• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.187-193
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• 2002

Since the bus is regarded as the one of the most public transportation systems, research on the safety and facilities of the bus has been increased actively in recent years. In this paper, we concern the design of the bus door mechanism that is composed of many linkages and actuators(or motors). In particular, the folding door mechanism is representative system installed in most of urban buses. To design the folding door mechanism, we construct the kinematic and dynamic analysis model fur computer simulation. Also, the dynamic analysis is accomplished by both direct dynamics and inverse dynamics. Since the folding door mechanism has many design variables, the analysis program is developed to perceive kinematic and dynamic characteristics according to the design variables and simulation conditions.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.5
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• pp.155-163
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• 2008

This study investigated biomechanical response through the 3-dimensional virtual skeletal model developed and validated. Ten male subjects in standing posture were exposed to whole body vibrations and measured acceleration on anatomical of interest (head, $7^{th}$ cervical, $10^{th}$ thoracic, $4^{th}$ lumbar, knee joint and bottom of the vibrator). Three dimensional virtual skeletal model and vibration machine were created by using BRG LifeMOD and MSC.ADAMS. The results of forward dynamic analysis were compared with results of experiment. The results showed that the accuracy of developed model was $73.2{\pm}19.2%$ for all conditions.

• The Journal of Korean Physical Therapy
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• v.24 no.4
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• pp.290-290
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• 2012

• Proceedings of the Korean Society of Dyers and Finishers Conference
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• 2001.11a
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• pp.118-121
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• 2001

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1383-1384
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• 2010

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1801-1802
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• 2008

마리오네트는 끝단에 연결된 줄을 이용하여 사용자가 제어 할 수 있는 인형이다. 본 연구는 마리오네트 원리를 적용하여 인간의 동작을 통해 로봇을 직접 제어할 수 있는 방법을 제안한다. 이를 위해 인간 손과 로봇 손의 사이에 가상의 줄(Virtual Elastic strip)이 연결되어 있는 모델을 사용한다. 실시간으로 측정되는 인간의 동작에 따라 가상 줄의 길이가 변하게 되고 가상 힘이 발생된다. 이 가상 힘을 고려하여 로봇 팔의 정동역학(Forward dynamics) 해를 구한 후, 제어를 위한 로봇의 각 관절값을 얻게 된다. 제안한 방법을 이용하여 인간 동작을 실시간으로 가상 로봇의 동작으로 변환하고 제어하는 실험을 수행하였다.

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.9-12
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• 2006

We performed molecular dynamics simulations on the conventional MOF, IRMOF-14 and the catenated MOF with two MOF chains, IRMOF13, to find out rational design and synthetic strategies toward efficient hydrogen storage materials. The molecular dynamics calculations were done using Universal force fields and the analysis of result was performed during the NVE dynamics after preliminary NVT dynamics at 77K. The results showed the density of adsorbed hydrogen molecules was increased in the various pores created by catenation of MOFs while the large amount of volume in conventional MOF was not effectively utilized to store hydrogen. Those calculation results commonly showed the proper control of pore si Be for hydrogen storage into MOF by catenation would be one of the efficient ways to increase hydrogen capacity of MOFs.

• Journal of the Korean Society for Nondestructive Testing
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• v.25 no.4
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• pp.262-267
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• 2005

Epidural block under general anesthesia has been widely used to control postoperative pain. In this anesthetic state many hemodynamic parameters are changed. Moreover pulse transit time is influenced by this memodynamic change. m change in the finger and the toe due to relaxation of arterial wall muscle after general anesthesia and epidural block under general anesthesia. This study, in the both general anesthesia and epidural block under general anesthesia, ${\Delta}PTT$ of the toe and of the finger are measured. In addition, ${\Delta}PTT$(toe-finger) of the epidural block under general anesthesia and of the general anesthesia were compared.

• Journal of Aerospace System Engineering
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• v.13 no.3
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• pp.70-77
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• 2019

This study presents the numerical investigation of the trajectory of rocket launched from a helicopter. The nonlinear mathematical model of armed configuration of UH-60 helicopter was developed while Hydra 70 unguided rocket was modeled to simulate the rocket behavior. The effects of various inflow models on the launched rocket trajectory are obtained. Similarly, rocket launch simulation was performed to determine the unsafe flight maneuver condition where the rocket trajectory is critically close to the helicopter main rotor tip path plane.