• Industrial Engineering and Management Systems
• /
• 제3권1호
• /
• pp.78-84
• /
• 2004

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.

• Journal of Oral Medicine and Pain
• /
• 제22권2호
• /
• pp.207-217
• /
• 1997

This study was performed for Investigation of the magnitude of mandibular positional change in maximum mouth opening. protrusion, lateral excursion, gum and peanut chewing with BioPAK system(Bioresearch Inc. USA) which can analyze mandibular rotational torque movements. For this study 17 female patients with Temporomandibular joint(TMJ) closed lock and 18 female control without any Temporomandibular disorders(TMDs) signs and premature occlusal contact were included. The obtained results were as follows : 1. In maximum mouth opening, the mandibular rotational angle and distance of patients were significantly greater than those of control group in horizontal plane(P<0.05). 2. In protrusion, the mandibular rotational angle and distance of patients were significantly greater than those of control group in frontal and horizontal plane(P<0.01, P<0.05). 3. The mandibular rotational angle and 야stance in lateral excursion to affected side of patients were significantly greater than those in lateral excursion to non-affected side in frontal plane(P<0.05). 4. The mandibular rotational angle in gum chewing to affected side of patients was significantly greater than that in gum chewing to non-affected side in frontal plane. 5. The mandibular rotational angle and distance in peanut chewing to affected side of patients were significantly greater than those in peanut chewing to non-affected side in frontal and horizontal plane. 6. The mandibular rotational angle and distance in peanut chewing to affected side of patients were greater than those in gum chewing, and was the same result in control group in frontal and horizontal plane.

• 한국운동역학회지
• /
• 제26권3호
• /
• pp.303-308
• /
• 2016

Objective: This study evaluated the vertical and horizontal forces in the frontal plane acting on a pedal due to the vertical alignment of the lower limbs. Method: Seven male subjects (age: $25.3{\pm} 0.8years$, height: $175.4{\pm}4.7cm$, weight: $74.7{\pm}14.2kg$, foot size: $262.9{\pm}7.6mm$) participated in two 2-minute cycle pedaling tests, with the same load and cadence (60 revolutions per minute) across all subjects. The subject's saddle height was determined by the height when the knee was at $25^{\circ}$ flexion when the pedal crank was at the 6 o'clock position (knee angle method). The horizontal force acting on the pedal, vertical force acting on the pedal in the frontal plane, ratio of the two forces, and knee range of motion in the frontal plane were calculated for four pedaling phases (phase 1: $330{\sim}30^{\circ}$, phase 2: $30{\sim}150^{\circ}$, phase 3: $150{\sim}210^{\circ}$, phase 4: $210{\sim}330^{\circ}$) and the complete pedaling cycle. Results: The range of motion of the knee in the frontal plane was decreased, and the ratio of vertical force to horizontal force and overall pedal force in the complete cycle were increased after vertical alignment. Conclusion: The ratio of vertical force to horizontal force in the frontal plane may be used as an injury prevention index of the lower limb.

• 한국의류학회지
• /
• 제22권5호
• /
• pp.664-675
• /
• 1998

The purpose of this study was to isolate the observational error included in plane photogrammetric data and suggest more accurate and suitable method for body shape measurement. Three experiments were carried out in this study. First of all, the variables which can be obtained from photogrammetric method were selected among the data which can be measured improperly by direct measurement or showing large deviations between the samples. Secondly, the height, the width and the depth of 50 subjects were measured by plane photogrammetry. The result showed that plane photogrammetric data contain significant observational error even for the same variables, as the angle of which photos had been taken changes. Therefore, in order to reduce the observational error and to measure the human body accurately, three-dimensional measurement, stereo photogrammetry was employed in the last experiment. As it is important to isolateonly the observational error by plane photogrammetry and to exclude the accidental error caused by movement of human body subject, body shape model(manikin) was used as subject. The result showed that the average observational error by plane photogrammetry was more than 4 cm in the height, 0.85-1.29cm in the width and 0.49cm in the depth. In conclusion, it is not adequate to use the height obtained from plane photogrammetric data as human body measurement data. And the width and the depth should be used cautiously, even though they are relatively less significant, the error still can make some difference on clothing construction.

