.469-486
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• 2016

Codes EN 1993 and EN 1994 require to take into account actual joint characteristics in the global analysis. In order to implement the semi-rigid connection effects in frame design, knowledge of joint rotation characteristics ($M-{\phi}$ relationship), or at least three basic joint properties, namely the moment resistance $M_R$, the rotational stiffness $S_j$ and rotation capacity, is required. To avoid expensive experimental tests many methods for predicting joint parameters were developed. The paper presents a comprehensive analytical model that has been developed for predicting the moment resistance $M_R$, initial stiffness $S_{j.ini}$ and rotation capacity of the minor axis, composite, semi-rigid joint. This model is based on so-called component method included in EN 1993 and EN 1994. Comparison with experimental test results shows that a quite good agreement was achieved. A computer program POWZ containing proposed procedure were created. Based on the numerical simulation made with the use of this program and applying regression analysis, simplified equations for main joint properties were also developed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.37-43
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• 2002

In this paper, we analyse and present mechanical dynamic characteristics of a micro-machined vibrating silicon ring gyroscope which can measure angular velocities about three orthogonal axes. The ring gyroscope has a ring connected to the gyroscope main body by support-ligaments which are arranged with cyclic symmetry. The natural modes of its vibration can be distinguished into the in-plane motion and the out-of-plane motion which are coupled by the gyro-effect due to the rotation of the gyroscope main body. The equations of motion, the response to angular velocities, and the relationships between the natural modes of vibration are derived and compared with the previous studies for the design of a micro three-axis ring gyroscope.