• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1744-1745
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• 2007

휴머노이드 로봇은 높은 자유도 때문에 생기는 비선형성 때문에, 안정성을 보장하는 것은 중요한 연구 분야중 하나이다. 또한 안정적인 보행을 하기위해서 미지의 환경하에서 발의 착지는 첫 번째 단계중 하나이다. 그러나, 이족보행 로봇은 반작용 없이 안정적인 발의 착지를 하기 위한 정보를 얻는것이 쉽지 않기 때문에, 착지에 관한 많은 연구가 활발히 진행되고 있다. 그러므로, 본 논문에서는 퍼지 시스템을 이용한 실시간 착지 제어 방법에 대해 제안하였다. 실시간 착지 제어는 다양한 지면의 조건에서 안정성을 갖고 있어야 하는 제약 조건을 갖는다. 이전까지의 연구에서는 실시간 착지제어에 관한 방법이 매우 전무하고 부가적인 기계적 장비를 (특수한 발의 구조) 필요로 하였다. 그러나, 본 논문에서는 힘 센서만을 사용하여 다양한 환경이 인식될수 있게 하였다. 제안된 방법은 19 자유도를 갖는 휴머노이드 모델을 통해 실험되었다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.06a
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• pp.5-7
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• 2018

지능형 자동차는 역사가 깊은 연구 분야이다. 과거에는 낮은 하드웨어 성능에 맞추기 위하여 복잡한 알고리즘을 경량화하면서 성능을 유지하고자 하는 제한적인 연구들이 주로 이루어졌으나, 최근 하드웨어 성능이 높아지면서는 다양한 알고리즘 적용이 가능해졌기 때문에 매우 활발하게 연구되는 분야가 되었다. 본 논문은 차량의 주행 특성을 반영한 움직임 벡터 필드 모델링을 수행하고, 이 모델 값과 실제 추정된 움직임 벡터와의 차이를 이용해서 차량의 후보 영역을 검출하는 객체 영역 검출 알고리즘을 제안한다. 제안하는 움직임 벡터 필드 모델링 기법은 기존의 움직임 벡터 추정 기법에 비해 계산량이 적고, 음영 영역이나 밝기가 포화된 영역에서도 움직임 필드를 모델링해낼 수 있는 장점이 있어서 상용화된 블랙박스에 적용이 가능하다.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.481-486
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• 2023

The purpose of this study is to optimize parameters of a contact model to obtain similar ground contact force of human walking. Dynamic walking simulation considering ground contact is performed to determine load specifications when developing walking assist robots. Large contact forces that are not observed in actual experimental data occur during the simulation at the initial contact (e.g., heel contact). The large contact force generates unrealistic large joint torques. A lower exoskeleton robot with no ankles is developed with the Matlab simscape and the nonlinear hyper volumetric contact model is applied. Parameters of the nonlinear hyper volumetric model were optimized using actual walking contact force data. As a result of optimization, it was possible to obtain a contact force pattern similar to actual walking by removing the large contact force generated during initial contact.

• Aerospace Engineering and Technology
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• v.12 no.1
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• pp.213-220
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• 2013

Korean Lunar Explorer is planned to be launched in the 2020s according to national space development strategy. The Lunar Explorer will be developed as two unmanned light weight models: a lunar orbiter and a lunar lander. The Lunar Explorer's structure should be designed to have light weight due to constraints from launcher as well as to provide structural safety against launch load, in-orbit condition and landing condition and to serve accommodation space for mission equipment. Core technology related to structural development of lunar explorer should be developed in advance. Especially, for lunar lander, technology for developing landing gear which enables lander to land safely on lunar surface is required essentially. This paper deals with structural development of lunar lander ground test model including design, manufacturing and test.

• Journal of the Institute of Convergence Signal Processing
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• v.15 no.1
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• pp.9-14
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• 2014

The path loss data was re-calculated according to the distance between the base station and a mobile station in the mobile telecommunications network. In this paper, the averaged path loss data was plotted with the conventional path loss models(free space, plane earth, Hata model ${\ldots}$). The standard deviations for the 2 Km, 1 Km, 0.5 Km-interval averaged path loss were 2.29 dB, 3.39 dB, 4.75 dB, respectively. Additionally, the derivative values for the 2 Km, 1 Km, 0.5 Km-interval averaged path loss were evaluated to find the positions with more than 1 times or 2times of the standard deviation. The situations with the sharply fluctuated path loss were calculated to 5 positions in the 2 Km interval, to 7 positions in the 1 Km interval, to 19 positions in the 0.5 Km interval, respectively. And, the exact distances between the base station and a mobile station were found with the sharply fluctuated path loss.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.8
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• pp.691-701
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• 2017

