• Journal of the Society of Naval Architects of Korea
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• v.57 no.1
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• pp.8-14
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• 2020

The implosion phenomena of pressure vessels operating in deep water under extremely high external pressure have been well known. The drastic energy release to ambient field in the form of pressure pulse is accompanied with catastrophic collapse of shell structure. Such a proximity shock wave could be a serious threat to the structural integrity of adjacent submerged body and several suspected accidents have been reported. In this study, basic research for the occurrence and development of shock wave due to implosion was carried out. The mechanism of pressure pulse generation and energy dissipation were investigated, and a simplified kinematic model to approximate the collapse modes of circular tubes which can be generated by external pressure and implosion was examined. Using the simplified kinematic model, the process of energy dissipation was formulated, and the magnitude of released pressure shock wave was estimated quantitatively. To investigate the validity of developed kinematic model and shock wave estimation process, the results from a nonlinear FE analysis code and collapse test carried out using pressure chamber were compared with the results from the developed kinematic model.

• Phonetics and Speech Sciences
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• v.15 no.1
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• pp.19-24
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• 2023

This study investigated acoustic (VOT) and articulatory characteristics of Korean velar stops in monosyllabic CV structures to examine how the three-way distinction is realized in the laryngeal and supralaryngeal domains and how the distinction is manifested in male versus female speakers' speech production. EMA data were collected from 22 speakers. In line with previous studies, male speakers preserved the three-way differentiation of velar stops (/k^*/</k/</k^h/) in terms of VOT while female speakers showed only a two-way distinction (/k^*/</k/=/k^h/). As for the kinematic characteristics, a clear three-way distinction was found only in male speakers' peak velocity measure in the C-to-V opening movement (/k^h/</k/</k^*/). For the other kinematic measures (i.e., articulatory closure duration, deceleration duration of the opening movement and the entire opening movement duration), male speakers showed only a two-way distinction between fortis and the other two stops. Female speakers did not show a three-way contrast in any kinematic measure. They showed a two-way distinction between lenis and the other two stops in C-to-V deceleration duration (/k^*/=/k^h/</k/), and a two-way distinction between fortis and lenis stops in the opening movement duration. An overall comparison of VOT and articulatory analyses revealed that the lenis-aspirated kinematic distinction is diminishing, driven by female speakers, in line with the loss of the lenis-aspirated distinction in VOT that could influence supralaryngeal articulation.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.1
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• pp.91-99
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• 2022

Purpose : The goal of this study is to examine the effect of robot assisted gait training (RAGT) on the kinematic factors (temporospatial gait parameters, gait cycle ratio, and gait line length) of gait in stroke patients. Methods : The subjects of this study were 24 stroke patients selected by inclusion criteria. Participants were randomly allocated to two groups: robot assisted gait training (n=11) and general neurological physical therapy group (n=11). In the robot-assisted gait training group, robot-assisted gait training was mediated for 30 minutes a day in addition to general neurological physical therapy. The general neurological physical therapy group was mediated by general neurological physical therapy for 30 minutes a day in addition to general neurological physical therapy. The number of interventions was 5 times a week for 5 weeks. In order to compare the kinematic factors of walking between the two groups, gait analysis was performed before and after 5 weeks of training using the Zebris gait analysis system. Results : As a result of the gait analysis of the two groups, there were significant differences in temporospatial gait variables (step length, stride length, step width, step time, stride time), gait cycle ratio (swing phase, stance phase) and gait line length. However, there was no significant difference in the cadence (temporospatial gait parameters) in the robot assisted gait training group compared to general neurological physical therapy group. Conclusion : It is considered to be a useful treatment for stroke patients to promote the recovery of gait function in stroke patients. Based on the results of this study, continuous robot assisted gait training treatment is considered to have a positive effect on gait ability, the goal of stroke rehabilitation. In the future, additional studies should be conducted on many subjects of stroke patients, the kinematic factors of the legs according to the severity of stroke and treatment period, and the effect of gait training.

• Geomechanics and Engineering
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• v.34 no.2
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• pp.209-220
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• 2023

In this study, a series of three-dimensional numerical analyses were carried out to investigate the penetration performance of a dynamically installed Hall anchor. The advanced coupled Eulerian-Lagrangian (CEL) technique was adopted to accurately simulate the large soil deformation during the vertical penetration of a Hall anchor. In total, 52 numerical analyses were conducted to investigate the relationship between anchor penetration depth and the initial kinematic energy. Moreover, a sensitivity analysis was performed to investigate the effects of soil shear strength and soil type on the penetration mechanism of a drop anchor under self-weight. There is a monotonic increase in the penetration depth with an increasing anchor weight when the topsoil of the riverbed is not subjected to erosion. On the other hand, all the computed depths significantly increase when soil erosion is taken into consideration. This is mainly due to an enhanced initial kinematic energy from an increased dropping depth. Both depths increase exponentially with the initial kinematic energy. An enhanced shear strength can potentially increase the side resistance and end-bearing pressure around a drop anchor, thus significantly reducing the downward penetration of a hall anchor. Design charts are developed to directly estimate penetration depth and associated plastic zone due to dynamically installed anchor at arbitrary soil shear strength and anchor kinematic energy.

• Architectural research
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• v.18 no.1
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• pp.39-47
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• 2016

A finite element analysis technology applicable to the prediction of the static nonlinear response of cable roof structure is presented. The unified kinematic description is employed to formulate the present cable element and different strain definitions such as Green-Lagrange strain, Biot strain and Hencky strain can be adopted. The Newton-Raphson method is used to trace the nonlinear load-displacement path. In the iteration process, the compressive stress of a cable element is not allowed. For the verification of the present cable element, four numerical examples are tackled. Finally, numerical results obtained by using the present cable element are provided as new benchmark test results for cable structures under static loads.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.77-82
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• 1996

This paper is concerned with how to utilize kinematic redundancy to reconstruct the inverse kinematic solution which is not attainable due to hardware limitations. By analyzing the error due to hardware limitations, we are to show that the recoverability of limitation reduces to the solvability of a reconstruction equation under the feasibility condition. It will be next shown that the reconstruction equation is solvable if the configuration is not a joint-limit singularity. The reconstruction method will be proposed based on the geometrical analysis of recoverability of hardware limitations. The method has the feature that no task motion error is induced by the hardware limitations while minimizing a possible null motion error, under the recoverability assumed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.528-531
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• 1997

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.3
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• pp.11-17
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. the planner tracked vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems, i.e., the chassis subsys- tem and track sub-system. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The recursive kinematic and dynamic formulation module of the vehicle will be developed.