• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.561-571
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• 2011

The purpose of this study was to perform the kinematic analyses of the women's pole vault skills in IAAF World Championships Daegu 2011. Subjects were the 1st through 8th place finishers in the pole vault. The kinematic analyses were divided into four phases: two dimensional run up analysis, and three dimensional analyses for the remaining plant, swing up, and extension phases. Run-up variables consisted of run up distance, number of steps, average step length, ratio of step length to height, average velocity at the final 5~10 m, approach position. Three variables were analyzed during plant: pole angle, center of gravity (COG) velocity, and COG takeoff angle. Swing up phase variables included: pole flection angle, COG velocity (horizontal, vertical, resultant), COG trajectory and bar approach angle of COG. Compared to the 2009 World Championships in Berlin, the average vault height increased, while run up velocity and approach position were almost unchanged. However, horizontal velocity during the last two steps of the final approach decreased noticeably compared to speeds from 1990. These results reflect the change in both technique and physical fitness in pole vaulters. During extension, the peak height of COG surpassed the clearance height by an average of 0.11m. These specific results can help coaches and athletes modify training and improve performance.

• Structural Engineering and Mechanics
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• v.90 no.1
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• pp.97-106
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• 2024

This paper presents a significant contribution to aided design by conducting an analytical examination of geometric links with the aim of establishing criteria for assessing an analogy measure of the extrinsic geometric and kinematic characteristics of the Variable Compression Ratio (VCR) engine with a Geared Mechanism (GBCM) in comparison to the existing Fixed Compression Ratio (FCR) engine with a Standard-Reciprocating Crankshaft configuration. Employing a mechanical approach grounded in projective computational methods, a parametric study has been conducted to analyze the kinematic behavior and geometric transformations of the moving links. The findings indicate that in order to ensure equivalent extrinsic behavior and maintain consistent input-output performance between both engine types, precise adjustments of intrinsic geometric parameters are necessary. Specifically, for a VCR configuration compared to an FCR configuration, regardless of compression ratio and gearwheel radius, for the same crankshaft ratios and stroke lengths, it is imperative to halve lengths of connecting rods, and crank radius. These insights underscore the importance of meticulous parameter adjustment in achieving comparable performance across different engine configurations, offering valuable implications for design optimization.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.551-556
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• 1991

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.153-163
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• 2006

The purpose of this research was to analyze kinematic variables that appear during the instep shooting motion of female high school soccer players according to the angle of approach to find effective shooting motions. For this experiment, 5 female high school soccer players from the K city were participated in this study as the subject group, and as a through comparison and analysis of the resulting numbers of the variables, we came to the following conclusions. 1) Stride length and stride length/lower extremity length increased as the angle of approach increased. 2) As for C.O.G movement displacement, it was highest at an approach angle of $90^{\circ}$ during Right Foot Contact, at $135^{\circ}$ during Left Foot Contact, at $0^{\circ}$ during Rigth Toe Top, at $45^{\circ}$ during Impact, and at $0^{\circ}$ during Follow through. 3) The time required for each phase was longest at APP and shortest at BSP. The time required increased a little as the angle of approach increased, and the total time required also increased as the angle of approach increased. 4) The angle of the ankle joint was largest at an approach angle of $45^{\circ}$ for all events except Right Foot Contact. 5) The angle of the knee joint was largest at an approach angle of $135^{\circ}$ during Right Foot Contact, at $0^{\circ}$ during Left Foot Contact, at $45^{\circ}$ during Right Toe Top, at $135^{\circ}$ during Impact, and at $90^{\circ}$ during Follow through. 6) The angle of the hip joint was largest at an approach angle of $90^{\circ}$ during Right Foot Contact, at$0^{\circ}$ during Left Foot Contact, at $0^{\circ}$ during Right Toe Top, at $90^{\circ}$ during Impact, and at $0^{\circ}$ during Follow through.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1771-1776
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• 2003

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.9
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• pp.158-166
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• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.790-798
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• 2011

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

• Journal of Korean Physical Therapy Science
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• v.2 no.2
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• pp.545-562
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• 1995

The purpose of this paper was to provide the understanding of theory, technique, clinical use about arthro kinematic approach. Difference between AKA and Joint mobilization was seen through Table 1, and the relation between AKA and Athro kinematics was seen through Table 2. Examples of AKA techniques were as follow ; 1. Cervical intervertebral joint, left $C_{2/3}$ 2. Thoracic intervertebral joint, left $T_{5/6}$ 3. Sacroiliac joint, left (1) Nutation-upward gliding (2) Nutation-downward gliding (3) Superior distraction (4) Inferior distraction 4. 1st. costovertebral joint, left 5. 2nd. sternocostal joint, left 6. AKA-streching exercise 7. AKA - resistive exercise Symptoms, diagnosis, treatment were discribed for clinical use, and they were expected further that clinical application of AKA might clarify many of joint dysfunction.

• Physical Therapy Korea
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• v.10 no.2
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• pp.99-110
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• 2003

The purpose of this study was to analyze the effects of three different pelvic tilts on sit-to-stand ativities and to suggest a new therapeutic approach for movement reeducation in patients who have difficulty with sit-to-stand activities. The three different pelvic tilts were: (1) comfortable pelvic tilt sit-to-stand (CPT STS), (2) posterior pelvic tilt sit-to-stand (PPT STS) and (3) anterior pelvic tilt sit-to-stand (APT STS). To analyze the kinematic component of STS, a motion analysis system (Zebris) was applied to the ankle, knee, hip joint, and thigh-off area. Also, to determine the onset time of muscle contraction, surface electrodes were placed to the rectus femoris muscle (RF), the vastus lateralis muscle (VL), the biceps femoris muscle (BF), the tibialis anterior muscle (TA), the gastrocnemius muscle (GCM), and the soleus muscle (SOL). One-way repeated ANOVA was used for the statistical analysis. First, significant differences were found in kinematic variables for the hip, knee, ankle joint, and thigh-off among the three activities. Second, there was significant difference in muscle activation pattern in TA. VL. and BF among three activities. In conclusion, the findings of this study suggest the following evaluative and therapeutic approach for STS activity: (1) Changes in knee and ankle joints should be prioritized and recruitment order differences in VL and RF can be generated to accomplish abnormal STS activity. (2) APT STS can be introduced for movement efficiency and functional advantage when abnormal STS is treated.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.264-268
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• 1987

This paper is concerned on kinematic analysis and simulation of an automatic feeding mechanism subjected by the motion of a curvilinear inverse can. The curvilinear cam is rotated by positioning a translating roller and the automatic feeding mechanism is moved to the sliding position by the motion of a campin fixed on the curvilinear cam. The curvilinear cam consists of two arcs of circles and two straight lines. The modular approach is used for the kinematic analysis of the feeding mechanism. As the first part of the paper for the motion simulation of the cam-feeding system, this paper discusses the algorithm to simulate the motion of the cam-feeding mechanism. The second part of the paper presents the state-of-art for the graphics-oriented CAD technique,