• Proceedings of the KSME Conference
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• 2007.05a
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• pp.826-830
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.11
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• pp.5497-5512
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• 2016

An improved optimal weights based on parallel interference cancellation algorithm has been proposed to cancel for interference induced by multi-user access satellite to ground uplink system. Due to differences in elevation relative motion between the user and the satellite, as well as access between users, resulting in multi-user access interference (Multi-user Access Interference, MUI), which significantly degrade system performance when multi-user access. By steepest gradient method, it obtained based on the MMSE criterion, parallel interference cancellation adjust optimal weights to obtain the maximum SINR. Compared to traditional parallel interference cancellation (Parallel Interference Cancellation, PIC) algorithm or serial interference cancellation ( Successive interference Cancellation, SIC), the accuracy of which is not high and too many complex iterations, we establish the multi-user access to the satellite to ground up link system to demonstrate that the improved WPIC algorithm could be provided with high accuracy and relatively low number of iterations.

• Journal of Sensor Science and Technology
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• v.28 no.3
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• pp.146-151
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• 2019

This paper reports a sliding window filtering approach for ground moving targets with cross-correlated sensor noise and uncertainty. In addition, the effect of uncertain parameters during a tracking error on the model performance is considered. A distributed fusion sliding window filter is also proposed. The distributed fusion filtering algorithm represents the optimal linear combination of local filters under the minimum mean-square error criterion. The derivation of the error cross-covariances between the local sliding window filters is the key to the proposed method. Simulation results of the motion of the ground moving target a demonstrate high accuracy and computational efficiency of the distributed fusion sliding window filter.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.559-562
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• 2003

A motion-based background subtraction method without geometric computation is proposed, allowing that the camera is moving parallel to the ground plane with uniform velocity. The proposed method subtracts the background region from a given image by evaluating the difference between calculated and model Hows. This approach is insensitive to small errors of calculated optical flows. Furthermore, in order to tackle the significant errors, a strategy for incorporating a set of optical flows calculated over different frame intervals is presented. An experiment with two real image sequences, in which a static box or a moving toy car appears, to evaluate the performance in terms of accuracy under varying thresholds using a receiver operating characteristic (ROC) curve. The ROC curves show, in the best case, the figure-ground segmentation is done at 17.8 ％ in false positive fraction (FPF) and 71.3％ in true positive fraction (TPF) for the static-object scene and also at 14.8％ in FPF and 72.4％ In TPF for the moving-object scene, regardless if the calculated optical flows contain significant errors of calculation.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.3
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• pp.21-27
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• 2021

PURPOSE: This study examined the relationship between the severity of a hallux valgus (HV) deformity and the kinetic three-dimensional ground reaction force (GRF) through a motion analysis system with force platforms in individuals with a HV deformity during normal speed walking. METHODS: The participants were 36 adults with a HV deformity. The participants were asked to walk on a 6 m walkway with 40 infrared reflective markers attached to their pelvic and lower extremities. A camera capture system and two force platforms were used to collect kinetic data during gait. A Vicon Nexus and Visual3D motion analysis software were used to calculate the kinetic GRF data. RESULTS: This research showed that the anterior maximal force that occurred in the terminal stance phase during gait had a negative correlation with the HV angle (r = -.762, p < .01). In addition, the HV angle showed a low negative correlation with the second vertical maximal force (r = .346, p < .05) and a moderate positive correlation with the late medial maximal force (r = .641, p < .01). CONCLUSION: A more severe HV deformity results in greater abnormal translation of the plantar pressure and a significantly reduced pressure force under the first metatarsophalangeal joint.

• Journal of the Korean earth science society
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• v.37 no.3
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• pp.162-172
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• 2016

Since the Northridge earthquake in 1994 and the Kobe earthquake in 1995 occurred, the concept of performance based design has been introduced for designing various kinds of important structures and buildings. Uniform hazard spectra (UHS), with annual exceedance probabilities, corresponding to the performance level of each structure, are required for performance-based design. The probabilistic seismic hazard analysis was performed using spectral ground motion prediction equations, which were developed from both Korean Peninsula and Central and Eastern US region, and several seismotectonic models suggested by 10 expert panel members in seismology and tectonics. The uniform hazard spectra for 5 highly populated cities in Korea, with recurrence period of 500, 1,000, and 2,500 years using the seismic hazard at the frequencies of 0.5, 1.0, 2.0, 5.0, 10.0 Hz and Peak ground acceleration (PGA) were analyzed using the probabilistic seismic hazard analysis. The sensitivity analysis suggests that spectral ground motion prediction equations impact much more on seismic hazard than what seismotectonic models do. The uniform hazard spectra commonly showed a maximum hazard at the frequency of 10 Hz and also showed the similar shape characteristics to the previous study and related technical guides to nuclear facilities.

