• Journal of the Korean Geosynthetics Society
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• v.17 no.4
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• pp.41-52
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• 2018

Since the composite ground design method is easy to apply for calculation or numerical analysis, it is applied to the design of cement mixing methods. However, the comparison studies between analysis and actual results such as a trial test and construction for the cement mixing method are few because the composite ground design method was developed for the compaction pile (SCP, GCP) methods. In this study, the results of various analysis methods, such as the composite ground analysis method (1 case) and the individual pile method (3 cases), were compared with actual measurements through a two-dimensional finite element numerical analysis. In case of the surface settlements, the results of study show that the individual plate method was larger than the actual measurements, while other methods are similar. The settlements at the under ground of the improved area is overestimated in all analysis methods. When comparing numerical analysis results for the horizontal displacement, and ground reaction forces, the individual pile method in equivalent wall concept was found to be the most similar to the measurements. The composite ground method was not able to predict the behavior of stress transfer (Arching effect) and it turned out that the prediction of horizontal displacement was too large.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.1-16
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• 2002

The purposes of this study were to investigate the effects of strength training on the change of ground reaction force for the children with trisomy 21 Down syndrome. The subjects of this study were consisted of eight elementary school students with Down syndrome who participated in the strength training. The strength training was administered by six items such as squat, leg curl, leg extension, toe raise, sit-ups, and hyperextension. For strengthening muscle, each group also was treated by walking for 8 weeks, three times a week, 10-15RM, 3sets, which was based on the principle of progressive overload. For inquiring the effect of strength training, the ground reaction force variables were measured in two phases : before-training and 8 week-after training. The gait of each subject was acquisition using 2 AMTI force platforms set at 100 frequency. The results of this study were as follows: The pattern of vertical, antero-posterior and medio-lateral forces, trajectory of net COP and the timing ratio of reaching the each events were shown variously. So, it is not easy to explain these variables clearly. As the result of strength training, these variables were changed. However, the results of within subjects differ greatly, there was no difference statistically.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.327-334
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• 2011

The objective of this study was to develop a scientific approach for investigating Korean dance in detail, and to examine the intense expressions and various movements, which are based on Danjeon breathing. For the purpose, we analyzed the movement changes and distribution of forces resulting from the switch in movement between exhalation and inhalation while bending, which is the most basic movement in Korean dance. The following conclusions were drawn from this study. In Korean dance, bending with breathing involves less back-and-forth-movement and more up-and-down movement, as compared to bending without breathing; this indicates greater body stability and a wider range of movements while bending with breathing. In addition, less time is required for bending with breathing at the point of switching from exhalation to inhalation, and it involves less movement of the supporting leg; thus, vending with breathing involves faster switching from bending movements to extending movements. While bending, the raised leg goes through a less smooth curve while breathing, which indicates stronger movement of the toes. Bending with breathing requires a greater braking force than bending without breathing, and the vertical force, generated by switching from exhalation to inhalation, is transferred to extending movements using the ground load. The results of this study can be potentially employed to investigate the expressions used in Korean dance on th basis of its principle of forces. Korean dance has evolved into various creative forms, and basic analytical studies of these diverse forms and related breathing methods re required in the future.

• Korean Journal of Applied Biomechanics
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• v.25 no.2
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• pp.207-218
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• 2015

Objective : The purpose of this study was to investigate the characteristics of Gam-ki (double-arm winding) depending on the emotion being expressed. Gam-ki is one of the basic movements of Korean traditional dance. Method : We selected three Korean traditional dancers who belong to National Dance Company of Korea. They were asked to express four different emotions (anger, joy, sadness, and neutral) while performing Gam-ki. We analyzed elapsed time and time ratio, size of movement, ground reaction forces and ground impulses. Results : During Gam-ki the elapsed time for each phase as well as for one cycle was longest when "sadness" was expressed then followed by "neutral" and then "angry" and "joy." Except for the ankle in/eversion, the ROMs of the lower limb joints seem not to be an emotion-characteristic factor. The ROMs of the upper limb joints were largest when "anger" was expressed. Neck rotation is associated with expressing negative emotions ("angry" and "sadness"). For medial-lateral GRF "angry"> "joy" > "neutral" > "sadness" was in order. Therefore, it can be regarded as a factor indicating the activity of the emotion.

