• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.1
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• pp.65-72
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• 2010

For developing navigation system of total hip arthroplasty (THA) and evaluating hip joint kinematics, 3-D pose position of the femur and acetabulum in the pelvic coordinate system has been quantified. The pelvic coordinate system is determined by manually indicating pelvic landmarks in multidetector-row computed tomography (MDCT) images. It includes intra- and inter-observer variability, and may result in a variability of THA operation or diagnosis. To reduce the variability of pelvic coordinate system determination, this paper proposes an automated method in MDCT images. The proposed method determines pelvic coordinate system automatically by detecting pelvic landmarks on anterior pelvic plane (APP) from MDCT images. The method calibrates pelvic pose by using silhouette images to suppress the affect of pelvic pose change. As a result of comparing with manual determination, the proposed method determined the coordinate system with a mean displacement of $2.6\;{\pm}\;1.6$ mm and a mean angle error of $0.78\;{\pm}\;0.34$ deg on 5 THA subjects. For changes of pelvic pose position within 10 deg, standard deviation of displacement was 3.7 mm, and of pose was 1.28 deg. We confirmed the proposed method was robust for pelvic pose changes.

• Korean Journal of Applied Biomechanics
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• v.18 no.3
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• pp.11-21
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• 2008

The purpose of this study was to investigate the most optimum way of performing the bandal chagi during Taekwondo Kyorugi competition. By analyzing the EMG data and the kinematic data it was hoped that scientific data would be provided to instructors and players about the optimization of the Bandal Chagi. The results of the analysis are as follows: During competition while performing the Bandal Chagi the most important factors that affect the impact point are the range of motions of the upper body hyper extension and knee joints. Through the measurement of the muscles EMG activity of a well performed Bandal Chagi with the right leg it was observed that the left side erector spinae muscle was highly activated and so it was concluded that this muscle should be trained to improve the performance of the Bandal Chagi. Likewise it was observed that for the right side of the abdominal muscle's EMG there was a high activity level and thus showed that there was a large contribution of this muscle for the optimum performance of the Bandal Chagi.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.405-410
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• 2011

The purpose of this study was to compare the differences in kinematic variables and grip forces among professionals(PG), amateurs(AG), and novice group(NG) during golf putting. The participants consisted of 3 groups based on their playing ability: 8 professional golfers (handicap<5), 8 amateurs (handicap<18) and 8 novice. Each subject attempted 2.1m putts from the hole. 3D motion analysis system(Motion analysis Corp., USA) with 6 high speed cameras and grip force measurement system(Kim et al., 2007) were used to acquired kinematic and force data, respectively. To compare differences among groups, joint angles of upper limbs, trajectory and smoothness by jerk cost function(JC) of putter head and grip forces were used in this study. Results showed that there were significant differences among groups in most of variables such as joint angles, trajectory & smoothness of putter head, and distribution of grip force in both hands. In brief, we confirmed that putting stroke in PG was more accurate and smooth than that in other groups, especially NG, due to their well-controlled upper limbs and keeping grip forces constant in both hands. It can be concluded that due to skilled levels, fundamental differences of putting movement could be identified and these differences might be helpful for improving one's putting skills.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.197-203
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• 2017

