• 한국전문물리치료학회지
• /
• 제26권3호
• /
• pp.76-83
• /
• 2019

Background: The hyoid bone is the only non-jointed structure among the skeletal tissues of the head and neck region, and its movement and posture depend on the attached muscle, ligament, and fascia. The location of the hyoid bone is important for airway maintenance, vocalization, chewing, swallowing, breathing, and head and scapular position. In general, the location of the hyoid bone is measured using radiographs and 3D computed tomography, and no studies have reported on clinical measurement methods. Objects: This study was performed to suggest clinical measurement methods for lateral deviation of the hyoid bone and to evaluate their reliability. Methods: In this study, 24 healthy volunteers (12 males, 12 females) in Cheongju-si participated. Two examiners performed the center point test and lateral motion test twice each to measure the lateral displacement of the hyoid bone. The reliability of the center point test was analyzed using intra-class correlation coefficients (ICC), and the reliability of the lateral motion test was analyzed using Cohen's kappa coefficient. Results: The intra-rater reliability of the center point test was good, and the inter-rater reliability was moderate. The intra- and inter-rater reliability of the lateral motion test showed substantial reliability. Conclusion: Based on these results, the center point test and the lateral motion test can be used as an alternative methods of the measurement of lateral deviation of the hyoid bone for people who have musculoskeletal disorders of the head, neck, and scapula.

• 대한전기학회논문지
• /
• 제36권2호
• /
• pp.129-139
• /
• 1987

In this paper the programming language for Hero-1 robot is developed using Apple II micro computer. The language is composed of main monitor mode, editing mode, execution mode, and debugging mode. The main monitor mode is a main flow of the whole language system and controls starting and terminating procedures of operating the controller, and monitors the others. The editing mode has capability to make a user's maniqulation program. Trajectory planning algorithms(point-to-point motion and linear approximate motion)have been realized in the robot language, and in the case of point-to-point motion, inverse kinematics have been solved for the desired point.

• 제어로봇시스템학회논문지
• /
• 제20권1호
• /
• pp.94-100
• /
• 2014

In order to intercept anti-ship missiles, it is important to accurately predict the aiming point. The major factor for degrading the accuracy of the aiming point is the motions of the warships due to waves. Therefore, a stage of correcting the aiming point is required to compensate for such motions of warships. The proposed aiming point correction technique treats the changes in positions and velocity of naval guns by considering changes in the positions and velocities of the anti-ship missiles. In this paper, a ship motion estimation filter was also constructed to predict the motions of warships at the firing time of naval guns. In the simulation part, finally, the distance errors before and after aiming point corrections were compared through 6-DOF simulations.

• 한국항해항만학회지
• /
• 제27권2호
• /
• pp.193-198
• /
• 2003

일점계류된 선박의 외력에 의한 불안정 거동을 경감시키는 방법에 대하여 검토하였다. 계류된 선박의 수치계산 시뮬레이션을 위해 조종운동방정식을 사용하였고, 선박에 가해지는 외력으로는 풍력과 파강제력이 고려되었다. 파강제력은 3차원특이점분포법에서 얻어진 주파수전달함수로부터 시간영역해석법을 적용하였고, 풍력은 OCIMF(1994)에서 제시한 값을 사용하였다. 계류된 선박의 안전대책으로 바우스러스터를 이용한 제어방법, 두 번째 묘를 이용한 굴레(Birdle)를 씌우는 묘박법이 검토되었다.

