상태 흐름 방법을 기반으로 실내 환경에서 외발 자전거 형 이동 로봇을 위한 경로 추종 플랫폼 개발

첸티안 ( Tean Chen ),유헌종 ( Heonjong Yoo ),이경환 ( Kyeonghwan Lee ) 한국농업기계학회 2020 한국농업기계학회 학술발표논문집 Vol.25 No.2

Localization is one of the important method for autonomous indoor robots to recognize it’s own position. In general, navigation of mobile robots is conducted using camera, Lider and GPS. But in case of indoor environment, GPS is unavailable. In this presentation, an autonomous indoor mobile robot, that is, a shuttle robot used a state flow method via ROS network: MATLAB and Linux high-level computers, IMU sensor, and then was able to obtain the cartesian coordinate information of the unicycle type mobile robot. After setting the pre-determined time based on the length of the path in the State Flow block, a path planning which is able to execute the work effectively is established using state flow algorithm. The state flow block produces time-series data sets which represents linear and angular velocities signals. Depending on the numerical values of the signal, the left and right motor rotational speed should be calculated through mobile robot forward kinematics. Several cases are considered: Case I) indicated the linear velocity is set positive certain value, and angular velocity is zero, so that the corresponding mobile robot moves forward. Case II) says that the linear velocity is set positive certain value and angular velocity is set positive certain value, which means the mobile robot turns right. Case III) says that the linear velocity is set positive certain value and angular velocity is set negative certain value, which means the corresponding mobile robot turns left. Case IV) says that the linear velocity is set negative certain value and angular velocity is set zero, which indicates the mobile robot moves backward. The effectiveness of the methods is demonstrated through desktop based developed indoor mobile robot’s control results.

운동역학 : 철봉내리기 동작의 각운동량 분석

최지영(JiYoungChoi),김승재(SeungJaeKim) 한국체육학회 2004 한국체육학회지 Vol.43 No.3

The purpose of this study was to investigate to the relations between the segments of the body, the three dimensional anatomical angle and the angular momentum of the air born phase and understand the control mechanism of the high-bar movement, the somersault, the double somersault, the double somersault with full twist. For this study seven well trained university gymnastics volunteered, Zatsiorky and Seluyanov’s sixteen segment system anatomical model was used for this study. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was wed with the LabVIEW 5.1 graphical programming program. By using Eular’s equations the three dimensional anatomical Cardan angles of the joint and angular velocity were defined.1. As the rotation of the body increased in the air born phase the projection angle of the CM of the total body increased, this resulted the increased of the max hight of the CM.2. In three dimensional angular velocity the Z axis(vertical direction) projection angular velocity increased as the rotation of the body increased in the airborn phase, but the Y axis and the X axis projection angular velocity did not show significant differences.3. The somersault angle, the twist angle, the tilt angle of the upper body related to the global reference frame in the releas phase the average somersault angle of the three types of hight-bar movement was 57.7˚, 38.8˚,39.7˚, the average tilt angle was -1.5˚, -5.4˚, -8.4˚, the average twist angle was 13.4˚, 10.6˚, 23.3˚. This result showed that the double somersault with full twist had the largest movement.4. The angular momentum in the somersault angle the double somersault showed the largest with the average of 72.5±4.81kg·㎡/s, the somersault showed a average of 37.5±9.20kg·㎡/s, the double somersault with full twist showed a average of 63.7±13.22kg ·㎡/s. This result showed that the angular momentum of the double somersault was 35.0kg·㎡/s larger than the somersault, ant the angular momentum of the double somersault with full twist was 26.2kg·㎡/s larger than tie somersault.

