• 천문학회보
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• 제41권1호
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• pp.34.1-34.1
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• 2016

Galaxy clusters are the sites where the most massive galaxies are found, and so the most dramatic merger histories are embedded. Our deep (mu ~ 28 mag/arcsec^2) images of Abell 119 at z = 0.044 using the Blanco 4-m telescope at CTIO revealed post-merger signatures in ~35% of galaxies brighter than Mr < -19.5, suggesting that so many galaxies even in clusters have gone through galaxy mergers at recent epoch. We went further to understand the impact of mergers in cluster galaxies using stellar kinematics from the SAMI Integral Field Unit on the galaxies of Abell 119 in three aspects of kinematics : orientations, levels of rotation, and kinematic shapes. We found that 30% of the merger-featured galaxies show misalignment in the angle between the photometric major and the rotation axes, and most of them show complex kinematics. For comparison, only 5% of non-merger-featured galaxies show the misalignment. Moreover, our analysis using the Tully-Fisher relation shows that galaxy interactions can both enhance or reduce galaxy spin depending on the merger geometry. We present our preliminary result and discussion on the role of galaxy mergers in cluster environment from the perspective of kinematics.

• 대한기계학회논문집A
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• 제29권1호
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• pp.1-13
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• 2005

Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.

• Journal of Multimedia Information System
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• 제8권2호
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• Reproductive and Developmental Biology
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• 제35권1호
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• pp.47-54
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• 2011

Endocrine disruptors bind to hormone receptors on sperm membrane, therefore spermatozoa are potentially a useful model for examining estrogenic activities of endocrine disruptors. The objective of this study was to compare the effects of two xenoestrogenic compounds [genistein (Gen) and 4-tert-octylphenol (OP)] to those of two steroids [estrogen ($E_2$) and progesterone ($P_4$)] on boar sperm % motility and motion kinematics of in vitro. Porcine spermatozoa were incubated with various concentrations ($0.001{\sim}100\;{\mu}M$) of each chemical for 15 or 30 min, and then assessed % motility and sperm motion kinematics using computer assisted sperm analyzer (CASA). Each chemical decreased sperm % motility, and OP decreased VSL and VAP compared with untreated control(p<0.05). $E_2$ stimulated the motion kinematic changes except VCL. Moreover, Gen had effects on VCL and VAP alterations after 30 min incubation. In summary, since all chemicals studied effectively altered sperm % motility and motion kinematics, it was concluded that porcine spermatozoa could be a useful model for in vitro screening of potential endocrine disruptors.

• 한국전문물리치료학회지
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• 제24권4호
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• pp.1-10
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• 2017

Background: Flexion-relaxation phenomenon (FRP) was a term which refers to a sudden onset of myoelectric silence in the erector spinae muscles of the back during standing full forward flexion. Hamstring muscle length may be related to specific pelvic and trunk movements. Many studies have been done on the FRP of the erector spinae muscles. However, no studies have yet investigated the influence of hamstring muscle flexibility on the FRP of the hamstring muscle and lumbopelvic kinematics during forward bending. Objects: The purpose of this study was to examine the flexion-relaxation ratio (FRR) of the hamstring muscles and lumbopelvic kinematics and compare them during forward bending in subjects with different hamstring muscle flexibility. Methods: The subjects of two different groups were recruited using the active knee extension test. Group 1-consisted of 13 subjects who had a popliteal angle under $30^{\circ}$; Group 2-consisted of 13 subjects who had a popliteal angel above $50^{\circ}$. The kinematic parameters during the trunk bending task were recorded using a motion analysis system and the FRRs of the hamstring muscles were calculated. Differences between the groups were identified with an independent t-test. Results: The subjects with greater hamstring length had significantly less lumbar spine flexion movement and more pelvic flexion movement. The subjects with greater pelvic flexion movement had a higher rate of flexion relaxation during full trunk bending (p<.05). Conclusion: The results of this study suggest that differences in hamstring muscle flexibility might cause changes in people's hamstring muscle activity and lumbopelvic kinematics.

• 천문학회지
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• 제53권5호
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• pp.103-115
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• 2020

We analyze the spatially resolved kinematics of gas and stars for a sample of ten hidden type 1 AGNs in order to investigate the nature of their central sources and the scaling relation with host galaxy stellar velocity dispersion. We select our sample from a large number of hidden type 1 AGNs, which are identified based on the presence of a broad (full width at half maximum ≳1000 km s^-1) component in the Hα line profile and which are frequently mis-classified as type 2 AGNs because AGN continuum and broad emission lines are weak or obscured in the optical spectral range. We used the Blue Channel Spectrograph at the 6.5-m Multiple Mirror Telescope to obtain long-slit data with a spatial scale of 0.3 arcsec pixel^-1. We detected broad Hβ lines for only two targets; however, the presence of strong broad Hα lines indicates that the AGNs we selected are all low-luminosity type 1 AGNs. We measured the velocity, velocity dispersion, and flux of stellar continuum and gas emission lines (i.e., Hβ and [O III]) as a function of distance from the center. The spatially resolved gas kinematics traced by Hβ or [O III] are generally similar to the stellar kinematics except for the inner center, where signatures of gas outflows are detected. We compare the luminosity-weighted effective stellar velocity dispersions with the black hole masses and find that our hidden type 1 AGNs, which have relatively low back hole masses, follow the same scaling relation as reverberation-mapped type 1 AGN and more massive inactive galaxies.

