• 한국전문물리치료학회지
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• 제15권3호
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• pp.44-52
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• 2008

The purpose of this study was to investigate the effects of different objects and target location of dominant hand on the non-dominant hand movement kinematics in a bimanual reaching task. Fifteen right-handed volunteers were asked to reach from same starting point to the different target point of right and left hand with grasping the objects of different size. Independent variables were 1) three different object types (small mug cup, name pen, and PET bottle), and 2) three different target locations (shorter distance, same distance, and longer distance than the non-dominant hand) of the dominant hand. Dependent variables were movement time (MT), movement distance (MD), movement mean velocity ($MV_{mean}$), and movement peak velocity ($MV_{peak}$) of the non-dominant hand. Repeated measures two-way analysis of variance (ANOVA) was used to test for differences in the non-dominant hand movement kinematics during bimanual reaching. The results of this study were as follows: 1) MT of the non-dominant hand was increased significantly when traveling with grasping the mug cup and reaching the far target location, and was decreased significantly when traveling with grasping the PET bottle and reaching the near target location of the dominant hand. 2) MD of the non-dominant hand was significantly increased during reaching the far target location, and significantly decreased during reaching the near target location with dominant hand. 3) $MV_{mean}$ of the non-dominant hand was increased significantly when traveling with grasping the PET bottle, and was decreased significantly when traveling with grasping the mug cup of the dominant hand. Therefore, it can be concluded that the changes of the ipsilateral hand movement have influence on coupling of the contralateral hand movement in bimanual reaching.

• Asian-Australasian Journal of Animal Sciences
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• 제33권9호
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• pp.1411-1420
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• 2020

Objective: The aim of study was to investigate the effects of season and single layer centrifugation (SLC) before cryopreservation on post-thaw bull sperm quality in Thailand. Methods: Semen was collected from 6 bulls (Bos indicus) in summer, rainy season and winter 2014 through 2016. Semen characteristics, sperm morphology, sperm kinematics, viability, chromatin structure and mitochondrial membrane were evaluated. Meteorological data were available from the local meteorological station; Results: Season had an effect on semen characteristics in the raw ejaculate, with higher proportions of normal spermatozoa and lower abnormalities in winter than in the other two seasons. Sperm kinematics, viability, DNA fragmentation index, and mitochondrial membrane potential were not different between seasons. Sperm samples selected by SLC had greater normal morphology and a lower proportion with bent tails than controls and higher values of progressive motility (PRO), beat cross frequency, linearity, straightness, wobble (WOB), and lower values of slow motility, velocity average path (VAP), velocity curved line, and amplitude of lateral head displacement than controls. In addition, SLC-selection had a favorable effect on PRO, VAP, and WOB that differed among seasons. Conclusion: Our results suggested that these bulls were well adapted to their location, with season having an effect on sperm morphology. Moreover, SLC could be used prior to cryopreservation, regardless of season, to enhance normal morphology and kinematics of bull sperm samples without adversely affecting other parameters of sperm quality. However, there was considerable variation among bulls in DNA fragmentation index, mitochondrial membrane potential and sperm viability. In addition, SLC had a positive effect on sperm morphology and sperm kinematics, which could be expected to influence fertility.

• 대한수의학회지
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• 제38권4호
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• pp.898-908
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• 1998

The aim of this experiments were to assess the time-interval change of motional characteristics in frozen-thawed semen of Korean native cattle (KNC) by using computer aided semen analysis (CASA) technology. Twenty-six KNC frozen semen straws were obtained from Korean KNC improvement department, livestock improvement main division, national livestock cooperatives federation in Korea. Specimens were allowed to thaw at $37^{\circ}C$ for 30 sec in water bath. Semen analysis was performed on semen image analysis system (SIAS, Medical supply, Korea) adjusted to the gate settings and used the semen droplet ($5{\mu}l$) placed on Makler counting chamber (Sefi medical instrument, Israel) prewarmed at $37^{\circ}C$. The same person used the same micropipette to fill the Makler counting chamber. A total of 150 or more of sperms were analysed in each specimen by a single trained person by scanning at least 5 to 10 fields. The measurement parameters in SIAS were as follows ; frame rate = 30 frames per sec, image capture = 1 sec, minimum motile speed = $10{\mu}m/s$, maximum countable sperm number = 400. Statistical analysis was done by Student t-test with use of the Sigma plot program on a IBM personal computer. The dancemean(DNM) and hyperactivated sperm(HYP) of frozen-thawed KNC semen kinematics were significantly decreased(p < 0.05) after 10 min of incubation at $37^{\circ}C$ water bath. But, wobble(WOB) of same sample semen was significantly increased(p < 0.05) after 10 min of incubation and significantly decrease(p < 0.05) after 60 min of same incubation. And, after 30 mim of incubation, significantly differences were found most of motion kinematics, motifity(MOT), curvilinear velocity(VCL), straight line velocity(VSL), average path velocity(VAP), amplitude of lateral head displacement(ALH), beat cross frequency(BCF), mean angular displacement(MAD), dance(DNC), on same sample semen. The DNM of KNC semen sample was variable kinematics after 30 min of incubation. Also, the linearity(LIN) and straightness(STR) was significantly decreased(p < 0.05) from 60 min of incubation. In conclusion, the AI within 30 min after thawing of frozen semen can be an effective method for obtaining high fertility rate in KNC reproductive program.