• 한국컴퓨터그래픽스학회논문지
• /
• 제3권1호
• /
• pp.57-67
• /
• 1997

가상공간 탐색은 근본적으로 가상카메라의 조작으로 귀결된다. 이때 가상카메라는 자유도 6을 가지고 움직인다. 그러나 우리가 주로 사용하는 마우스나 조이스틱 등의 입력장치는 2D 장치이다. 따라서 입력장치의 운동에 대응되는 카메라의 운동은 어느 한 순간에는 2D운동이다. 그러므로 카메라의 6DOF(degrees of freedom) 운동은 2D 또는 1D 운동들의 결합으로 표현할 수밖에 없다. 많은 가상공간 탐색 브라우저에서는 이 문제를 해결하기 위해 여러 가지 탐색 모드를 사용한다. 그러나 다수의 모드를 설정하는데 사용된 기준이 분명하지 않고 각 모드에서 가능한 조작들이 서로 중복되는 경향이 있을 뿐만 아니라 입력장치의 감각 대응성(kinesthetic correspondence)이 미흡하기 때문에 사용자가 공간을 탐색할 때 상황을 장악하고 있다는 느낌을 가지기 힘들다. 이 문제를 해결하기 위해서는 일관적이면서도 포괄적인 단일 탐색 메타포어가 필요한데 본 논문에서는 이를 위해 헬리콥터 조종사 메타포어를 제안한다. 헬리콥터 조종사 메타포어를 이용한다는 것은 조종장치들에 의해 사용자가 공간에서 날고있는 가상 헬리콥터의 조종사가 되어 공간 영상을 탐색 한다는 의미이다. 본 논문에서는 헬리콥터의 6DOF 운동을 직관적으로 조작하기 위해서 이를 6개의 2D 운동공간, 즉, (1) 평면상의 이동, (2) 수직면상의 이동, (3) 현위치중심의 피치, 요회전, (4) 현위치중심의 롤, 피치회전, (5) 좌우상하 선회, (6) 물체중심회전, 으로 분할하고, 각 2D 운동공간을 가시화 시켜 그 공간 자체를 메뉴화 하였다. 이렇게하면 사용자로 하여금 의식적으로 특정 모드를 선택하는 부담없이 단지 필요에 의해 적절한 2D 운동공간을 시각적으로 판단할 수 있도록 해준다. 각 운동공간에서의 헬리콥터 운동은 조이스틱의 2D 조작으로 제어한다.

• Journal of International Society for Simulation Surgery
• /
• 제1권1호
• /
• pp.7-12
• /
• 2014

Purpose Surgical correction of various occular problems which do not have visual problem in plastic surgical area is to normalize the appearance of the face by restoring the normal position of orbit and eyeball. With development of surgical technique, the orbit can be restored exactly in trauma patient and can be moved totally in hypertelorism, as an example of congenital disease. All these surgeries are based on the hypothesis that the position of oclular glove moves in the plane in a quantitatively predictable reationship to osseous orbit movement. However, no studies have critically evaluated between the change of periorbital soft tissue and the outcome of the surgical correction, because there is no method of objective, quantitave evaluation of the periorbital soft tissue. Method Author suggest the methodology for quantitative assessment of ocular and periocular fat changes using the manipulation of digital images of computed tomographic scan. Results The method was allowed to evaluate inter-dacryon distance, inter-centroid distance, movement of the medial orbital wall, movement of the lateral orbital wall, alteration of thickness of the lateral periorbital fat as indicator of movement of the orbital wall and orbit in the patient with congenital periorbital anomaly and postoperative periorbital surgery. The goal of surgical correction of various occular problems which do not have visual problem in plastic surgical area is to normalize the appearance of the face by restoring the normal position of orbit and eyeball. With development of surgical technique, the orbit can be restored exactly in trauma patient and can be moved totally in hypertelorism, as an example of congenital disease. All these sugeries are based on the hypothesis that the position of oclular glove moves in the plane in a quantitatively predictable relationship to osseous orbit movement. However, no studies have critically evaluated between the change of periorbital soft tissue and the outcome of the surgical correction, because there is no method of objective, quantitave evaluation of the periorbital soft tissue. In this report, author suggest the methodology for quantitative assessment of ocular and periocular fat changes using the manipulation of digital images of computed tomographic scan. Conclusion The method suggested is objective and accurate method in measurement of the orbital contents. It takes time and is not easy to do, however, this kind of measurement for fine structures will be more easily available in near future.