Objective: The purpose of this study was to determine how exercise intensity affects muscle activity and kinematic variables during squat. Method: Fifteen trainers with >5 years of experience were recruited. For the electromyography (EMG) measurements, four surface electrodes were attached to both sides of the lower extremity to monitor the rectus femoris (RF) and biceps femoris. Three digital camcorders were used to obtain three-dimensional kinematics of the body. Each subject performed a squat in different conditions (40% one-repetition maximum [40%1RM], 60%1RM, and 80%1RM). For each trial being analyzed, three critical instants and two phases were identified from the video recording. For each dependent variable, one-way analysis of variance with repeated measures was used to determine whether there were significant differences among the three different conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results: The results showed that the average integrated EMG values of the RF were significantly greater in 80%1RM than in 40%1RM during the extension phase. The temporal parameter was significantly longer in 80%1RM than in 40%1RM and 60%1RM during the extension phase. The joint angle of the knee was significantly greater in 80%1RM than in 40%1RM at flexion. The range of motion of the knee was significantly less in 80%1RM than in 40%1RM and 60%1RM during the flexion phase and the extension phase. The angular velocity was significantly less in 80%1RM than in 40%1RM and 60%1RM during the extension phase. Conclusion: Generally, the increase of muscle strength decreases the pace of motion based on the relation between the strength and speed of muscle. In this study, we also found that the increase of exercise intensity may contribute to the increase of the muscle activity of the RF and the running time in the extension phase during squat motion. We observed that increased exercise intensity may hinder the regulation of the range of motion and joint angle. It is suitable to perform consistent movements while controlling the proper range of motion to maximize the benefit of resistance training.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• The Journal of the Petrological Society of Korea
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• v.20 no.4
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• pp.173-189
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• 2011

Basic to acidic dykes and systematic joints are observed pervasively in the Jukbyeon-Bugu area, Uljin, east Korea. In order to classify the dykes and joints and to determine the relative chronology, their geometries, kinematics, and cross-cutting relationships, and the petrography and geochemistry of dykes are synthetically analyzed. Based on the orientations and cross-cutting relationships of 144 dykes (137 basic and 7 acidic dykes) and 370 systematic joints, three basic dike swarms (M-10, M-80, and M-100), one acidic dyke group (AD), and four joint sets (J-10, J-40, J-80, and J-150) are classified. Some of the J-150 joints reactivated as dextral strike-slip fault are recognized in the field and named as F-340R. According to petrographic, geochemical, and occurrence features in the field, M-80 and M-100 dykes have originated from a co-magma and intruded under the same stress field, even though they have intruded through different passages, preexisting fractures and new fractures created by magmatic pressure, respectively. And the relative chronology of dyke swarms and joint sets in the study area is determined as follows : ${\rightarrow}$ ${\rightarrow}$ ${\rightarrow}$ ${\rightarrow}$ ${\rightarrow}$ . And the M-80 (M-100) and M-10 dyke swarms intruded under NNE-SSW and NW-SE trending horizontal minimum stress fields, respectively. According to a synthesis of the results of the previous and this studies, the M-80, M-10, and F-340R are interpreted to have been formed about 64-52 Ma, Eocene~Oligocene, and Miocene, respectively.

• Journal of the Korean Orthopaedic Association
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• v.56 no.1
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• pp.68-75
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• 2021

Purpose: The purpose of this study was to analyze the motion of the shoulder joint dynamically through a depth sensor-based motion analysis system for the normal group and patients group with shoulder disease and to report the results along with a review of the relevant literature. Materials and Methods: Seventy subjects participated in the study and were categorized as follows: 30 subjects in the normal group and 40 subjects in the group of patients with shoulder disease. The patients with shoulder disease were subdivided into the following four disease groups: adhesive capsulitis, impingement syndrome, rotator cuff tear, and cuff tear arthropathy. Repeating abduction and adduction three times, the angle over time was measured using a depth sensor-based motion analysis system. The maximum abduction angle (θ_max), the maximum abduction angular velocity (ω_max), the maximum adduction angular velocity (ω_min), and the abduction/adduction time ratio (t_abd/t_add) were calculated. The above parameters in the 30 subjects in the normal group and 40 subjects in the patients group were compared. In addition, the 30 subjects in the normal group and each subgroup (10 patients each) according to the four disease groups, giving a total of five groups, were compared. Results: Compared to the normal group, the maximum abduction angle (θ_max), the maximum abduction angular velocity (ω_max), and the maximum adduction angular velocity (ω_min) were lower, and abduction/adduction time ratio (t_abd/t_add) was higher in the patients with shoulder disease. A comparison of the subdivided disease groups revealed a lower maximum abduction angle (θ_max) and the maximum abduction angular velocity (ω_max) in the adhesive capsulitis and cuff tear arthropathy groups than the normal group. In addition, the abduction/adduction time ratio (t_abd/t_add) was higher in the adhesive capsulitis group, rotator cuff tear group, and cuff tear arthropathy group than in the normal group. Conclusion: Through an evaluation of the shoulder joint using the depth sensor-based motion analysis system, it was possible to measure the range of motion, and the dynamic motion parameter, such as angular velocity. These results show that accurate evaluations of the function of the shoulder joint and an in-depth understanding of shoulder diseases are possible.