• 한국해양공학회지
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• 제25권3호
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• pp.11-18
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• 2011

The rogue wave was generated in a two-dimensional wave tank the rogue wave kinematics was investigated including local and convective accelerations of the water particle and verification of existing prediction methods. PIV technique was applied to measure the wave kinematics near the wave crest which extended to compute the local and convective accelerations. The experimental results were compared with several analytical predictions. The convective acceleration under the crest of rogue wave has a similar magnitude with the local acceleration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.1028-1032
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• 1988

The purpose of this paper is the development of a fully integrated simulation package for industrial robot. The simulation package consists of kinematics, dynamics, and control. The kinematics contains trajectory plans and inverse kinematics. The dynamics combines manipulator dynamics and actuator dynamics including the effect of payloads and viscous frictions. The control is a hardware oriented scheme which contains position controller, velocity controller, current controller, and PWM generator. Thus, the simulation package can be used not only for theoretical purposes but also for development purposes in industry. Using this package, the characteristics and performances of the SCARA robot, which has been developed in GSIS, are investigated.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.519-522
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• 2001

In this paper, I propose double parallel manipulator for machining work. And I derive an kinematics by combining the kinematics of the central axis and the kinematics of the link train of linear actuator. The Jacobian of the central axis and the Jacobian of the link train of the linear actuators are induced by a motor algebra and they are combined to an entire Jacobian matrix to transform the velocity of the end effector to those of linear actuators. And then this paper presents the development of control system and user interface program for machining work.

• 한국산업융합학회 논문집
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• 제22권6호
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• 한국운동역학회지
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• 제16권2호
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• pp.65-73
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• 2006

The aim of this study was to find out the differences of Kinematics factors from touching down the vaulting board to landing when techniques of 1/1Turn and Tucked were performed on the old vaulting horse and on the new vaulting table. Three national representative men gymnasts were sampled for this study. Three dimension motion analyses by means of six Sony PD-150 video cameras with the velocity of 60 fps were used As a result of analyzing the kinematic data from two kind of vaulting table, the following conclusions were made. 1. The performing time from taking off the vaulting horse to landing(phase 4) in the 1/1 Turn technique on the new vaulting table was significantly longer than that of the old vaulting horse, while the time from contacting to taking off the vaulting horse on the new vaulting table was shorter than that of the old vaulting horse in both and the Tucked techniques. 2. The vertical release COG velocity was faster on the new vaulting table compare to the old vaulting horse in the all kind technique. However the horizontal release COG velocity of the 1/1 Turn technique was faster a little in the old vaulting horse compare to the new vaulting table.

• 전자공학회논문지SC
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• 제40권5호
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• pp.308-316
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• 2003

이 논문은 퍼지 시스템을 기반으로 하여 이동로봇의 제적제어에 대하여 기술한다. 기존의 백스텝핑 (back-stepping) 제어기는 이동로봇의 동역학과 기구학을 모두 포함하여 제어기를 구성하였다. 그러나 기존의 back-stepping 제어기는 기구학적 제어기에서 생성되는 속도 명령에 의해서 많은 영향을 받는다. 기존의 back-stepping 제어기의 성능을 증가 시키기 위해서 본 논문에서는 비선형 제이기로 많이 사용되고 있는 퍼지 시스템을 사용하였다. 본 논문에서는 back-stepping 제어기의 새로운 속도명령을 퍼지 추론을 통하여 생성하였다. 퍼지 규칙은 기구학적 제어기의 개인을 설정하기 위해서 설정하였으며, 퍼지 추론을 통하여 새로 생성된 속도명령은 기준명령의 변화를 고려하여 생성되었다. 그리고 수치실험을 통하여 기존의 back-stepping 제어기 보다 제안된 방법이 우수함을 증명하였다.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.978-982
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• 2007

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.