• 한국환경과학회지
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• 제11권2호
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• pp.103-110
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• 2002

The position fixing usually is determined by triangulation, traverse surveying and astronomy surveying. However, when the station is moving, it is impossible to determine its position continuously by the former method. By a satellite positioning method(GPS), this problem can be solved. In our study, we used two methods to determine the length and coordinate of a point position. One is a kinematic GPS method and the other is a static one. Each is based on carrier phase measurement and employs a relative position technique. We implemented observation experiments such as Geodimeter and DGPS(Differential GPS) successfully. To estimate the accuracy between the kinematic and static methods, we compared the results of Geodimeter, the kinematic, and the static. The results showed that the static is relatively a little more accurate than the kinematic. However, in the kinematic mode, when we received the GPS data for a long time, we found that the kinematic also had a high accuracy value for the length survey Finally, we applied the GPS to Jeju Harbor Breakwater to examine the applicability of GPS for coastal ocean structure based on the kinematics and the statics, respectively.

• PNF and Movement
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• 제20권1호
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• pp.19-29
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• 2022

Purpose: The purpose of this study was to analyze the gait patterns of adults with intellectual disability and healthy adults based on collected kinematic data on the lower extremities and to investigate the gait patterns of intellectually disabled people by comparing the differences between the two groups. Methods: The participants were divided into in one group of healthy adults (n = 9) and one group with mild intellectual disabilities (n = 9). 3D motion analysis (Myomotion) was used to collect kinematic data from each group while the participants walked 3 times over 10 m. As a statistical method, each group's kinematic data during walking was analyzed and compared using an independent sample t-test. Results: Comparing the kinematic data of the lower extremities during walking between the group with mild intellectual disability and the healthy group, there were significant differences between the two groups in the hip and ankle joints in the stance and swing phases. Conclusion: The analysis suggests that people with intellectual disabilities have kinematic differences compared with healthy people. Based on the results of this study, it is necessary to conduct further research on rehabilitation programs for joint stabilization, exercise for increasing joint range of motion, muscle strengthening exercise, and proprioception training for people with intellectual disabilities with insufficient physical function.

• 대한수학회논문집
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• 제12권3호
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• pp.543-551
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• 1997

In this paper, we call a loop F kinematic if for $a, b \in F\{0}$, the following two conditions are valid : (i) the centralizer Z(a) of a is a commutative group under the induced operation from the loop F, and (ii) Z(a) = Z(b) or $Z(a) \cap Z(b) = {0}$, where 0 is the identity of F. Some example of kinematic loops are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.302-307
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• 2005

Recently, lots of parallel mechanisms for spatial 3-DOF and 6-DOF were investigated. However, research on 4-DOF and 5-DOF parallel mechanisms has been very few. In this paper, we propose a 4-DOF parallel mechanism that consists of 3-rotational and 1-translational motions. The kinematic characteristics of this mechanism are analyzed in terms of an isotropic index and maximum force transmission ratio, and its kinematic optimization is being conducted to ensure enhanced kinematic performances

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.309-314
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• 1992

Many dynamic mechanical systems, such as parts-feeders, walking machines, and percussive power tools, are described by equations of motion which are discontinuous. The discontinuities result from kinematic constraint changes which are difficult to foresee, especially in presence of impact. A simulation algorithm for these types of systems must be able to algorithmically predict and detect the kinematic constraint changes without any prior knowledge of the system's motion. This paper presents a rule-based approach to the prediction and detection of kinematic constraint changes between bodies with arc and line boundaries. The developed algorithm's ability to accurately and automatically detect the unpredicted changes of kinematic constraints is demonstrated with a numerical example.

• 한국정밀공학회지
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• 제11권5호
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• pp.88-97
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• 1994

We persent a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic parameters in the POE formula vary smoothly with changes in the joint axes;ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms. Simulation results with a 6-axis open chain are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.44-44
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• 2000

Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 춘계학술대회 논문집
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• pp.312-316
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• 2002

Tilting train is the best solution to provide faster passenger service on conventional railway lines without too costly modification of infrastructure. Kinematic envelope gauging is very important when applying tilting trains % conventional railways with limited clearance. Due to tilting motion, the kinematic envelope of tilting train is larger than that of non-tilting train. This study was done to estimate the maximum dimension of tilting train being suitable for Korean conventional lines. In this study the two worst cases of tilting train movement was assumed and related suspension displacements, geometrical overthrow of train on une, wear of wheel ＆ rail were combined to determine kinematic envelope.

• Journal of Electrical Engineering and information Science
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• 제1권2호
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• pp.39-44
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• 1996

An efficient interacting multiple mode(IMM) approach for tracking a maneuvering target with kinematic constraints is described based on the square root information filter(SRIF). The SRIF is employed instead of the conventional Kalman filter since it exhibits more efficient features in handling the kinematic constraints and improved numerical characteristics. The kinematic constraints are considered in the filtering process as pseudomeasurements where the degree of uncertainty is represented by the magnitude of the pseudomeasurement noise variance. The Monte Carlo simulations for the constant speed, maneuvering target are provided to demonstrate the improved tracking performance of the proposed algorithm.

• 대한공간정보학회지
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• 제10권2호
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• pp.87-95
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• 2002

실시간 동적(Real Time Kinematic) GPS는 실시간으로 높은 정밀도의 위치결정을 가능케 해준다. 만약 미지정수를 구하기 위하여 정수해를 사용한다면 수 mm의 정확도를 얻을 수 있고, 실 수해를 얻는다면 수십 cm 의 정확도를 얻을수 있다. 본 연구에서는 통일 측점에 대해 기존의 재래식 측량기법(Total Station), 정적(Static) 상대측위 GPS기법과 현장 Calibration에 의한 실시간 동적(Real Time Kinematic) GPS기법에 의해 측량을 수행하여 각 기법별 측정의 정확도 등을 비교 분석하여 현장 Calibration에 의한 실시간 동적 (Real Time Kinematic) GPS기법의 정확도를 분석고자 한다. 국소지역에서 기존의 실시간 동적(Real Time Kinematic) GPS방식을 보완한 현장 Calibration에 의한 실시간 동적(Real Time Kinematic) GPS 측량을 수행한 결과, 미지정수해의 고정해를 얻지 못하는 경우를 제외하고는 모두 6cm 이하의 오차가 나타났고, Control Point의 측점수를 3개와 4개로 변화시켜 실시간 동적(Real Time Kinematic) GPS 측량을 수행한 결과 두 측정치의 차이는 최대 3cm로 나타났다. 최종적으로 국소지역에서도 현장 Calibration에 의한 실시간 동적(Real Time Kinematic) GPS기법이 사용가능함을 알 수 있었다.