• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.152-161
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• 2013

This paper presents a control effectiveness analysis of the hawkmoth Manduca sexta. A multibody dynamic model of the insect that considers the time-varying inertia of two flapping wings is established, based on measurement data from the real hawkmoth. A six-degree-of-freedom (6-DOF) multibody flight dynamics simulation environment is used to analyze the effectiveness of the control variables defined in a wing kinematics function. The aerodynamics from complex wing flapping motions is estimated by a blade element approach, including translational and rotational force coefficients derived from relevant experimental studies. Control characteristics of flight dynamics with respect to the changes of three angular degrees of freedom (stroke positional, feathering, and deviation angle) of the wing kinematics are investigated. Results show that the symmetric (asymmetric) wing kinematics change of each wing only affects the longitudinal (lateral) flight forces and moments, which implies that the longitudinal and lateral flight controls are decoupled. However, there are coupling effects within each plane of motion. In the longitudinal plane, pitch and forward/backward motion controls are coupled; in the lateral plane, roll and side-translation motion controls are coupled.

• Journal of The Korean Astronomical Society
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• v.43 no.2
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• pp.41-54
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• 2010

We report relative proper motion measurements of $H_{2}O$ masers in massive star-forming region W51 Main, based on data sets of VLBI observations for $H_{2}O$ masers at 22 GHz with Japanese VERA telescopes from 2003 to 2006. Data reductions and single-beam imaging analysis are to measure internal kinematics of maser spots and eventually to estimate the three-dimensional kinematics of $H_{2}O$ masers in W51 Main. Average space motions and proper motion measurements of $H_{2}O$ masers are given both graphical and in table formats. We find in this study that W51 Main appears to be associated with hyper-compact H II region with multiple massive proto-stars whose spectral types are of late O.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04a
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• pp.631-636
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• 1995

A robotic wrist with three rolling motion is considered. It has the gear trains with three independent input parameters and mechanical interference in their motion. This paper presents dervation of basic kinematic equations that relate the input parameters and the orientation of the end-effector, determination of singularities in its motion, and the computational procedure of the inverse kinematics.

• Reproductive and Developmental Biology
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• v.35 no.1
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• pp.61-65
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• 2011

The objective of this study was to examine the effect of various discontinuous Percoll washing conditions on motile sperm recovery rate and motion kinematics. Frozen semen samples from 3 bulls (0.5 ml plastic straws, 6% glycerol in egg yolk-Tris-glycerol extender) were thawed in $37^{\circ}C$ water bath for 1 min. After thawing, the mixed semen samples were randomly allocated to 12 treatment groups. Briefly, the spermatozoa were centrifuged for three different time lengths (10, 20, and 30 min) at two gravities ($300{\times}g$ and $700{\times}g$) through two concentrations of discontinuous Percoll density gradient of 1 ml 90%: 1 ml 45% Percoll and 2 ml 90%: 2 ml 45% Percoll to remove extender, debris, and dead spermatozoa. Motile sperm recovery rate and motion kinematics were evaluated by computer assisted sperm analyzer using Makler counting chamber. Sperm motility (%) and motile sperm recovery rate showed similar pattern in all treatment groups. However, sperm motility (%) and motile sperm recovery rate were highest at $700{\times}g$ for 30 min through a discontionous Percoll density gradient of 1 ml 90%: 1 ml 45% Percoll. There were no significant differences in motion kinematics after various Percoll washings. These results suggest that force of centrifugation, centrifugation time, and Percoll volume significantly affect motile sperm recovery rate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.203-211
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• 2008

This work proposes structure of spring backbone micro endoscope. For effective surgery in narrow and limited space, many manipulators are developing that different to existed structure. This device can move like elephant nose or snake unlike the existing robots. For this motion, a mechanism that uses spring backbone and wires has been developed. The new type endoscope that has Z axis motion for spring structure, therefore it has 3 degree of freedom, two rotations and one linear motion. And new kinematics for backbone structure is proposed using simple geographic analysis. The Jacobian and stiffness modeling are also derived. Exact actuator sizing is determined using stiffness model. Finally, the proposed kinematics are verified by simulation and experiments.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1441-1445
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• 2008

