• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.441-448
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• 2000

An investigation into the nonlinear free vibrations of a cantilever beam which can have not only planar motion but also nonplanar motion is made. Using Galerkin's method based on the first mode in each motion, we transform the boundary and initial value problem into an initial value problem of two-degree-of-freedom system. The system turns out to have two normal modes. By Synge's stability concept we examine the stability of each mode. In order to check validity of the stability we obtain the numerical Poincare map of the motions neighboring on each mode.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.3
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• pp.138-141
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• 2006

Blood flow is one of vital signals related to human physiological information. Photoplethysmograph (PPG) has been used to measure indirectly heart rate, blood oxygen saturation ($SpO_2$), and so on. Because PPG signal is weak and sensitive to motion artifacts, it is very important to continuously obtain stable PPG signal during free movement. In this study, we applied the scaled Fourier linear combiner (SFLC) using both the adaptive filter and FLC to remove effectively the motion artifacts as well as background noise in the real time without additional signal correlated with motion from a accelerometer. The proposed method would be useful to reduce the movement and background noise which are not synchronized with heart rate.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.202-205
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• 2002

The motion of a floating body with multiple owe chambers in waves is studied taking account of fluctuating air pressure in the chambers. The atmospheric pressure drop in one chamber is interrelated with the drop in the other chamber. Velocity potential in the water due to the free surface oscillating pressure patches is calculated by making use of the hybrid Green integral equation. The chamber motion in the frequency domain is calculated for various values of parameters related to the atmospheric pressure drop in the multiple chambers.

• Structural Engineering and Mechanics
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• v.62 no.1
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• pp.65-77
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• 2017

The free vibration analysis of fluid conveying Timoshenko pipeline with different boundary conditions using Differential Transform Method (DTM) and Adomian Decomposition Method (ADM) has not been investigated by any of the studies in open literature so far. Natural frequencies, modes and critical fluid velocity of the pipelines on different supports are analyzed based on Timoshenko model by using DTM and ADM in this study. At first, the governing differential equations of motion of fluid conveying Timoshenko pipeline in free vibration are derived. Parameter for the nondimensionalized multiplication factor for the fluid velocity is incorporated into the equations of motion in order to investigate its effects on the natural frequencies. For solution, the terms are found directly from the analytical solution of the differential equation that describes the deformations of the cross-section according to Timoshenko beam theory. After the analytical solution, the efficient and easy mathematical techniques called DTM and ADM are used to solve the governing differential equations of the motion, respectively. The calculated natural frequencies of fluid conveying Timoshenko pipelines with various combinations of boundary conditions using DTM and ADM are tabulated in several tables and figures and are compared with the results of Analytical Method (ANM) where a very good agreement is observed. Finally, the critical fluid velocities are calculated for different boundary conditions and the first five mode shapes are presented in graphs.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.185-204
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• 2003

The purpose of this study was to obtain the data for stable and accurate techniques of the free throw in basketball. The subjects of this study were seven male basketball player consisted of college students athletes. Free throw motions were taken by video camera. The three-dimensional coordinates was processed by DLT. The variables were the velocity, the angular velocity of the upper extremity segments, degree, and angular momentum. The result of analysis is summarized as follows. 1. The velocity and angular velocity of the upper extremity segment was showed an gradual increase and a smooth velocity transfer, transferring from proximal segment to distal segment at free throw motion in basketball. 2. The local term and remote term angular velocity momentum of the proximal segment showed larger than that of the distal segment in X, Y, Z axis component all. 3. The remote term angular momentum was showed larger than that of the local term angular momentum in X, Y, Z axis component all. 4. The angular motion of the upper trunk and upper arm, upper arm and forearm was showed in opposite direction and symmetrical angular momentum in local term angular momentum of the Y and Z axis component. 5. All the segments of upper extremity segment was showed left rotation in remote term angular momentum of the Y axis component and right rotation in remote term angular momentum of the Z axis component.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.428-433
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• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.1
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• pp.9-16
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• 2020