철봉 내리기 공중 동작의 운동학적 분석(I)

최지영,김용이,진영완 한국운동역학회 2002 한국운동역학회지 Vol.12 No.2

본 연구는 철봉운동에서 기본이 되는 동작인 몸펴 한번 뒤돌아 내리기 동작을 단계적으로 분석한 후, 이를 토대로 하여 현재 시합상황 중 가장 널리 사용되는 응용동작인 몸펴 두 번 뒤돌아 내리기 동작과 몸펴 두 번 뒤돌며 한번 비틀어 내리기 동작의 운동학적 분석을 수행하여 개개분절 간의 상호작용을 해부학적 3차원 각운동과 각속도로 설명하고 이해할 수 있는 운동학적 자료를 제시하는데 있다. 피험자들은 현재 K대학교에 재학중이며 대학 대표선수인 남자 기계체조 선수 7명을 선정하였으며, 연구에 사용된 인체의 모델은 Zatsiorsky와 Seluyanov(1983, 1985)이 사용한 16개의 분절로 이루어진 인체의 모델을 사용하였다. 신체무게중심이 이동방향을 설명할 수 있는 투사각도 및 투사속도는 공중동작의 회전수가 증가할수록 신체무게중심이 투사되는 각도가 증가되며, 이렇게 증가된 신체무게중심의 투사각도는 신체무게중심의 최고점을 증가시키는 경향을 보였다. 3차원 투사속도를 살펴본 결과 Z방향(수직방향)은 공중돌기 회전수가 증가할수록 증가하는 경향이 나타났으나, 운동진행 방향인 Y방향 속도와 좌우측 기울기를 설명할 수 있는 X방향 속도에서는 의미 있는 차이를 보이지 않았다. 철봉 내리기 공중동작에서의 신체분절 및 각도 변화도 중요하지만 각운동량을 만들어내기 위한 동작준비구간의 각도 변화가 더욱더 중요하다고 할 수 있다. 즉, 상체가 철봉 아래 봉과 수직될 때부터 릴리즈 순간까지의 각도 변화에 주목해야 하는 데, 회전수가 증가할수록, 어깨관절 각도와 엉덩관절 각도 변화가 두드러지게 나타나 준비구간의 추기기 동작(Whip swing)의 주된 관절로 작용을 한다. 관성좌표계에 대한 상체의 움직임을 나타내는 3차원 방향의 각도 즉, 뒤돌기(somersault)각도, 틀기(twist)각도 그리고 기울기(tilt)각도로 설명이 되는데, 본 연구의 결과 릴리즈시 뒤돌기 각은 세가지 내리기 동작 유형에 따라 평균 57,7도, 38.8도 그리고 39.7도로 나타났으며, 기울기 각은 평균 -1.5도, -5.4도 그리고 -8.4도로 유의한 차이를 보이고 있으며, 틀기각도는 평균 13.4도, 10.6도 그리고 23.3도로 몸펴 두번 뒤돌며 한번 비틀어 내리기 경우 가장 큰 수치를 나타냈다. The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle and the angular velocity of the air born phase and understand the control mechanism of the high-bar movement, the somersault, the double somersault, the double somersault with full twist. For this study seven well trained university gymnastic volunteered, Zatsiorky and Seluyanov(1983, 1985)' sixteen segment system anatomical model was used for this study. For the movement analysis three dimensional cinematographical method(Arial Performance Analysis System : APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 5.1 graphical profromming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and angular velocity were defined. 1. As the rotation of the body increased in the air born phase the projection angle of the CM of the total increased, this resulted the increased of the max hight of the CM. 2. In three dimensional angular velocity the Z axis(vertical direction) projection angular velocity increased as the rotation of the body increased in the airborn phase, but the Y axis and the X axis projection angular velocity did not show significant differences. 3. As the rotation of the body increased in the air born phase the angular movement of the shoulder and the hip showed significant change. These movement act as the starter in the preparation phase. 4. The somersault angle, the twist angle, the tilt angle of the upper body related to the global reference frame in the releas phase the average somersault angle of the three types of high-bar movement was 57.7˚ , 38.8˚ , 39.7˚ , the average tilt angle was -1.5˚ , -5.4˚ , -8.4˚ , the average twist angle was 13.4˚ , 10.6˚ , 23.3˚ . This result showed that the somersault with full twist had the largest movement.