• Physical Therapy Korea
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• v.20 no.1
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• pp.64-73
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• 2013

The purposes of this study were to develop a new orthosis controlling ankle and knee joint motion during the gait cycle and to identify the effects of the newly designed orthosis on gait kinematics and tempospatial parameters, including coordination of the extremities in stroke patients. Fifteen individuals who had sustained a stroke, onset was 16 months, participated in this study. Before application of the measurement equipment the subjects were accustomed to walking on the ankle-foot orthosis (AFO) or stance control knee with knee flexion assisted-oil damper ankle-foot orthosis (SCKAFO) for 5 minutes. Fifteen patients were investigated for 45 days with a 3-day interval between sessions. Measurements were walking in fifteen stroke with hemiparesis on the 3D motion analysis system. Comparison of AFO and SCKAFO are gait pattern. The difference between the AFO and SCKAFO conditions was significant in the gait velocity, step length of the right affected side, stance time of both legs, step-length asymmetry ratio, single-support-time asymmetry ratio, ${\phi}$-thigh angle and ${\phi}$-shank angle in the mid swing (p<.001). Using a SCKAFO in stroke patients has shown similar to normal walking speeds can be attained for walking efficiency and is therefore desirable. In this study, the support time of the affected leg with the SCKAFO was longer than with the AFO and the asymmetry ratio of single support time decreased by more than with the AFO. This indicates that the SCKAFO was effective for improving gait symmetry, single-support-time symmetry. This may be due to the decrease of gait asymmetry. Thus, the newly designed SCKAFO may be useful for promoting gait performance by improving the coordination of the extremity and decreasing gait asymmetry in chronic stroke patients.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.137-148
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• 2006

The purpose of this study was to compare muscle activity in the lower extremity during walking wearing jogging and roller shoes. Twelve male middle school students (age: 15.0 yrs, height 173.7 cm, weight 587.7 N) who have no known musculoskeletal disorders were recruited as the subjects. Seven pairs of surface electrodes (QEMG8, Laxtha Korea, gain = 1,000, input impedance >$1012{\Omega}$, CMMR >100 dB) were attached to the right-hand side of the body to monitor the rectus femoris (RF), vastus medialis (VM), vastus lateralis (VL), biceps femoris (BF), tibialis anterior (TA), and medial (GM) and lateral gastrocnemius (GL) while subjects walked wearing roller and jogging shoes in random order at a speed of 1.1 m/s. An event sync unit with a bright LED light was used to synchronize the video and EMG recordings. EMG data were filtered using a 10 Hz to 350 Hz Butterworth band-passdigital filter and further normalized to the respective maximum voluntary isometric contraction EMG levels. For each trial being analyzed, five critical instants and four phases were identified from the recording. Averaged IEMG and peak IEMG were determined for each trial. For each dependent variable, paired t-test was performed to test if significant difference existed between shoe conditions (p<.05). The VM, TA, BF, and GM activities during the initial double limb stance and the initial single limb stance reduced significantly when going from jogging shoe to roller shoe condition. The decrease in EMG levels in those muscles indicated that the subjects locked the ankle and knee joints in an awkward fashion to compensate for the imbalance. Muscle activity in the GM for the roller shoe condition was significantly greater than the corresponding value for the jogging shoe condition during the terminal double limb stance and the terminal single limb stance. Because the subjects tried to keep their upper body weight in front of the hip to prevent falling backward, the GM activity for the roller shoe condition increased. It seems that there are differences in muscle activity between roller shoe and jogging shoe conditions. The differences in EMG pattern may be caused primarily by the altered position of ankle, knee, and center of mass throughout the walking cycle. Future studies should examine joint kinematics during walking with roller shoes.