The barbell squat is a fundamental physical exercise for strengthening the lower body and core muscles. It is an integral part of training and conditioning programs in sports, rehabilitation, and fitness. In this paper, we proposed a virtual test framework for squat exercises using a Smith machine to simulate joint torques and muscle forces, based on an integrated product-human model and motion synthesis algorithms. We built a muscular skeletal human model with boundary conditions modeling the interactions between the human body and a machine or the ground. To validate the model, EMG, external forces, and squat motions were captured through physical experiments by varying the foot position. A regression-based motion synthesis algorithm was developed based on the captured squat motions to generate a new motion for a given foot position. The proposed approach is expected to reduce the need for physical experiments in the development of training programs.

• Atmosphere
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• v.31 no.3
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• pp.327-340
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• 2021

In this study, the impact of soil moisture initialization in GloSea5, the operational climate prediction system of the Korea Meteorological Administration (KMA), has been investigated for the period of 1991~2010. To overcome the large uncertainties of soil moisture in the reanalysis, JRA55 reanalysis and CMAP precipitation were used as input of JULES land surface model and produced soil moisture initial field. Overall, both mean and variability were initialized drier and smaller than before, and the changes in the surface temperature and pressure in boreal summer and winter were examined using ensemble prediction data. More realistic soil moisture had a significant impact, especially within 2 months. The decreasing (increasing) soil moisture induced increases (decreases) of temperature and decreases (increases) of sea-level pressure in boreal summer and its impacts were maintained for 3~4 months. During the boreal winter, its effect was less significant than in boreal summer and maintained for about 2 months. On the other hand, the changes of surface temperature were more noticeable in the southern hemisphere, and the relationship between temperature and soil moisture was the same as the boreal summer. It has been noted that the impact of land initialization is more evident in the summer hemispheres, and this is expected to improve the simulation of summer heat wave in the KMA's operational climate prediction system.

• Journal of the Korean Association of Geographic Information Studies
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• v.15 no.1
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• pp.144-158
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• 2012

A higher spatial resolution is preferable to support the accuracy of detailed climate analysis in urban areas. Airborne LiDAR (Light Detection And Ranging) and satellite (KOMPSAT-2, Korea Multi-Purpose Satellite-2) images at 1 to 4 m resolution were utilized to produce digital elevation and building surface models as well as land cover maps at very high(5m) resolution. The Climate Analysis Seoul(CAS) was used to calculate the fractional coverage of land cover classes in built-up areas and thermal capacity of the buildings from their areal volumes. It then produced analyzed maps of local-scale temperature based on the old and new input data. For the verification of the accuracy improvement by the precise input data, the analyzed maps were compared to the surface temperature derived from the ASTER satellite image and to the ground observation at our detailed study region. After the enhancement, the ASTER temperature was highly correlated with the analyzed temperature at building (BS) areas (R=0.76) whereas there observed no correlation with the old input data. The difference of the air temperature deviation was reduced from 1.27 to 0.70K by the enhancement. The enhanced precision of the input data yielded reasonable and more accurate local-scale temperature analysis based on realistic surface models in built-up areas. The improved analysis tools can help urban planners evaluating their design scenarios to be prepared for the urban climate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.1023-1028
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• 2010

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components.

• Journal of Korean Society of Forest Science
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• v.83 no.3
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• pp.357-364
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• 1994

In this paper, the characteristics of cable logging systems, of which skyline length is adjustable during operation are discussed from a standpoint of system geometry. Among the cable logging systems, the live skyline is the typical one, of which operation is easy to understand. To analyze the cable logging mechanics of the live skyline, computer models were developed. In developing the computer models, the concept of the live skyline operation was classified into 'true live skyline' and 'live skyline with lift'. The former assumes to adjust skyline length continuously to maintain the skyline clearance over ground constant during inhaul ; the latter assumes to shorten the skyline length only to keep the minimum skyline clearance during inhaul. The computer model was used in investigating the mechanical efficiency and the operational characteristics of the live skyline system. First, the payload capability of live skyline was compared with that of standing skyline. Second, the effect of the change in the log-drag geometry on the payload capability of live skyline was investigated. Finally, the payload capability of live skyline with lift was compared with that of true live skyline as an effort to explain the concepts of true live skyline and live skyline with lift.