• 대한치과보철학회지
• /
• 제36권4호
• /
• pp.533-548
• /
• 1998

The purpose of this study was to investigate the influence of balancing interference on the mandibular movement and masticatory muscle activity. 5 subjects(male. average age of 24.3) without dysfuction in masticatory system were selected. The balancing interference was provided by construction of cast metal crown and onlay on the upper and lower first molars. Clinical examination, changes displacement and velocity, and muscle activity were recorded and analyzed by means of BioPak system(Bioresearch Inc., Milwaukee Wisconsin. USA). The results were as follows ; 1. In clinical examination, various symptoms were reported by all subjects after application of interference. Almost symptoms were subsided after elimination of interference. 2. In the border movements in frontal plane, lateral border movement toward non-interference side was changed according to the interference after application of interference. Immediately after removal of interference, border movements' pattern was recovered as same as before experiment. 3. During gum chewing on the non-interference side, horizontal movement was decreased immediately after application of interference(p<0.05). 1 week after application of interference, horizontal movement was more decreased in 3 subjects and showed a chopping type masticatory stroke. But in 2subjects, horizontal movement was increased to avoid interference. 4. In EMG of the mandibular rest position, no significant changes were showed in the experiment period(p>0.05). 5. During gum chewing on the interference side, the activity of opposite temporal muscle was increased immediately after application of interference(p<0.05). 1 week after application of interference. The activity of ipsilateral temporal muscle and left and right masseter muscles was increased (p<0.05). 1 week after elimination of interference, increased muscle activity was recovered about the same level as before experiment. 6. During gum chewing on the non-interference side, 1 week after application of interference, the activity of ipsilateral temporal muscle was increased (p<0.05). 1 week after elimination of interference. increased muscle activity was returned about the same level as before experiment.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• 제36권5호
• /
• pp.375-379
• /
• 2010

Introduction: In the management of dentofacial deformities, variable movement of the maxilla can be made possible by a Le Fort I osteotomy. Posterior impaction of the maxilla necessary for rotation of the maxillomandibular complex enhances the functions and esthetic results. In cases of posterior impaction of the maxilla, an increase in the figure of the occlusal plane angle and incisor inclination can occur. This study reports the relationship between the amount of posterior impaction and the change in the occlusal plane angle and incisor inclination in a Le Fort I osteotomy by preoperative and postoperative lateral cephalograms. Materials and Methods: Twenty patients who had undergone orthognathic surgery in Dong-A University Medical Center participated in this study. Lateral cephalometrics, within 3 weeks prior to surgery and 3 days after surgery, were used for analysis. Pre and postoperative measurements of the occlusal plane angle and incisal inclination based on the Frankfort horizontal (FH) plane were performed. X and Y were defined as the amount of vertical change in the upper incisor tip and the amount of vertical change in the upper first molar mesial cup tip through the operation. The amount of final posterior maxillary impaction was determined by subtracting Y from X, which is the difference in vertical height. According to the amount of posterior maxillary impaction, the change in the occlusal plane angle and incisal inclination was measured. Results: The average posterior maxillary impaction was 2.91 mm and the average change in the occlusal plane angle and incisal inclination was $6.54^{\circ}$after surgery. As a result, each mm of posterior maxillary impaction changed the occlusal plane angle and incisal inclination by $2.25^{\circ}$. Statistically, there was high significance. Two cases were observed: one with the same amount of posterior maxillary impaction performed on both the right and left showing $2.20^{\circ}$, and the other with a different amount of posterior maxillary impaction performed showing $2.35^{\circ}$. In this case, there was no significance difference between the two cases. Conclusion: Each mm of posterior maxillary impaction changes the occlusal plane angle and incisal inclination by an average of $2.25^{\circ}$. In posterior maxillary impaction, there was no significant difference in the amount of change in the occlusal plane angle and incisal inclination regardless of whether there was an equal amount of posterior maxillary impaction on both sides. This study is expected to help in the presurgical orthodontic preparation and presurgical treatment planning.

• 제어로봇시스템학회논문지
• /
• 제19권2호
• /
• pp.107-112
• /
• 2013

In this paper, we discuss a 3-dimensional localization sensor node using EM waves (Electromagnetic waves) with RSSI (Received Signal Strength Indicator). Generally EM waves cannot be used in underwater environment, because the signal is highly attenuated by the water medium according to the distance. Although the signal quickly reduces in underwater, the reducing tendency is very clear and uniform. Hence EM waves have possibility as underwater distance sensors. The authors have verified the possibility by theory and several experiments, and developed calibration methods in case of linear and planer environment. For 3-dimensional localization in underwater, it must be known antenna's radiation pattern property in electric plane(called E-plane). In this paper, we proceed experiments to verify attenuation tendency with z axis movement, PLF (Polarization Loss Factor) and ILF (Inclination Loss Factor) with its theoretical approach.

• 대한기계학회논문집B
• /
• 제28권6호
• /
• pp.652-658
• /
• 2004

In this paper, we report the numerical and experimental solutions of the axi-symmetric flows in the axial plane driven by an impingement of fluid from the bottom wall of a circular cylinder. We managed to visualize successfully the flow pattern shown on the vertical plane through the container axis. The numerical results are shown to compare well with the experimental results for the case of infinity Rossby number. The satisfactory agreement between the two results was possible when in the numerics the free surface was treated as a solid wall so that a no-slip condition was applied on the surface. The numerical solutions reveal that inertial oscillation plays an important role at small Rossby numbers, or at a larger background rotation.