• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.588-592
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• 1993

본 연구에서는 로봇의 교시, 궤적계획, 충돌, 로봇동작, 제어알고리즘 등의 평가에 유용하게 사용할 수 있는 다기능 오프라인 프로그래밍 시스템인 POLPS(Pusan_national_university's Off-Line Programming System) 를 개발하였다. POLPS은 4축 스카라형 FARA 로봇을 대상으로 개발되었고, 편리한 방법으로 교시작업을 수행할 수 있으며, 교시 내용에 따라 궤적계획을 수행한 후 로봇을 동작시켜 충돌을 회피하는 동적 시뮬레이션을 수행할 수 있다. 제안된 여러 제어알고리즘 중에서 주어진 작업에 적합한 제어알고리즘을 효율적으로 선정하기 위한 성능의 비교와 평가 기능을 갖추고 있는 것이 주요한 특징이다. 또한 시각위치변경, 온선. 온면제거 및 음영처리, 고속 애니메이션, 환경구성, 인터프리터 명령어 등의 다양한 기능으로 편리하게 사용할 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1933-1936
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• 2005

The isometric area of the anterior cruciate ligament was calculated during knee flexion-extension. Flexion-extension motion data of the joint were obtained using Fastrak and a three-dimensional motion measurement system. A total of five subjects were seated on a flat table and the tibia sensor position was measured with the femur fixed on the table. A three-dimensional knee model was constructed using a graphic tool to simulate the knee motion. Twenty seven positions of the tibia region and forty two positions of the femur region were selected and the distances between the determined tibial and femoral points were calculated. Highly isometric areas were found and displayed as three dimensional aspects.

• 대한인간공학회지
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• 제21권2호
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• pp.13-23
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• 2002

Human dummies are essential tools in the development of such products as vehicle have been actively used not only in reach and view field tests. but also in impact perception evaluations. This study attempted to obtain geometric and dynamic model body segments from Korean anthropometric data. The investigation focused on the de both human and dummy for the geometric and inertial properties. The dynamic modeli being suggested is based on rigid body dynamics using fifteen individual body segments by joins. The segments are connected at the locations representing the physical joint body so that each segment has its mass and moment of inertia. For visual three-dimensional graphic was used for easier implementation of the dumn applications. For applications, proposed Korean dummies Were used in dynamic crash and driver's view and reach test modules were developed in virtual environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.158-161
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• 2004

The isometric position of the anterior cruciate ligament was calculated during flexion-extension. Flexion-extension motion data of the knee joint were obtained by Fastrak, a three-dimensional motion measurement system. A subject was seated on a flat table and the tibia sensor position was measured with the femur fixed at the table. A three-dimensional knee model was constructed using a graphic tool to simulate the knee motion. Three surgical positions of the femoral tunnel were selected and the distances between the determined tibial tunnel and each femoral tunnel were calculated. The maximum elongation position was found to be in the ten thirty direction of clock.

• 한국음향학회:학술대회논문집
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• 한국음향학회 2004년도 추계학술발표대회논문집 제23권 2호
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• pp.377-380
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• 2004

정합장처리는 음파를 이용하여 해양환경 변수와 표적의 위치를 추정하는 신호처리 기법을 말한다. 이를 연구 하기 위하여 2003년 10월, 2004년 5월과 10월 등 3차례에 걸쳐 음향실험을 실시하였다. 동해시 앞의 수심 100-150 해당하는 대륙붕 지역에 20채널의 수직 선배열 센서를 설치하고 저주파 예인 음원기, 토모그래피 음원, 전구 발파기를 이용하여 음향신호를 획득하였다. 측정된 해양 및 음향자료와 실험 해역에 대한 지음향 데이터 베이스를 이용하여 일차적으로 음원의 위치 및 지음향 변수를 추정하는 분석을 실시하였다. 국방과학연구소, 한양대학교, 서울대학교가 참여하는 공동실험은 앞으로 3차례 더 실시할 계획에 있다.

• 대한기계학회논문집A
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• 제28권9호
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• pp.1262-1269
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• 2004

This study predicts muscle forces acting on the lower extremity when the knee joint is in deep flexion. The whole body was approximated as a link model, and then the moment equilibrium equations at the lower extremity joints were derived far given reaction farces against the ground. Measurement of deep flexion was carried out by placing ten markers on the body. This study calculated the moment acting at each Joint from the equations of force and moment, classified the complicated muscles around the knee joint, and then predicted the muscle forces to balance the joint moment. Two models were proposed in this study: the simpler one that consists of three groups of muscle and the more detailed one of nine groups of muscle.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.792-795
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• 2007

To quantify irregular body motions the time series analysis was applied to the gait study. The motions obtained from gait experiment are complex to exhibit nonlinear behaviors. The purpose of this study is to measure quantitatively the characteristics of the major six joints of the body during walking. The gait experiments were carried out for eighteen young males walking on a motor driven treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The largest Lyapunov exponent was calculated from the time series to quantify stabilities of each joint. The results provides a data set of nonlinear dynamic characteristics for six joints engaged in normal walking.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.786-791
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• 2007

Statistical differences between men and women are investigated for a total of eleven joint motions during level walking. Human locomotion which exhibits nonlinear dynamical behaviors is quantified by the chaos analysis. Time series of joint motions was obtained from gait experiments with ten young males and ten young females. Body motions were captured using eight video cameras, and the corresponding angular displacements of the neck and the upper body and lower extremity were computed by motion analysis software. The maximal Lyapunov exponents for eleven joints were calculated from attractors constructed and then were analyzed statistically by one-way ANOVA test to find any difference between the genders. This study shows that sexual differences in joint motions were statistically significant at the shoulder, knee and hip joints.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1057-1062
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• 2007

The purpose of this study is to find out design parameters of vibrating screen, such as particles motion, specific gravity, shape, and kinetic friction. In order to approach this problem, four materials of construction wastes, wood, styrofoam, concrete, and sand are used for dynamic modeling. To present friction between the particles material and tilt plates material, these particles model is applied in order to verify effectively. Generally, the vibrating screen is composed of three assemblies such as screen, wastes guide, supported of screen. This model regards vibrator as system of screen fixed tilt plates. The model is analyzed to present what kind of particles motion while the system is vibrating. and this vibration system has been implemented in a ADAMS dynamaic program. This modeling is consist of dynamic model separation state on particle size. This study make good technique to verify in theory.