• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.56-62
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• 2009

The fatalities of pedestrian account for about 40.0% of all fatalities in Korea 2005. Vehicle-Pedestrian accident generates trajectory of pedestrian. In pedestrian involved accident, the most important data to inspect accident is throw distance of pedestrian. The throw distance of pedestrian can be influenced by many variables. But existing studies have been done for simple factors. The variables that influence trajectory of pedestrian can be classified into vehicular factors, pedestrian factors, and road factors. The trajectory of pedestrian, dynamic characteristics of multi-body were analyzed by PC-CRASH, a kinetic analysis program for a traffic accident. PC-CRASH enables an analyst to investigate the effect of many variables. The influence of the offset of impact point was analyzed by Working Model. Based on the results, the variables that influence trajectory of pedestrian were vehicular frontal shape, vehicular impact speed, the offset of impact point, the height of pedestrian, friction coefficients of pedestrian. However the weight of pedestrian did not affect trajectory of pedestrian considerably.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.3
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• pp.5-12
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• 2008

This paper presents the features of an impact angle constrained open-loop optimal trajectory which is given by a function of initial conditions and optimal guidance gains. Using missile motion described by linearized kinematic equations and a proper form of performance index, an inverse optimal problem is suggested to investigate the gains related to the performance index. The flight trajectory and time-to-go can be shaped in terms of the optimal guidance gains. The results are evaluated by 3-DOF simulation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.1
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• pp.159-166
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• 2019

Due to the various engagement situations, it is very difficult to generate the optimal trajectory with several constraints. This paper investigates the sequential convex programming for the impact angle control with the additional constraint of altitude limit. Recently, the SOCP(Second-Order Cone Programming), which is one area of the convex optimization, is widely used to solve variable optimal problems because it is robust to initial values, and resolves problems quickly and reliably. The trajectory optimization problem is reconstructed as convex optimization problem using appropriate linearization and discretization. Finally, simulation results are compared with analytic result and nonlinear optimization result for verification.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.3
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• pp.71-76
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• 2007

The fatalities of pedestrian account for about 40.0% of all fatalities in Korea 2005. Vehicle-Pedestrian accident generates trajectory of pedestrian. In pedestrian involved accident, the most important data to inspect accident is throw distance of pedestrian. The throw distance of pedestrian can be influenced by many variables. The variables that influence trajectory of pedestrian can be classified into vehicular factors, pedestrian factors, and road factors. Vehicular factors are the frontal shape of vehicle, impact speed of vehicle, the offset of impact point. Many studies have been done about the relation between impact speed and throw distance of pedestrian. But the influence of the offset of impact point was neglected. The influence of the offset of impact point was analyzed by Working Model, and the trajectory of pedestrian, dynamic characteristics of multi-body were analyzed by PC-CRASH, a kinetic analysis program for a traffic accident. Based on the results, the increase of offset reduced the throw distance of pedestrian. However box type vehicle just like bus, the offset of impact point did not influence the throw distance of pedestrian considerably.

• Journal of the Korean Society of Safety
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• v.29 no.4
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• pp.1-8
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• 2014

In this study, the numerical simulation using AUTODYN-3D program was investigated angle trajectory prediction for inclined impacts of projectiles. The penetration and perforation of polycarbonate plate by 7.62 mm projectile was investigated numerically. The characteristic structure of the projectile's trajectory in the polycabonate plates was studied. Two combined failure criteria were used in the target plate, and the target plate was modeled with the properties of polycarbonate for simulating the ricochet phenomenon. The effect of the angle of inclination on the trajectory and kinetic energy of the projectile were studied. The dynamic deformation behaviors tests of polycabonate were compared with numerical simulation results which can be used as predictive purpose. From the simulation, the ricochet phenomenon was occurred for angles of inclination of $0^{\circ}{\leq}{\theta}{\leq}20^{\circ}$. The projectile perforated the plate for ${\theta}{\leq}30^{\circ}$, thus defining a failure envelope for numerical configuration. The numerical analyses are used to study the effect of the projectile impact velocity on the depth of penetration (DOP). It can be observed that the residual velocities were almost linear relative to penetration velocities. It means that polycarbonate has high resistance at higher velocities.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.8
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• pp.681-688
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• 2021

This paper considers the trajectory and impact point dispersion analysis of the test launch vehicle (TLV). The analysis, which performed before and after its flight test on November 28, 2018, is described and verified by comparing with the flight test results. The six degree-offreedom (DOF) simulation is used to compute the dispersion of the trajectory, attitude, and impact point, where the launch vehicle performance variations and wind effects during the atmospheric phase are included. The impact area to guarantee the flight safety is determined using the results of the dispersion analysis. The flight test results confirm that the safe flight of TLV is performed within the predicted dispersion boundary.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.3
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• pp.105-111
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• 2007

The type of pedestrian accident can be characterized by vehicular frontal shape and the height of pedestrian. The trajectory of pedestrian after collision by passenger car is different from that by bus due to vehicular frontal shape. The frontal shape of SUV vehicles is dissimilar to passenger car and bus. So, the trajectory and throw distance of pedestrian by SUV vehicles is not the same of passenger car and bus. In this paper, a series of pedestrian kinetic simulation were conducted to inspect the difference in throw distance between SUV vehicle and passenger car and bus by PC-CRASH that is the program for kinetic analysis of articulated body. From the results, if the height of pedestrian is taller than 1.70m, there is no difference in throw distance between SUV vehicle and passenger car, but if the height of pedestrian is about 1.55m throw distance of SUV vehicle is about 4m longer than that of passenger car at each impact speed. The throw distance of pedestrian by Bus is shorter than that of passenger car and SUV at each impact speed.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.135-143
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• 2003

This paper presents the impact minimization of a biped robot by using genetic algorithm. In case we want to accomplish the designed plan under the special environments, a robot will be required to have walking capability and patterns with legs, which are in a similar manner as the gaits of insects, dogs and human beings. In order to walk more effectively, studies of mobile robot movement are needed. To generate optimal motion for a biped robot, we employ genetic algorithm. Genetic algorithm is searching for technology that can look for solution from the whole district, and it is possible to search optimal solution from a fitness function that needs not to solve differential equation. In this paper, we generate trajectories of gait and trunk motion by using genetic algorithm. Using genetic algorithm not only on gait trajectory but also on trunk motion trajectory, we can obtain the smoothly stable motion of robot that has the least impact during the walk. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• Journal of information and communication convergence engineering
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• v.21 no.4
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• pp.346-350
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• 2023

Trajectory prediction is an essential element for driving autonomous vehicles, and various trajectory prediction models have emerged with the development of deep learning technology. Convolutional neural network (CNN) is the most commonly used neural network architecture for extracting the features of visual images, and the latest models exhibit high performances. This study was conducted to identify an efficient CNN backbone model among the components of deep learning models for trajectory prediction. We changed the existing CNN backbone network of multiple-trajectory prediction models used as feature extractors to various state-of-the-art CNN models. The experiment was conducted using nuScenes, which is a dataset used for the development of autonomous vehicles. The results of each model were compared using frequently used evaluation metrics for trajectory prediction. Analyzing the impact of the backbone can improve the performance of the trajectory prediction task. Investigating the influence of the backbone on multiple deep learning models can be a future challenge.