• Korean Journal of Applied Biomechanics
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• v.22 no.2
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• pp.159-171
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• 2012

The purpose of this study was to provide information about kinematic variables of the gliding and delivery motion of Hyung-Keun Lee, a high school shot putter who was ranked 1st at the 2011 National Sports Festivals. Three-Dimensional motion analysis using a system of 4 video cameras at a sampling frequency of 60 Hz was conducted during shot-putting events at the 2011 National Sports Festivals. During the gliding and delivery phase of the player the results showed following characteristics; 1) The gliding technique types of the player appeared to be the short-long technique as the gliding and stance length ratio were $42.3{\pm}3.87$ % and $57.7{\pm}3.87$ %, respectively. In addition, the trajectory of shots during the gliding and delivery phase showed different trajectory patterns with "S-shaped" type of elite players due to the deviation from a central axis of the APSS (athletic-plus shot system). 2) The horizontal velocity of COG made from gliding should maintain the velocity during transition and release phase, but the player showed a small momentum for a gradual decrease of velocity. 3) Therefore, the player requires to adjust an appropriate ratio between gliding and stance length with a strong muscle power at the trunk, throwing arm, and the lower extremity during gliding and delivery phase.

• Korean Journal of Applied Biomechanics
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• v.21 no.2
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• pp.161-171
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• 2011

The purpose of this study was to identify biomechanical characteristics of glide and delivery motion of In-Sung Hwang, player who is a member of the national team among the finalists in the men's shot put at the 2010 National Sports Festivals. Three-Dimensional motion analysis using a system of 3 video cameras at a sampling frequency of 60 Hz was performed for this study. During the glide and delivery phase the results showed following characteristics; 1) The glide type was suitable for the short-long technique, but the trajectory of shot at the glide and delivery phase showed a different trajectory pattern with "S-shaped" type of elite players due to many deviating from central axis of the APSS(athletic-plus shot system). 2) Left knee was more flexed during failed trials compared to successful trials but COG was higher. Therefore, the player showed less stability of COG as he may not get enough breaking force at the left foot. 3) Furthermore, it would be required to have strong muscle power at the trunk, throwing arm, and the lower extremity in order to achieve maintain a low projection angle of the release.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.295-306
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• 2013

The purpose of this study was to provide high school male shot putters training methods of gliding and delivery motion through comparative analysis of kinematic characteristics. To accomplish this purpose, three dimensional motion analysis was performed for the subjects(PKC, KKH, YDL) who participated in high school male shot putter competition on 92nd (2011), 93rd (2013) National Sports Festival. The subjects were filmed by four Sony HXR-MC2000 video cameras with 60 fields/s. The three-dimensional kinematic data of the glide, conversion and delivery phase were obtained by Kwon3d 3.1 version. The data of the shoulder rotational angles and projection angles were calculated with Matlab R2009a. The following conclusions had been made. With the analysis of the gliding and stance length ratio, the gliding length was shorter at the TG than the SG with short-long technique but the gliding and stance length ratio was 46.8:53.2% respectively. The deviation of the shots trajectory from APSS(Athlete-plus-shot-system) revealed that the PKC showed similar to "n-a-b-c-I" of skilled S-shape type, KKH and YDL showed "n-a-d-f-I'" of unskilled type. Furthermore, they showed smaller radial distance from the central axis of the APSS and the shots were away from the linear trajectory. From this characteristics, The PKC who performed more TG than SG had shorter glide with S-shape of APSS(skilled type) showed the better record than others with technical skill. But KKH and YDL had bigger glide ratio with "n-a-d-f-I'" of unskilled type and improved their records with technical factor. The projection factor had an effect on the record directly. Because PKC maintained more lower glide and transition posture with momentum transfer through COG's rapid horizontal velocity respectively the subject possessed the characteristics of high horizontal and vertical velocity with large turning radius from shot putter to APSS.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.123-129
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• 2012

Simple camera-based system for evaluation of lower limb alignment as a part of an automated cycling fitting system was developed and verified in this study. Developed imaging system can evaluate lower limb alignment quantitatively during pedaling using a general camcorder and single marker attached on the knee. Threshold-based marker detection algorithm was proposed in this study. Experiment was carried out to compare the trajectory data from marker detection algorithm of the developed imaging system with the trajectory data from 3-D motion capture system. Results showed that average error between trajectories was 2.33 mm (0.92 %) in the vertical direction and 0.62 mm (1.86 %) in the medio-lateral direction. There existed significant correlation between two measured values (r=0.9996 in the vertical direction and r=0.9975 in the medio-lateral direction). It can be concluded that developed imaging system be applied to evaluate lower limb alignment which is an important factor for dynamic bicycle fitting.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.3
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• pp.459-464
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• 2012

