• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.823-830
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• 2009

For developing automotive parts and telematics devices the real car test often shows limitation because it needs high cost, much time and has the possibility of the accident. Therefore, a Vehicle Driving Simulator (VDS) instead of the real-car test has been used by some automotive manufactures, research centers, and universities. The VDS is a virtual reality device which makes a human being feel as if one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, a washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, a classical washout algorithm contains several problems such as time delay and generation of wrong motion signal caused by characteristics of filters. Specially, the classical washout algorithm has the simulator sickness when driver hardly turns brakes and accelerates the VDS. In this paper, a new washout algorithm is developed to enhance the motion sensitivity and improve the simulator sickness by using the vehicle tilt signal which is generated in the real time vehicle dynamic model.

• 대한토목학회논문집
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• 제13권2호
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• pp.267-277
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• 1993

본 논문에서는 유한요소법을 2차원 난류경계층에 적용하였으며, 점성유체의 시간의존 비압축성 운동을 시간과 압력장(場)에서 Navier-Stokes방정식과 vorticity방정식을 이용하여 정식 화하였다. 수치계산방법은 Galerkin방법에 기초하였으며, 난류 경계층의 eddy kinematic viscosity에 대해서는 Prandtl의 혼합거리이론을 도입하였다. 난류 경계층에서 파동에 의한 임의 저면에서 저질의 이동을 수치계산하였다. 유한 요소법에 의해 얻어진 결과는 진동흐름에 의한 경계층과 파동에 의한 경계층에서의 특성의 차이를 분명히 하였다.

• 천문학회보
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• 제43권1호
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• pp.54.3-54.3
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• 2018

In this study, we perform a statistical investigation on the kinematic classication of 4264 coronal mass ejections (CMEs) from 1996 to 2015 observed by SOHO/LASCO C3. Using the constant acceleration model, we classify these CMEs into three groups; deceleration, constant velocity, and acceleration motion. For this, we devise four dierent classication methods by acceleration, fractional speed variation, height contribution, and visual inspection. Our major results are as follows. First, the fractions of three groups depend on the method used. Second, about half of the events belong to the groups of acceleration and deceleration. Third, the fractions of three motion groups as a function of CME speed classied by the last three methods are consistent with one another. Fourth, according to the last three methods, the fraction of acceleration motion decreases as CME speed increases, while the fractions of other motions increase with speed. In addition, the acceleration motions are dominant in low speed CMEs whereas the constant velocity motions are dominant in high speed CMEs.

• 한국운동역학회지
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• 제17권3호
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• pp.133-145
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• 2007

The purpose of this paper was to compare of difference between energy walking and normal walking. Subjects were selected 8 male undergraduates. The kinematic variables of a pelvis and a thorax were analysed at the take off and contact with 3d cinematography. In addition to the variables, the phase plot angle was calculated in order to definite characteristics in the phase space. The pelvic angle and angular velocity showed significant differences in the flexion/extension between two walking patterns. The pelvic angle and angular velocity were increasing when walking speed was increasing and magnitude of the variables of energy walking was larger than corresponding values for normal walking. On the other hand, the thoracic angle demonstrated significant differences in the flexion/extension and rotation between two walking patterns. The angles of energy walking were smaller in the flexion/extension and were larger in the rotation than the angle of normal walking. The kinematic characteristics of energy walking were also showed clearly significant differences in the range of motion and the relative angle of the trunk. The angle of phase plot only showed demonstrated a significant difference in the rotation at contact between the two walking patterns.

• 천문학회지
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• 제55권3호
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• pp.67-74
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• 2022

In this study, we perform a statistical investigation of the kinematic classification of 4,264 coronal mass ejections (CMEs) from 1996 to 2015 observed by SOHO/LASCO C3. Using the constant acceleration model, we classify these CMEs into three groups: deceleration, constant velocity, and acceleration motion. For this, we devise three different classification methods using fractional speed variation, height contribution, and visual inspection. The main results of this study can be summarized as follows. First, the fractions of three groups depend on the method used. Second, about half of the events belong to the groups of acceleration and deceleration. Third, the fractions of three motion groups as a function of CME speed are consistent with one another. Fourth, the fraction of acceleration motion decreases as CME speed increases, while the fractions of other motions increase with speed. In addition, the acceleration motions are dominant in low speed CMEs whereas the constant velocity motions are dominant in high speed CMEs.

• 천문학회보
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• 제46권2호
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• pp.81.1-81.1
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• 2021

Stellar kinematics is a useful tool to understand the formation and evolution of young stellar systems. Here, we present a kinematic study of the HII region, NGC 821, using the Gaia Early Data Release 3. NGC 281 contains the open cluster IC 1590. This cluster has a core and a low-stellar density halo. We detect a pattern of cluster expansion from the Gaia proper motion vectors. Most stars radially escaping from the cluster are distributed in the halo. We measure the 1-dimensional velocity dispersion of stars in the core. The velocity dispersion (1 km/s) is comparable to the expected virial velocity dispersion of this cluster, and therefore the core is at a virial state. The core has an initial mass function shallower than that of the halo, which is indicative of mass segregation. However, there is no significant correlation between stellar masses and tangential velocities. This result suggests that the mass segregation has a primordial origin. On the other hand, it has been believed that the formation of young stars in NGC 281 West was triggered by feedback from massive stars in IC 1590. We investigate the ages of stars in the two regions, but the age difference between the two regions is not comparable to the timescale of the passage of an ionization front. Also, the proper motion vectors of the NGC 281 West stars relative to IC 1590 do not show any systematic receding motion from the cluster. Our results suggest that stars in NGC 281 West might have been formed spontaneously. In conclusion, the formation of NGC 281 can be understood in the context of hierarchical star formation model.