The objective of this study is to propose closed-form solutions to the free vibration response of single-degree-of-freedom (SDOF) systems, as part of fundamental research on dynamic systems with Coulomb friction. The motion of a dynamic system with Coulomb friction is described by a nonlinear differential equation, and, due to the variation in the sign of friction force term with the direction of motion, it is difficult to obtain the closed-form solution. To solve this problem, the nonlinear differential equation is directly computed by numerical integration, or an approximated solution is indirectly obtained using a linear differential equation wherein the damping effect due to Coulomb friction is replaced by an equivalent viscous damping term. However, these conventional methods do not provide a closed-form solution from a mathematical point of view. In this regard, closed-form solutions to the free vibration response of SDOF systems with Coulomb friction are derived herein by considering that the sign of the friction force term is reversed in each half-cycle of motion and by expanding it to the entire time history using the power series function. In addition, for a given initial condition, both the number of free vibration half-cycles and the response at the instant when free vibration motion stops are predicted under the condition that the motion of free vibration is stopped when the amplitude of the friction force is higher than that of the restoring force due to stiffness.

• Korean Journal of Radiology
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• v.22 no.7
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• pp.1044-1053
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• 2021

Objective: Motion-corrected averaging with a single-shot technique was introduced for faster acquisition of late-gadolinium-enhancement (LGE) cardiovascular magnetic resonance (CMR) imaging while free-breathing. We aimed to evaluate the image quality (IQ) of free-breathing motion-corrected single-shot LGE (moco-ss-LGE) in patients with hypertrophic cardiomyopathy (HCM). Materials and Methods: Between April and December 2019, 30 patients (23 men; median age, 48.5; interquartile range [IQR], 36.5-61.3) with HCM were prospectively enrolled. Breath-held single-shot LGE (bh-ss-LGE) and free-breathing moco-ss-LGE images were acquired in random order on a 3T MR system. Semi-quantitative IQ scores, contrast-to-noise ratios (CNRs), and quantitative size of myocardial scar were assessed on pairs of bh-ss-LGE and moco-ss-LGE. The mean ± standard deviation of the parameters was obtained. The results were compared using the Wilcoxon signed-rank test. Results: The moco-ss-LGE images had better IQ scores than the bh-ss-LGE images (4.55 ± 0.55 vs. 3.68 ± 0.45, p < 0.001). The CNR of the scar to the remote myocardium (34.46 ± 11.85 vs. 26.13 ± 10.04, p < 0.001), scar to left ventricle (LV) cavity (13.09 ± 7.95 vs. 9.84 ± 6.65, p = 0.030), and LV cavity to remote myocardium (33.12 ± 15.53 vs. 22.69 ± 11.27, p < 0.001) were consistently greater for moco-ss-LGE images than for bh-ss-LGE images. Measurements of scar size did not differ significantly between LGE pairs using the following three different quantification methods: 1) full width at half-maximum method; 23.84 ± 12.88% vs. 24.05 ± 12.81% (p = 0.820), 2) 6-standard deviation method, 15.14 ± 10.78% vs. 15.99 ± 10.99% (p = 0.186), and 3) 3-standard deviation method; 36.51 ± 17.60% vs. 37.50 ± 17.90% (p = 0.785). Conclusion: Motion-corrected averaging may allow for superior IQ and CNRs with free-breathing in single-shot LGE imaging, with a herald of free-breathing moco-ss-LGE as the scar imaging technique of choice for clinical practice.

• Structural Engineering and Mechanics
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• v.74 no.2
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• pp.175-187
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• 2020

The theories having been developed thus far account for higher-order variation of transverse shear strain through the depth of the beam and satisfy the stress-free boundary conditions on the top and bottom surfaces of the beam. A shear correction factor, therefore, is not required. In this paper, the effect of surface on the axial buckling and free vibration of nanobeams is studied using various refined higher-order shear deformation beam theories. Furthermore, these theories have strong similarities with Euler-Bernoulli beam theory in aspects such as equations of motion, boundary conditions, and expressions of the resultant stress. The equations of motion and boundary conditions were derived from Hamilton's principle. The resultant system of ordinary differential equations was solved analytically. The effects of the nanobeam length-to-thickness ratio, thickness, and modes on the buckling and free vibration of the nanobeams were also investigated. Finally, it was found that the buckling and free vibration behavior of a nanobeam is size-dependent and that surface effects and surface energy produce significant effects by increasing the ratio of surface area to bulk at nano-scale. The results indicated that surface effects influence the buckling and free vibration performance of nanobeams and that increasing the length-to-thickness increases the buckling and free vibration in various higher-order shear deformation beam theories. This study can assist in measuring the mechanical properties of nanobeams accurately and designing nanobeam-based devices and systems.