어깨 굽힘 시 손의 하중이 목과 어깨뼈의 운동형상학적 요소와 목 근육의 수축 개시 시간에 미치는 영향 : 사례 일련 연구

김태영,김은지,김수정,김은솜,윤범철 대한스포츠물리치료학회 2015 정형스포츠물리치료학회지 Vol.11 No.1

To determine proper hand load standards, we examined the influence of external load on the kinematics (head-neck and scapular angular displacements) and onset time of the neck muscles during shoulder forward flexion. Six adults (age, 21–25 years) performed shoulder forward flexion. The hand was loaded with 0kg, 1kg, or 5% of the participant’s body weight and the kinematic data and muscle onset time were obtained. The head-neck angular displacements were 11.06±5.4°(0kg), 11.9±3.3°(1kg), and 10.3±0.7° (5% of body weight), while the mean scapular rotations were 19.0±7.0°, 19.2±6.2°, and 17.0±6.5°, respectively. The average amounts of retraction and protraction were 16.7±8.4°, 16.2±9.8°, and 14.7±9.5°, while the mean scapular tilts were 32.2±8.7°, 34.9±10.0°, and 29.5±15.0°, respectively. The addition of an external load normalized to 5% of each participant’s body weight altered the head- neck and scapular kinematics as well as the superficial neck muscle onset time. Our findings suggest that the application of a hand load during shoulder flexion must be individualized according to neck and scapular motion as well as muscle onset time.

발레 아라베스크(Arabesque) 동작 교육의 운동학적 요인

박다원,이지섭,박재범 한국무용학회 2022 한국무용학회지 Vol.22 No.3

For a dancer to make accurate and beautiful movements, the role of the instructor is crucial. Instructors should impart appropriate knowledge to help address the technical and artistic deficiencies of the dancer. A basic understanding of the body and movement is required to use simple and accurate movements. Identifying the quantitative movement strategies of professional-trained dancers can serve as an objective indicator of practical training. Therefore, this study quantified the kinematic performance of the arabesque techniques of professional ballet dancers. Ten female professional ballet dancers and ten female amateur dancers participated in this study. All participants performed ten-repeated actions that included Passé to Arabesque motion. Kinematics of whole body movements were captured using infrared cameras. Position displacement of the whole-body center of mass and gesture leg’s toe was measured to investigate the overall performance. The relative angular displacement of gesture lower limb was to analyze the turn-out ability during a given performance. And we used the timing of the maximum joint angular velocities in XYZ rotation axis of trunk, thigh, shank, and foot to investigate the strategy of kinematic sequencing. The XYZ rotation sequence was used in the computation of the local coordination angles(Euler angles): flexion-extention, abduction-adduction, and internal rotation- external rotation movement. In professional ballet dancers, the Gesture leg is positioned close to the line of CoG (center of gravity) and higher than in amateur dancers. Also, Angular displacement of the thigh that is associated with the ability of turn-out technique showed larger external rotation than amateur dancers. Professional dancers performed the proximal (i.e., thigh) -to-distal (i.e., foot) sequence of the gesture leg. These results suggest that the strategies for skilled passe-arabesque movement included stable vertical posture and sequential movement of body segments.

Design of precision angular indexing system for calibration of rotary tables

오연택 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.3

The indexing table was developed for angle measurements on machine tools. The measuring techniques, which have been reviewed in this paper, are currently available in manufacturing engineering to calibrate the angle measurement. The measuring principles of each equipment are outlined and their capabilities are also discussed. The new indexing table using 6 points kinematic concept and employing ball and vee grooves location was designed and manufactured to calibrate angle errors of rotary tables using a laser interferometer. The manufacturing method was evaluated to manufacture the accurate vee grooves. A special cam was designed and manufactured to translate rotation movement into lift-up and rotation movement. A CNC machining centre and indexing head were used to manufacture the cam. All parts of the new indexing table were manufactured with a manufacturing tolerance according to drawings, squareness and parallelism checked to obey the 6 points kinematic concept. Also these factors controlled the repeatability of the new indexing table. After installing the new indexing table, the performance was evaluated using rotary table operating in both the horizontal and vertical orientations.