• 전자공학회논문지
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• 제50권8호
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• pp.264-273
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• 2013

미래의 전쟁에서 인명 피해를 최소화하기 위한 방안으로 로봇의 중요성이 부각되고 있으며 최적으로 진화된 생물체를 모방하는 생체모방로봇에 대한 연구가 활발하게 추진되고 있다. 도마뱀 모방형 로봇은 협소한 지역에서 은밀한 접근 및 은닉을 필요로 하는 정찰 및 감시 등의 임무를 수행하기에 적합하다. 본 논문에서는 적외선 마커를 이용하여 도마뱀의 보행동작을 분석하였다. 쿠반 에놀의 관절 부위에 21 개의 마커를 부착하고 광학적 모션 캡쳐 장비를 사용하여 도마뱀의 보행 동작을 측정하였다. 측정된 데이터를 분석하여 펼친 자세로 속보로 보행하는 도마뱀의 걸음 동작을 분석하였다. 또한 도마뱀의 걸음새를 충실하게 구현 가능하도록 25 자유도를 갖는 기구학 모델을 제안하였으며 시뮬레이션을 통하여 모델링의 타당성을 확인하였다.

• 한국운동역학회지
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• 제14권1호
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• pp.51-63
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• 2004

The purpose of this study was to investigate a three dimensional kinematic variables about the last stride and the release phase of the throwing technique for female javelin throwers. For the motion analysis, Six female javelin throwers were used as subjects. Three-dimensional coordinates were collected using the Kwon3D Motion Analysis Package Version 2.1 Program. Two S-VHS Video Cameras were used to record the locations and orientations of control object and the performances of the subjects at a frequency of 6.0 HZ. After the kinematic variables such as the time, the distance, the velocity, and the angle were analyzed about the last stride and release phase, the followings were achieved; 1. For the effectively javelin throwing, the subjects appeared to do long the approach time in the phasel of landing phase, and short the delivery time in release phase 2. In the release event, the other subjects except for subject A appeared to throwing in the lower condition than the height of themselves. This result showed to slow the projecion velocity. 3. For increase the projection vcelocity of the upper extremity joint in the release event, it appeared to do extend rather the shoulder angle than increase the extension of elbow joint. 4. The body of COG angle showed to gradually increase nearly at the vertical axis in the release event. But the front lean angle of trunk showed a small angle compare to increase of the body of COG angle. Therefore for the effectively momentum transmission of the whole body in the javelin, the front and back lean angle of trunk appeared to do fastly transfer the angle displacement in the arch posture or the crescent condition during the deliverly motion of the release phase.

• 한국운동역학회지
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• 제16권4호
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• pp.61-71
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• 2006

The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{\circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{\circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{\circ}$, $9.22^{\circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.

• 한국운동역학회지
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• 제27권2호
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• pp.133-140
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• 2017

Objective: The purpose of this study was to determine the relationship between center of pressure (CoP) and local stability of the lower joints, which was calculated based on approximate entropy (ApEn) during walking in elderly women. Method: Eighteen elderly women were recruited (age: $66.4{\pm}1.2yrs$; mass: $55.4{\pm}8.3kg$; height: $1.56{\pm}0.04m$) for this study. Before collecting data, reflective marker triads composed of 3 non-collinear spheres were attached to the lateral surface of the thigh and shank near the mid-segment to measure motion of the thigh and shank segments. To measure foot motion, reflective markers were placed on the shoe at the heel, head of the fifth metatarsal, and lateral malleolus, and were also placed on the right anterior-superior iliac spine, left anterior-superior iliac spine, and sacrum to observe pelvic motion. During treadmill walking, kinematic data were recorded using 6 infrared cameras (Oqus 300, Qualisys, Sweden) with a 100 Hz sampling frequency and kinetic data were collected from a treadmill (Instrumented Treadmill, Bertec, USA) for 20 strides. From kinematic data, 3D angles of the lower extremity's joint were calculated using Cardan technique and then ApEn were computed for their angles to evaluate local stability. Range of CoP was determined from the kinetic data. Pearson product-moment and Spearman rank correlation coefficient were applied to find relationship between CoP and ApEn. The level of significance was determined at p<.05. Results: There was a negative linear correlation between CoP and ApEn of hip joint adduction-abduction motion (p<.05), but ApEn of other joint motion did not affect the CoP. Conclusion: It was conjectured that ApEn, local stability index, for adduction/abduction of the hip joint during walking could be useful as a fall predictor.