• Proceedings of the KSME Conference
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• 2001.06e
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• pp.506-511
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• 2001

This paper presents how redevelopment of the boundary layer in a backward-facing step flow is affected by boundary conditions imposed on velocity at the inlet, top and exit of the flow. A two-dimensional, laminar, incompressible flow over a backward-facing step with an open top boundary has been computed by using numerical methods of second-order time and spatial accuracy and a fractional-step method that guarantees a divergence-free velocity field at all time. The inlet velocity profile above the step is of Blasius type. Along the top boundary, shear-tree and Dirichlet conditions on the streamwise velocity were considered and at the exit fully-developed and convective boundary conditions were examined. (The vertical velocity at all boundaries were assumed to be zero explicitly or implicitly.) From the computed flow fields, the reattachment on the bottom side of shear layer separated from the tip of the step and succeeding redevelopment of the boundary layer were investigated.

• PNF and Movement
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• v.1 no.1
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• pp.33-41
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• 2003

Objectives : The purpose of this study was to describe and compare the temporo-spatial gait characteristics of healthy young people with those of healthy elderly people. Methods: The data were collected by 40 volunteers. 20 subjects were between 20 and 31 years of age, and 20 subjects were between 65 and 84 years of age. Temporal and spatial parameters of gait were analysed for using the computerized GAITRite system. Results : The system integrates specific components of locomotion to provide a single, numerical representation of gait, the Functional Ambulation Performance score. Differences in gait characteristics between the two groups were examined using a correlated t-test(p<.05). Significant differences were observed between the groups for step length, step/extremity ratio and velocity. Young people demonstrated a significantly larger velocity, step length and step/extremity ratio than the elderly people. Conclusions: These results indicate that the GAITRite system can be useful in detecting footfall patterns and selected time and distance measurements of young and older persons. Additionaly, differences in walking velocity, step length and step/extremity ratio between old and young people may have influenced the gait characteristics measured.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.149-163
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• 2004

This study analyzed kinematic variables about the cross step, the delivery and the release for women's javelin athletics recorded over 50m in the 2004 Busan International Athletics Competition. It was used the Kwon3D Motion Analysis Package Ver. 3.1 Program(Kwon, 2000) for analysing the kinematic variables about the distance, the velocity, and the angle, then we had the results as follows; 1 In the Cross step phase, the COG velocity was low because their step length was short. To keep the CM velocity from the approach to the last cross over step contact, the athletes have to keep the longer step length within about 130% of the athletics' height. 2. In the Delivery phase, the athletics' COG height was gradually lower, and the deceleration of the COG was going up. As the same in the cross step, Therefore the athletes have to increase the step length within about 100% of their height, in order to increasing the COG velocity. And it was shown they have to make small angle of the elbow as possible from the right foot contact to the left foot contact in order to being the big acceleration of the upperarm at the release phase. 3. In the release phase, it was shown to being low position of the release point as the COG was low and then the release velocity of the upperarm was low. Specially when the shoulder lean lateral angle is big at the release phase, it was shown they have a excessive release angle. And, when it was shown the high rotation angle of the shoulder, the shoulder was opened forward bigger than the trunk was opened forward. So the transmission of velocity from the proximal segments was a fast change.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.208-220
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• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• The Journal of Internal Korean Medicine
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• v.37 no.6
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• pp.990-997
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• 2016

Objectives: This study observed changes in gait pattern according to the motor grade of the paretic lower limb in patients with basal ganglia stroke who are in the subacute phase. Methods: We used the Manual Muscle Test (MMT) to evaluate the motor grade of the paretic lower limb of 21 patients with subacute basal ganglia stroke and then divided them into two groups based on the MMT results. Stroke patients with a motor grade above Gr. III were put in group I (15 people) and those with a grade less than Gr. III in group II (6 people). We also estimated spatiotemporal factors using treadmill gait analysis equipment. The values were gait velocity, step length, step time, double support phase, and cadence. The first measure was conducted during the early period of admission and the second was between four and five weeks after admission. Results: In Group I, the gait velocity and step length of both legs significantly increased. In Group II, the step length and step time of the paretic side and the gait velocity tended to decrease, but not significantly. The step length of the paretic side in Group II was significantly longer than that in Group I at the first measure. The step time of the paretic side in Group I was significantly shorter than that in Group II and gait velocity and cadence in Group I were significantly higher than in Group II at the second measure. Conclusions: The gait parameters of all stroke patients improved in terms of time. In addition, the changes in gait pattern were different depending on the motor grade of the paretic lower limb.