Insect flight is adapted to cope with each circumstance by controlling a variety of the parameters of wing motion in nature. Many researchers have struggled to solve the fundamental concept of insect flight, but it has not been solved yet clearly. In this study, to find the most effective flapping wing kinematics, we conducted to analyze CFD data on fixing some of the optimal parameters of wing motion such as stoke amplitude, flip duration and wing rotation type and then controlled the deviation angle by fabricating wing tip motion. Although all patterns have the similar value of lift coefficient and drag coefficient, pattern A(pear-shape type) indicates the highest lift coefficient and pattern H(pear-shape type) has the lowest lift coefficient among four wing tip motions and three deviation angles. This result suggest that the lift and drag coefficient depends on the angle of attack and the deviation angle combined, and it could be explained by delayed stall effect.

• The KIPS Transactions:PartB
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• v.10B no.6
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• pp.657-664
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• 2003

Reliable tracking of moving humans is essential to motion estimation, video surveillance and human-computer interface. This paper presents a new approach to human motion tracking that combines appearance-based and model-based techniques. Monocular color video is processed at both pixel level and object level. At the pixel level, a Gaussian mixture model is used to train and classily individual pixel colors. At the object level, a 3D human body model projected on a 2D image plane is used to fit the image data. Our method does not use inverse kinematics due to the singularity problem. While many others use stochastic sampling for model-based motion tracking, our method is purely dependent on nonlinear programming. We convert the human motion tracking problem into a nonlinear programming problem. A cost function for parameter optimization is used to estimate the degree of the overlapping between the foreground input image silhouette and a projected 3D model body silhouette. The overlapping is computed using computational geometry by converting a set of pixels from the image domain to a polygon in the real projection plane domain. Our method is used to recognize various human motions. Motion tracking results from video sequences are very encouraging.

• Physical Therapy Korea
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• v.21 no.4
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• pp.49-55
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• 2014

Excessive lumbar flexion during sit-to-stand (STS) is a risk factor for lower back pain. Postural taping can prevent unwanted flexion of the lumbar spine. This study aimed to demonstrate the effect of taping the lower back on the lumbopelvic region and hip joint kinematics during STS. Sixteen healthy subjects participated. All subjects performed the STS with and without taping of the lower back. A three-dimensional motion analysis system was used to measure the kinematics of the lumbar spine, pelvis, and hip joint during STS. The angle of the peak lumbar flexion, pelvic anterior tilting, and hip flexion and angular displacement of the lumbar spine between starting position and maximal lumbar flexion were collected. Paired t-tests, or Wilcoxon's rank-sum test for non-parametric distribution, were used to assess differences in the measurements with and without taping. A p-value <.05 was taken to indicate a significant difference. Significant differences were observed in the angle of the peak lumbar flexion, pelvic anterior tilting, hip flexion and angular displacement of the lumbar spine (p<.05). Taping was associated with a significant decrease in the angle of peak lumbar flexion and angular displacement of the lumbar spine between the starting position and maximal lumbar spine flexion. In addition, the peak angle of pelvic anterior tilting and hip flexion were significantly increased with taping. The findings of this study suggest that taping the lower back can decrease excessive lumbar flexion, and increase the pelvic anterior tilting and hip flexion motion during STS.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.388-393
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• 1990

A robot manipulator and an obstacle are described mathematically in joint space, with the mathematical representation for the collision between the robot manipulator and the obstacle. Using these descriptions, the robot motion planning problem is formulated which can be used to avoide a time varying obstacle. To solve the problem, the constraints on motion planning are discretized in joint space. An analytical method is proposed for planning the motion in joint space from a given starting point to the goal point. It is found that solving the inverse kinematics problem is not necessary to get the control input to the joint motion controller for collision avoidance.