The point of impact, the shot group, and the flight traces depend on the combination of unique features which decide moving traces of the arrow (paradox of the archer, length of the arrow shaft, weight, angle of the feather, and spline of the arrow shaft). The more dense the impact points in the shot group and the earlier elimination of paradox of the archer, the higher assessment is given for the product. However, there is no way to objectively assess the efficiency and quality of the arrow, and there is no numeric data to be used as the basis for comparison with other products. Although capturing the images of flying arrow using a high-speed motion picture camera is possible, we are limited to observation from specific view angle only. Hence, the criteria for efficiency and quality assessment are mostly based on subjective opinions of experts or hunters, or review on consumers' remarks. In this paper, we propose a hardware composition that are based on three detection frames consisting of line lasers and photo diode arrays without the high-speed motion picture camera. Predicated on measured coordinates data, a nobel method for the archer's paradox measurement, a key parameter that determine the arrow's trajectory, and corresponding numerical analysis model is proposed.

• Journal of Convergence for Information Technology
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• v.8 no.5
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• pp.77-83
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• 2018

A modular robot that memorizes motion can be easily created and operated because it expresses by hand. However, since there is not enough storage space in the module to store the user-created operation, it is impossible to reuse the created operation, and when the modular robot again memorizes the operation, it changes to another operation. There is no main controller capable of operating a plurality of modular robots at the same time, and thus there is a disadvantage that the user must input directly to the modular robot. To overcome these disadvantages, a remote controller has been proposed that can be operated in the surrounding smart devices by designing web server and component based software using wired and wireless network. In the proposed method, various types of structures are created by connecting to a modular robot, and the reconstructed operation is performed again after storing, and the usefulness is confirmed by regenerating the stored operation effectively. In addition, the reliability of the downloaded trajectory data is verified by analyzing the difference between the trajectory data and the actual trajectory. In the future, the trajectory stored in the remote controller will be standardized using the artificial intelligence technique, so that the operation of the modular robot will be easily implemented.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Journal of Ocean Engineering and Technology
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• v.25 no.4
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• pp.7-11
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• 2011

The installation phase for a topside module suggested can be divided into 9 stages, which include start, pre-lifting, lifting, lifted, rotating, positioning, lowering, mating, and end of installation. The transfer of the topside module from a transport barge to a crane vessel takes place in the first three stages, from start to lifting, while the transfer of the module onto a floating spar hull occurs in the last three stages, from lowering to the end. The coupled multi-body motions are calculated in both calm water and in irregular waves with significant wave height (1.52m), with suggested force equilibrium diagrams. The effects of the hydrodynamic interactions between the crane vessel and barge during the lifting stage have been considered. The internal forces caused by the load transfer and ballasting are derived for the lifting phases. The results of these internal forces for the calm water condition are compared with those in the irregular sea condition. Although the effect of pitch motion on the relative vertical motion between the deck of the floating structure and the topside module is significant in the lifting phases, the internal force induced pitch motion is too small to show its influence. However, the effect of the internal force on the wave-induced heave responses in the lifting phases is noticeable in the irregular sea condition because the transfer mass-induced draught changes in the floating structure are observed to have higher amplitudes than the external force induced responses.

• Wind and Structures
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• v.24 no.4
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• pp.333-350
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• 2017

Differing from the fixed-type, the dynamic motion of floating-type offshore wind turbines is very sensitive to wind and wave excitations. Thus, the sensing and monitoring of its motion is important to evaluate the dynamic responses to the external excitation. In this context, a monitoring system for sensing and processing the wind-induced dynamic motion of spar-type floating offshore wind turbine is developed in this study. It is developed by integrating a 1/00 scale model of 2.5MW spar-type floating offshore wind turbine, water basin equipped with the wind generator, sensing and data acquisition systems, real-time CompactRIO controller and monitoring program. The scale model with the upper rotatable blades is installed within the basin by means of three mooring lines, and its translational and rotational motions are detected by 3-axis inclinometer and accelerometers and gyroscope. The detected motion signals are processed using a real-time controller CompactRIO to calculate the acceleration and tilting angle of nacelle and the attitude of floating platform. The developed monitoring system is demonstrated and validated by measuring and evaluating the time histories and trajectories of nacelle and platform motions for three different wind velocities and for eight different fairlead positions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.