• Journal of The Korean Astronomical Society
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• v.42 no.3
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• pp.61-69
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• 2009

Transverse velocity vectors can be determined from a pair of images successively taken with a time interval using an optical flow technique. We have tested the performance of the new technique called NAVE (non-linear affine velocity estimator) recently implemented by Chae & Sakurai using real image data taken by the Narrowband Filter Imager (NFI) of the Solar Optical Telescope (SOT) aboard the Hinode satellite. We have developed two methods of estimating the errors in the determination of velocity vectors, one resulting from the non-linear fitting ${\sigma}_{\upsilon}$ and the other ${\epsilon}_u$ resulting from the statistics of the determined velocity vectors. The real error is expected to be somewhere between ${\sigma}_{\upsilon}$ and ${\epsilon}_u$. We have investigated the dependence of the determined velocity vectors and their errors on the different parameters such as the critical speed for the subsonic filtering, the width of the localizing window, the time interval between two successive images, and the signal-to-noise ratio of the feature. With the choice of $v_{crit}$ = 2 pixel/step for the subsonic filtering, and the window FWHM of 16 pixels, and the time interval of one step (2 minutes), we find that the errors of velocity vectors determined using the NAVE range from around 0.04 pixel/step in high signal-to-noise ratio features (S/N $\sim$ 10), to 0.1 pixel/step in low signa-to-noise ratio features (S/N $\sim$ 3) with the mean of about 0.06 pixel/step where 1 pixel/step corresponds roughly to 1 km/s in our case.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.6
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• pp.871-878
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• 1990

The control method which electrically subdivides 1 step(1.8\ulcornerstep) of a PM step motor into 64 micro-step (0.028\ulcornerstep) is realized using micro-step algorithm on the basis of the look up table method and the position and velocity control using Z-80 microprocessor is also realized. With micro-stepping. The resolution of the system is improved, also by micro-step control of driving-current of the step motro, which is followed by the increase of micro-step subdivision-coefficient, the precise position and velocity control of step-motor can be realized and the stabilization of the system is improved.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.50-58
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• 2003

We have developed a locally variable time-step scheme matching with discontinuous grids in the flute-difference method for the efficient simulation of seismic wave propagation. The first-order velocity-stress formulations are used to obtain the spatial derivatives using finite-difference operators on a staggered grid. A three-times coarser grid in the high-velocity region compared with the grid in the low-velocity region is used to avoid spatial oversampling. Temporal steps corresponding to the spatial sampling ratio between both regions are determined based on proper stability criteria. The wavefield in the margin of the region with smaller time-step are linearly interpolated in time using the values calculated in the region with larger one. The accuracy of the proposed scheme is tested through comparisons with analytic solutions and conventional finite-difference scheme with constant grid spacing and time step. The use of the locally variable time-step scheme with discontinuous grids results in remarkable saving of the computation time and memory requirement with dependency of the efficiency on the simulation model. This implies that ground motion for a realistic velocity structures including near-surface sediments can be modeled to high frequency (several Hz) without requiring severe computer memory

• Korean Journal of Applied Biomechanics
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• v.24 no.1
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• pp.67-74
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• 2014

This study researched into the left-right inclination of the rear foot at the lower limb joints, knee joint angle, angular velocity of the knee joint, angular acceleration and the max. Based on the analysis of kinematics according to the changes in the height of step box (6, 8, 10 inches) during step aerobics of female college students majoring in physical education. The findings of this study are as follows: Then angle of the knee joint decreased as the height of the step box increased the min. Angle was measured right before the right foot was on the step box, and the angle tended to decrease as the step box get heightened. The left-right inclination of the rearfoot angle according to the height of step box increased as the height increased. In the 'pull-up' stage during which the weight was loaded on the right foot the angle increased, while in the right foot stepping stage during which the right foot was on the ground, the left-right inclination of the rearfoot angle increased as the height of the step box increased. The angular velocity of the knee joint according to the height of step box started increasing when the right foot initially stepped on the step box and during the initial stepping section, the angular velocity decreased as the height of step box increased. The changes in angular acceleration of the knee joint according to the height of step box increased as the height of step box increased.