• Journal of Environmental Science International
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• v.13 no.8
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• pp.721-731
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• 2004

The dispersion of suspended particulates in the coastal complex terrain of mountain-inland basin (city)-sea, considering their recycling was investigated using three-dimensional non-hydrostatic numerical model and lagrangian particle model (or random walk model). Convective boundary layer under synoptic scale westerly wind is developed with a thickness of about I km over the ground in the west of the mountain, while a thickness of thermal internal boundary layer (TIBL) is only confined to less than 200m along the eastern slope of the mountain, below an easterly sea breeze circulation. At the mid of the eastern slop of the mountain, westerly wind confronts easterly sea breeze, which goes to the height of 1700 m above sea level and is finally eastward return flow toward the sea. At this time, particulates floated from the ground surface of the city to the top of TIBL go along the eastern slope of the mountain in the passage of sea breeze, being away the TIBL and reach near the top of the mountain. Then those particulates disperse eastward below the height of sea-breeze circulation and widely spread out over the coastal sea. Total suspended particulate concentration near the ground surface of the city is very low. On the other hand, nighttime radiative cooling produces a shallow nocturnal surface inversion layer (NSIL) of 200 m thickness over the inland surface, but relatively thin thickness less than 100m is found near the mountain surface. As synoptic scale westerly wind should be intensified under the association of mountain wind along the eastern slope of mountain to inland plain and further combine with land-breeze from inland plain toward sea, resulting in strong wind as internal gravity waves with a hydraulic jump motion bounding up to about 1km upper level in the atmosphere in the west of the city and becoming a eastward return flow. Simultaneously, wind near the eastern coastal side of the city was moderate. Since the downward strong wind penetrated into the city, the particulate matters floated near the top of the mountain in the day also moved down along the eastern slope of the mountain, reaching the. downtown and merging in the ground surface inside the NSIL with a maximum ground level concentration of total suspended particulates (TSP) at 0300 LST. Some of them were bounded up from the ground surface to the 1km upper level and the others were forward to the coastal sea surface, showing their dispersions from the coastal NSIL toward the propagation area of internal gravity waves. On the next day at 0600 LST and 0900 LST, the dispersed particulates into the coastal sea could return to the coastal inland area under the influence of sea breeze and the recycled particulates combine with emitted ones from the ground surface, resulting in relatively high TSP concentration. Later, they float again up to the thermal internal boundary layer, following sea breeze circulation.

• Journal of Biomedical Engineering Research
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• v.31 no.2
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• pp.151-161
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• 2010

Soft Golf is a newly developed recreational sport in our research team aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. The purpose of this study is to analyze ground reaction force(GRF) and joint angle during soft Golf club and regular golf club swing. The GRF of golf swing was recorded by 3-D motion analysis system and forceplate. The joint angle of golf swing was obtained from computer simulation model. The GRF and joint angle of golf swing are used to analysis of golf swing pattern. The pattern of GRF and joint angle during soft golf club swing was similar to that during regular golf club swing. This result means that soft golf club reduces the risk of injury and has an effect on similar entertainment of regular golf.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.3
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• pp.282-295
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• 2013

In order to communicate with a ground station, the tracking profile design problem for a directional antenna system is considered. Because the motions of the gimbal angles in the antenna system affect the image quality, the main object is to minimize the motion of the gimbal angles during the satellite's imaging phase. For this goal, parameter optimization problems in the imaging and maneuver phases are formulated separately in the body-frame, and solved sequentially. Also, several mechanical constraints, such as the limitation of the gimbal angle and rate, are considered in the problems. The tracking profiles of the gimbal angles in the maneuver phases are designed with N-th order polynomials, to continuously connect the tracking profiles between two imaging phases. The results confirm that if the vector trace of the desired antenna-pointing vector is within the antenna's beam-width angle, motions of the gimbal angles are not required in the corresponding imaging phase. Also, through numerical examples, it is shown that motion of the gimbal angles in the imaging phase can be minimized by the proposed design process.

• Journal of Biomedical Engineering Research
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• v.18 no.1
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• pp.71-78
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• 1997

Kinematic and kinetic studies were performed to investigate the walking characteristics on a treadmill with various slopes at the same speed of 1.25m/sec. Six different slopes of the treadmill were selected . -4%(-$2.3^{\circ}$), 0%($0^{\circ}$), 5%($2.9^{\circ}$), 10%($5.7^{\circ}$), 15%($8.6^{\circ}$), and 20%($11.3^{\circ}$). With increased slopes of the treadmill, both hip and knee flexion angles significantly increased at initial contact, and the maximum hip flexion during swing phase and the maximum knee flexion during stance phase also significantly increased Ankle dorsiflexion angle at initial contact and the maximum dorsiflexion increased with increased slopes. However, the maximum plantarflexion in early swing was slightly reduced with increased slopes. Hip extension in late stance and the maximum knee flexion in early swing was not changed sigilificantly with increased slopes. As for the vertical ground reaction force, compared to the yond level walking, both the first and the second peak forces increased, but the mid-support force decreased.