엘리트 여자 장대높이뛰기 선수들의 운동학적 비교

김태완 ( Tae Whan Kim ),문영진 ( Jong Chul Park ),박종철 ( Young Jin Moon ),이진택 ( Jin Taek Lee ),이태현 ( Tae Hyun Lee ) 한국스포츠정책과학원(구 한국스포츠개발원) 2012 체육과학연구 Vol.23 No.1

이 연구는 2010 대구국제육상대회에 참가한 엘리트 여자 장대높이뛰기 선수들을 대상으로 운동학적 분석을 통해 정량적인 자료를 제시함으로써 경기력을 향상시키고자 하였다. 연구대상은 대회에서 상위 입상한 외국 선수 2명과 국내 선수 1명(1, 2차)을 대상으로 실시하였다. 분석된 자료는 거리, 속도, 각도요인으로 4대의 카메라를 사용하여 2,3차원 동작분석(6O fields/s)을 실시하였다. 연구 결과를 통해 국내 선수의 기술 개발을 위한 방안은 다음과 같다. 첫째, 조주거리에서의 수평 속도를 높여야하고 Take off시 수평속도를 수직속도로 전환하는 기술 훈련이 필요하다. 둘째, 조주하는 동안 장대와 동체가 이루는 각도를 작게 유지 할 수 있도록 기술 훈련이 필요하다. 셋째, 무릎 신전 각속도를 상대적으로 빠르게 수행하고 굴곡 각속도는 느리게 수행할 수 있도록 기술훈련이 필요하다. 넷째, 엉덩이 관절이 최대로 신전되는 시점에서는 신체가 ``I`` 모양이 될 수 있도록 엉덩이 관절을 보다 신전시키고, 모든 구간에서 엉덩이 관절의 굴곡과 신전 각속도를 빠르게 수행할 수 있도록 기술 훈련이 필요하다. 다섯째, 무릎에서 힙으로 체계적이고 리듬감 있게 힘이 전이 될 수 있도록 기술 훈련이 필요하다. 여섯째, 엉덩이 관절이 최대로 신전되는 시점에서 신체중심의 높이가 최고 시점에 도달 할 때까지 장대와 동체의 각속도를 줄일 수 있도록 기술 훈련이 필요하다. 일곱째, 전체적으로 국내 선수의 동작에서 일관성이 보이지 않는 것으로 나타났다. 따라서 일관성 있는 동작을 수행 할 수 있도록 반복 훈련이 필요하다. This study aims to examine kinematic characteristics according to quantitative data on elite women athletes of pole vault who took part in Daegu international athletic championship in 2010, and help improve athletic performance by analyzing kinematic variables. The subjects of this study were two foreign athletes who were awarded holding high ranks and a domestic athlete (1st and 2nd) 2D and 3D analysis of action caused by distance, speed, angle was conducted by using four cameras, Through the result of this study, the strategy of the S1 skill improvement is as follows: First, the horizontal velocity during the approach run should be raised arid when toe off, training to change the horizontal velocity to vertical velocity is needed. Second, it is necessary to practice the skill to keep minimizing PTA (pole-trunk angle) during the approach. Third, it is necessary to practice the skill to raise the extension Knee angular velocity relatively and to lower flexion angular velocity. Fourth, it is necessary to keep hips forward when keeping ``I position``, and to practice the skill to lower the angle speed until the height of the center of mass reaches the maximum height. Fifth, it is necessary to practice the skill to lower the pole-trunk angle speed until the height of the center of mass reaches the maximum height. Sixth, it is appeared that S1 is inconsistent during the entire actions. Accordingly, it is necessary to practice to make S1 be consistent.