• 한국정보통신학회논문지
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• 제21권10호
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• pp.1879-1885
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• 2017

본 논문에서는 시간에 따라 방향 속도와 위치가 변하는 무인자동차의 궤적 추적 제어시스템에 대해 논한다. 무인자동차는 운전자의 도움이 없어도 스스로 주위환경을 인식하여 지정된 도로를 주행할 수 있는 자동차로 올바른 주행을 위해 고려해야 할 변수가 다양하다. 무인자동차의 궤적 추적 시스템에서 인식한 정보는 이산적인 값을 가지므로 센스 간의 간격으로 인하여 비연속성 및 비선형성을 가지고 있다. 이로 인하여 목표 궤적을 정확하게 추적하는 것 어렵다. 본 논문은 차량의 운동학 모델링을 통하여 선형오차, 제약 조건, 제어 목표함수의 세 가지 조건을 갖는 무인자동차 궤적 추적시스템을 제안한다. 제안된 궤적 추적시스템을 기반으로 동적 시뮬레이션 소프트웨어-카심(Dynamic Simulation Software-CarSim)의 결합시뮬레이션을 통해 시스템의 성능을 평가하였고, 그 결과로 더욱 정밀하게 목표 궤적을 추적할 수 있음을 확인하였다.

• 천문학회보
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• 제44권1호
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• pp.36.3-36.3
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• 2019

Feedback process is one of the most important topics in the study of AGNs since it plays a key role in linking the SMBHs and their host galaxies. In order to further understand the co-evolution of SMBHs and their host galaxies, we probe the feedback process in local type-2 AGNs with a series of integral-field-spectroscopy observations. In the first part of my talk, I will introduce our GMOS observations of luminous type-2 AGNs at z < 0.1, which are selected using the integrated [O III] kinematics. Based on the dedicated emission-line diagnostics and kinematic studies, we identify the signatures of AGN-driven outflows and quantify the outflow size in the targets with extreme [O III] kinematics. For the targets without extreme [O III] kinematics, we find the presence of weak AGN-driven outflows, which are indicated by the significant differences between the kinematics of gas and stars. Then, I will present our recent study of 40 type-2 AGNs based on the SNIFS IFU. By comparing the radial profile of velocity dispersion of gas and stars, we measure the size of AGN-driven outflows in these targets and extend the outflow size-AGN luminosity relation in our previous GMOS studies. We also discuss the feedback effect of AGN-driven outflows by connecting the outflow velocity and host galaxy properties. These results highlight the importance of spatially-resolved observation in investigating gas kinematics and identifying the signatures of AGN-driven outflows.

• 한국전문물리치료학회지
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• 제31권1호
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• pp.29-39
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• 2024

Background: Landing from a step or stairs is a basic motor skill but high incidence of lateral ankle sprain has been reported during landing with inverted foot. Objects: This study aimed to investigate the effect of landing height and visual feedback on the kinematics of landing and supporting lower limbs before and after the touch down and the ground reaction force(GRF)s. Methods: Eighteen healthy females were voluntarily participated in landing from the lower (20 cm) and the higher (40 cm) steps with and without visual feedback. To minimize the time to plan the movement, the landing side was randomly announced as a starting signal. Effects of the step height, the visual feedback, or the interaction on the landing duration, the kinematic variables and the GRFs at each landing event point were analyzed. Results: With eyes blindfolded, the knee flexion and ankle dorsiflexion on landing side significantly decreased before and after the touch down. However, there was no significant effect of landing height on the anticipatory kinematics on the landing side. After the touch down, the landings from the higher step increased the knee flexion and ankle dorsiflexion on both landing and supporting sides. From the higher steps, the vertical GRF, anterior GRF, and lateral GRF increased. No interaction between step height and visual feedback was significant. Conclusion: Step height and visual feedback affected the landing limb kinematics independently. Visual feedback affected on the landing side while step height altered the supporting side prior to the touch down. After the touch down, the step height had greater influence on the lower limb kinematics and the GRFs than the visual feedback. Findings of this study can contribute to understanding of the injury mechanisms and preventing the lateral ankle sprain.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.376-384
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• 2003

In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be achieved through a combination of the proposed basic motion trajectories. The proposed method is verified through computer simulations and the developed mobile robot.