• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.1-9
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• 2016

Objective: The aim of this study is to investigate the association between dance experience and smoothness of hand trajectory during dance by using three jerk-based quantitative methods (integrated squared jerk, mean squared jerk, and dimensionless jerk). Methods: Eleven Korean traditional dancers whose experience of dancing ranged from 5 years to 20 years participated in this study. Dancers performed the Taeguksun motion in Korea traditional dance. Six infrared cameras were used to capture the movement of the hands of the dancers. The smoothness of hand movement was calculated using three jerk-based methods. Results: With regard to the smoothness of the right hand, dance experience was significantly correlated with dimensionless jerk (r=0.656, p=0.028), while dance experience was not significantly correlated with integrated squared jerk (r=0.581, p=0.552) and mean squared jerk. With regard to the smoothness of the left hand, there was no correlation between dance experience and any of the three jerk values. Conclusion: Our results showed that individuals with more dance experience performed the task more smoothly. This study suggests that dimensionless jerk should be used as a predictor for smoothness in dance movement. Thus, our results support the idea that smoothness is an aspect of movement quantity distinct from speed and distance.

• Clinics in Shoulder and Elbow
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• v.7 no.2
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• pp.57-64
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• 2004

The purposes of this study were to evaluate the presence or absence of pain with the jerk test as a predictor of the success of nonoperative treatment for posteroinferior instability of the shoulder and to identify pathologic lesion responsible for the pain in the jerk test. Eighty-nine shoulders(81 patients), which had posteroinferior instability with positive posterior clunk in the jerk test, were nonoperatively treated. The patients were divided into two groups with respect to the presence of pain in the jerk test: painless jerk group(54 shoulders) and painful jerk group(35 shoulders). Response to the nonoperative treatment was evaluated after at least 6 months rehabilitation program. Patients who did not respond to the rehabilitation underwent arthroscopic examination to identify any pathologic lesion. The painful jerk group had higher failure rate with nonoperative treatment (p<0.001). In the painless jerk group, fifty shoulders (93%) responded to rehabilitation program after a mean of 4 months. Four shoulders(7%) were unresponsive to the rehabilitation. In the painful jerk group, five shoulders(16%) were successful with the rehabilitation while the other thirty shoulders(84%) failed. All 34 shoulders, which were unresponsive to the rehabilitation, had a variable degree of posteroinferior labral lesions. In conclusion, the jerk test is a hallmark for predicting the prognosis of nonoperative treatment in the posteroinferior instability. Shoulders with symptomatic posteroinferior instability and a painful jerk test have posteroinferior labral lesion.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.189-194
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• 2006

Dam jerk causes a chronic stomach disorder. The number of the patient of the Dam jerk increase in these days. However, there are no objective and quantitative study for a diagnosis of Dam jerk. Therefore, we designed diagnosis system using ultrasonic response signal for a diagnosis of Dam jerk. It was used to collect the response signal that is reflected at Dam jerk region of the abdominal. And then, the response signal at the Dam jerk region is 20% higher than the normal region. In the result. we could prove the reliability of the system.

• Journal of Advanced Navigation Technology
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• v.4 no.1
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• pp.50-66
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• 2000

For a long time target maneuvers in tracking problem have been a difficult task to handle. Once a maneuvering such as abrupt change in target accelerations occur, the tracking fiter no longer yields a reasonable estimate of the target position. In order to resolve this cumbersome maneuvering problem. Advanced methods have here proposed : Colored noise, IE(Input Estimation), VD(Variable Dimension), IMM(Interaction Multiple Model), Jump-type processes and jerk model, etc. In this paper, tracking performance of the jerk model is analyzed. Jerk model in which the derivative of target acceleration is included as a state recently attracted considerable attraction. Firstly 3-dimensional Kalman filter is described on the basis of jerk model. Then using this filter, Monte-Carlo simulations are carried out and the filter formance with respect to the variation of jerk time-constant is analyzed. Especially, since jerk model's transient performance is expected to be poor, the performance of analysis of transient response of the model is included too.

• Kyungpook Mathematical Journal
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• v.55 no.3
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• pp.563-586
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• 2015

In this research work, a seven-term 3-D novel jerk chaotic system with two quadratic nonlinearities has been proposed. The basic qualitative properties of the novel jerk chaotic system have been described in detail. Next, an adaptive backstepping controller is designed to stabilize the novel jerk chaotic system with two unknown parameters. Moreover, an adaptive backstepping controller is designed to achieve complete chaos synchronization of the identical novel jerk chaotic systems with two unknown parameters. MATLAB simulations have been shown in detail to illustrate all the main results developed for the 3-D novel jerk chaotic system.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.614-620
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• 2007

This paper considers vibration suppression of a mechanical transfer system, where the work is connected with the hand flexibly. We adopt the idea of jerk reduction of the hand. From the equation of motion, we first derive a state equation including the jerk and acceleration of the hand, but excluding the displacement and velocity of the work. Then, we design optimal state feedback for a suitable cost function, and show by simulation that jerk reduction of the hand is effective for vibration suppression of the work and improvement of the settling time. Since state feedback including the jerk and acceleration is not practical, we propose a computation method for optimal feedback using displacements and velocities in the state only.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.11-17
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• 2006

The purpose of this study was to evaluate the smoothness of movement during various walking speeds. Based on the maximum smoothness theory (or the minimum jerk theory), we hypothesized that the walking speed at the maximum smoothness (or minimum normalized jerk) is the same as that at the minimum energy consumption. Eleven university students participated in treadmill walking experiment with 11 different walking speeds (1.11, 1.19, 1.25, 1.33, 1.56, 1.78, 1.9, 2, 211, 233, and 2.47m/sec). Normalized jerk at 15 markers and the center of mass was calculated. Results showed that there existed a quadratic relationship between the normalized jerk of the vertical direction at the center of mass and the walking speed As the walking speed increased, the normalized jerk of all directions at the heel decreased Our hypothesis that the previously published energetically optimal walking speed ($1.25\;{\sim}\;1.4m/s$) is the same as the minimum jerk speed (1.78m/s) did not agree with this result. The minimum normalized jerk at the center of mass occurred at the walking speed of 1.78m/s which was the preferred walking speed by subjects' questionaries. Further studies concerning the energetically optimal walking speed, preferred walking speed, and walk-run transition speed or run-walk transition speed are necessary based on actual energy consumption experiment and various multi-dimensional analysis.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.3 s.180
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• pp.110-117
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• 2006

This paper presents the acceleration optimization of a high-speed LCD (Liquid Crystal Display) transfer system for the minimization of vibration. To reduce vibration is one of key requirements for the dynamic control of a high-speed LCD transfer system. In this paper, the concept of finite jerk (the first derivative of acceleration) has been introduced for realizing input acceleration. The profile of finite jerk has been optimized using a genetic algorithm so that vibration effect can be minimized. In order to incorporate a genetic algorithm, the dynamic model of a LCD transfer system which is realized by using the ADAMS software has been linked to the simulation system constructed by the MATLAB. The simulation results illustrated that the duration of finite jerk can be optimized so as to minimize the magnitude of vibration. It has been also shown that the acceleration optimization with finite jerk can make the high-speed motion of a LCD transfer system result in low vibration, compared with the conventional motion control with trapezoidal velocity profile.