여자 유도 허리후리기 기술의 운동학적 특성분석

김갑선 ( Kab Sun Kim ),박철홍 ( Chuel Hong Park ),이일구 ( El Koo Lee ),정남주 ( Nam Ju Chung ),김동현 ( Dong Hyeon Kim ) 한국운동역학회 2011 한국운동역학회지 Vol.21 No.1

The purpose of this study was to perform a kinematic analysis of Harai-goshi(hip throw) in superior female judo players. From our analysis, it appeared desirable for the player to shorten the duration of the technique for maximum results. It was also desirable for the player to draw the opponent backward while simultaneously maneuvering her close to her own body. A turning movement of the body toward the left side was found to be required for the technique, during which the player must lower the position of the center of gravity. During the subsequent angular change of the elbow, the player winds the elbow and, by moving the left shoulder, pulls the opponent toward her. The player lowers the body center by bending the left knee and letting the right knee extend, while turning the upper body and bending the hip joint. The player then draws the opponent in, contacts the opponent closely, turns, and stretches the right knee and hip joint rapidly and concisely, completing the move; it was also found to be desirable for the angular velocity to be increased for maximum efficacy.

컬링 딜리버리 동작 시 하지관절의 운동학적 분석

이현정(Lee Hyun-jung),김현경(Kim Hyun-Kyung),유경석(Yoo Koung-Seok) 한국체육과학회 2005 한국체육과학회지 Vol.14 No.2

The purpose of this study is to analyze kinematic factors in ankle joint, knee joint, and hip joint between two groups of Korean national sports team players and the registered players, through 3D analysis in terms of curling delivery movement. In terms of major kinematic variables, it established time, linear and angular variables as to left ankle, knee, and hip joint. The statistical processing of this study was conducted in .05 of a significant level by using SPSS 12.0. Based on these research results, the following conclusions were obtained. 1. In terms of linear parameters, that is an average-time and the distance, it was not shown the big difference in the national sports team player group and the registered player group. 2. As a result of analyzing the hip joint in the two groups, the significant difference was indicated in the section of P3 (p<.014) in the joint displacement, and P3 (p<.041) in the hip joint velocity. 3. As a result of analyzing the knee joint in the two groups, the significant difference was indicated in the section of P3 (p<.012) in the knee joint acceleration. 4. As a result of analyzing the ankle joint, the significant difference was indicated in the section of P1(p<.023), P2(p<.005), P3(p<.002) and P4(p<.004) in the joint displacement, respectively. And analyzing in the ankle joint velocity, the significant difference was indicated in the section of P2 (p<.031). In addition to the significant difference was indicated in the section of P1(p<.048), P2(p<.035), and P3(p<.012) in the ankle joint acceleration. It was demonstrated that the kinematic factors that is the linear and angular variables, could be associated with a high techniques of curling delivery.

보행시 보폭변화에 따른 운동학적 분석

장현옥,임용규 漢陽大學校 體育科學硏究所 2003 體育科學 Vol.23 No.23

This research is about the analysis of the kinematic reasons for a change of paces in gait. It is on the basis of data on ambulation from 30 students surveyed, who majored in dance at H university using three dimensional motion analytic machines. Based on the results of these analyses, we draw the following conclusions. The required time for a pace on ambulation is normally 1.032to.024 sec,1.023±0.044 sec on +lo% and 0.990±0.044 sec on -10%, so it is clarified that it is fastest on -10%. In a vertical displacement of body center, it is highest one vent 2. In a change of paces, the event on -10% is highest and normal cases follow and the event of +lo% has the least vertical change because of a short pace. Moving velocity of body center is increasing during ambulatory cycles and the velocity with paces is fastest on +lo% and those on normal and -10% are similar to each other. Thus, it shows us that moving velocity is commensurate with longer paces. Angular displacement of the hip joint rotates from left to right and reverse on ambulation with the highest on +lo% and normal, -10%. This occurs because pelvis rotates from left to right more with longer paces. In an angular displacement of knee joint, or when ambulation goes with stretched knee joints, there is an anfractusity. An angular displacement with pace is 138.5±4.9 degreeon +lo% in event 4, which shows less anfractusity than that on -10%. An angular displacement of the ankle joint conserves anfractusity during ambulation cycles and is stretched in event 4 and is inflected again. An angular displacement with pace is 113,9±14.6 degree on -10% in event 3, which shows less anfractusity than normal and +lo% case.