• ETRI Journal
• /
• 제39권2호
• /
• pp.181-190
• /
• 2017

The movements of the human body are difficult to capture owing to the complexity of the three-dimensional skeleton model and occlusion problems. In this paper, we propose a motion capture system that tracks dynamic human motions in real time. Without using external markers, the proposed system adopts multiple depth sensors (Microsoft Kinect) to overcome the occlusion and body rotation problems. To combine the joint data retrieved from the multiple sensors, our calibration process samples a point cloud from depth images and unifies the coordinate systems in point clouds into a single coordinate system via the iterative closest point method. Using noisy skeletal data from sensors, a posture reconstruction method is introduced to estimate the optimal joint positions for consistent motion generation. Based on the high tracking accuracy of the proposed system, we demonstrate that our system is applicable to various motion-based training programs in dance and Taekwondo.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.388-393
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1245-1248
• /
• 2004

This paper presents a new technique to analyze data on the coordinate x, y, z and apply these data to design the motion control to improve the efficiency of the engraving machine so that it can engrave accordingly in 3 dimensions. First, the tool path on the x-y plane is analyzed to be synchronized with the z-axis. The digital data is then sent to the motion control to guide the movement of the engrave point on the x-y plane. Tool path moves along the x-axis with zero degree and different values of the y-axis according to the coordinate of the digital data and the analysis along z-axis to determine the depth for engraving. The depth can be specified from the gray level with the 256 levels of resolution. The data obtained includes the distances on x-axis, y-axis, and z-axis, the acceleration of the engrave point's movement, and the speed of the engrave point's movement. These data is then transfered to the motion control to guide the movement of the engrave point along the z-axis associated with the x-y plane. The results indicate that engraving using this technique is fast and continuous. The specimen obtained looks perfect in 3D view.

• 한국의류학회지
• /
• 제27권5호
• /
• pp.485-495
• /
• 2003

This study was to compare and analyze the clothing pressure according to arms movements of 4 brands jacket for middle-aged women group by measuring clothing pressure of each brand. The results were as follows: 1. According to the analysis of jackets of 4 brands, in general, jacket C had the largest ease amount. while jacket A had a large ease amount in waist, hip areas compared with bust area. Also jacket B had a small ease amount in bust, waist areas and jacket D had a small ease amount in hip areas. Therefore the ease amount is different between each brand, each size even though jacket designs are similar. 2. It was found that clothing pressure was affected by arm movements than jackets. Since this study was limited to the arm movement for motion variation, it was recognized that a significant difference among each jacket and each movement at shoulder, waist parts existed with relation to this motion. 3. Parts showing a significant difference among each size were bust point, abdomen point, center back point of abdomen level, angulus superior scapulae point and center back point of waist level. Also clothing pressure of size B91 was bigger than size B88 except Center back point of waist level. 4. Clothing pressure in shoulder point, front armpit point, back armpit point, upper arm point areas increased as the angle of the arms movement increased. Also, individual variation of clothing pressure in front armpit point, back armpit point, armpit point and upper arm point was large, and clothing pressure in abdomen point was high in M5(sitting posture).

• 한국안전학회지
• /
• 제17권1호
• /
• pp.79-86
• /
• 2002

In the case of earthquake, it is necessary to install earthquake instruments and to measure the ground motions for stable gas supply and restoration in case of supply suspension. Because each point in the site of the gas facilities has different characteristics of ground motion, it is recommended to measure at the point where the ground motion is representative. In this paper, ground motion analysis and noise pattern analysis are carried out to select suitable point for the installation of earthquake instruments and to set of dynamic range of sensors.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 춘계학술대회논문집
• /
• pp.253-259
• /
• 2002

The rigid body characteristics (value of mass, Position of center of mass, moments and products of inertia) of mechanical systems can be identified from FRF data or vibration spectra of rigid body motion. Therefore the accuracy of rigid body characteristics is connected directly with the accuracy of measured data for rigid body motions. In this paper, a method of improving accuracy of measurement of rigid body motion is presented. Applying rigid body theory, ail translational and rotational displacements at a tentative point on the rigid body are calculated using the measured translational displacements for several points and transfer matrix. Then the estimated displacements for the identical points are calculated using the 6 displacements of the tentative Point and transfer matrix. By using correlation coefficient between measured and estimated displacements, we can detect the existence of errors that are contained in a certain measured displacement. Consequently, the improved rigid body motion with respect to a tentative point can be obtained by eliminating the contaminated data.