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.230-237
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• 2015

Soil deformation on the off-load ground is significantly affected by soil conditions, such as soil type, water content, and etc. Thus, the soil characteristics should be estimated for predicting vehicle movements on the off-load conditions. The plate-sinkage test, a widely-used experimental test for predicting the wheel-soil interaction, provides the soil characteristic parameters from the relationship between soil stress and plate sinkage. In this study, soil stress under the plate-sinkage situation is calculated by the DEM (Discrete Element Method) model. We developed a virtual soil bin with DEM to obtain the vertical reaction forces under the plate pressing the soil surface. Also parametric studies to investigate effects of DEM model parameters, such as, particle density, Young's modulus, dynamic friction, rolling friction, and adhesion, on the characteristic soil parameters were performed.

• Geomechanics and Engineering
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• v.14 no.6
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• pp.601-614
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• 2018

This study presents structural and parametric analyses on the behavior of an integrated and pile-bent abutment with mechanically stabilized earth wall (IPM) bridge. The IPM bridge is an integral abutment bridge (IAB) with partially protruded piles, which excludes earth pressure by means of a mechanically stabilized earth wall developed by the authors. The results of the analysis indicate that the IPM bridge, as any other IAB, is influenced to a large extent by temperature and time-dependent loads. When these loads are applied, the stress on a pile in the IPM bridge decreases as the displacement of the pile top increases, because the piles protrude from the ground surface and no soil reaction is generated on the protruded pile. Because the length of an IAB is restricted by the forces acting on its piles, the IPM bridge is an effective alternative to extend its length.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2420-2426
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• 2015

This paper proposes an evolutionary optimization approach for optimal hopping of humanoid robots. In the proposed approach, the hopping trajectory is generated by a central pattern generator (CPG). The CPG is one of the biologically inspired approaches, and it generates rhythmic signals by using neural oscillators. During the hopping motion, the disturbance caused by the ground reaction forces is compensated for by utilizing the sensory feedback in the CPG. Posture control is essential for a stable hopping motion. A posture controller is utilized to maintain the balance of the humanoid robot while hopping. In addition, a compliance controller using a virtual spring-damper model is applied for stable landing. For optimal hopping, the optimization of the hopping motion is formulated as a minimization problem with equality constraints. To solve this problem, two-phase evolutionary programming is employed. The proposed approach is verified through computer simulations using a simulated model of the small-sized humanoid robot platform DARwIn-OP.

• Journal of Veterinary Clinics
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• v.20 no.4
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• pp.504-507
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• 2003

Force plate analysis was used to describe the effect of acupuncture on right knee osteoarthritis (OA) in a seven-year-old hound breed dog weighing 27 kg. The acupuncture treatment was performed twice a week for 3 weeks. Ground reaction forces (GRFs) and subjective clinical scores in both hind limbs were obtained prior to and 72 hours after each treatment. Right vertical peak force was increased as the dog was acupunctured. Although their sensitivity was lower than that of the GRF data, the subjective clinical scores reflected an improvement. In addition, vertical peak force of normal left hind limb was also increased during this trial. These results indicate that gait analysis may be valuable objective method in future evaluation of acupuncture for OA of the stifle joint.

• Korean Journal of Applied Biomechanics
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• v.27 no.1
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• pp.1-7
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• 2017

Objective: The purpose of this study was to analyze the relationship between ground reaction force (GRF) and attack time according to the position of hand segments during counter attack in Kendo. Method: The participants consisted of 10 kendo athletes (mean age: $21.50{\pm}1.95yr$, mean height: $175.58{\pm}5.02cm$, mean body weight: $70.96{\pm}9.47kg$) who performed standard head strikes (A) and counter attack with a preferred hand position of +10 cm (B), 0 cm (C), and -10 cm (D). One force-plate (AMTI-OR-7., USA) was used to collect GRF data at a sample rate of 1,000 Hz. The variables analyzed were the attack time, medial-lateral GRF, anterior-posterior GRF (AP GRF), peak vertical force (PVF), and loading rate. Results: The total attack time was shorter in types A and C than in types C and D. The AP GRF, PVF, and loading rate had significantly higher forces in types C and D than in types A and C. The attack time (bilateral and unilateral leg support and total) was positively correlated with the GRF variables (vertical GRF and loading rate) during the counter attack in Kendo (r = 0.779 [$R^2=0.607$], p < 0.001). Conclusion: The positions of the hand segments can be changed by various conditions of the opponent in Kendo competitions; however, the position preferred by an individual can promote the successful ratio of the counter attack.