• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.9
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• pp.136-143
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• 2013

In this paper, a algorithm to find joints of a small animal like a lizard from the multiple-view silhouette images is presented. The proposed algorithm is able to calculate the 3D coordinates so that the locomotion of the lizard is markerlessly reconstructed. The silhouette images of the lizard was obtained by a adaptive threshold algorithm. The skeleton image of the silhouette image was obtained by Zhang-Suen method. The back-bone line, head and tail point were detected with the A* search algorithm and the elimination of the ortho-diagonal connection algorithm. Shoulder joints and hip joints of a lizard were found by $3{\times}3$ masking of the thicked back-bone line. Foot points were obtained by morphology calculation. Finally elbow and knee joint were calculated by the ortho distance from the lines of foot points and shoulder/hip joint. The performance of the suggested algorithm was evaluated through the experiment of detecting joints of a small lizard.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.64-71
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• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• Land and Housing Review
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• v.3 no.4
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• pp.433-449
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• 2012

An experimental investigation was conducted to study the behavior of RC wide beam-column joints with slab subjected to reversed cyclic loads under constant axial load. Six half scale interior wide beam-column assemblies representing a portion of a frame subjected to simulated seismic loading were tested, including three specimens without slab and three specimens with slab. The primary variables were the ratio of column-to-beam flexural capacity ($M_r={\Sigma}M_c/{\Sigma}M_b$ ; 0.77~2.26), ratio of the column-to-beam width (b/H ; 1.54, 1.67). Test results are shown that (1) the current design code and practice for interior joints(type 2) are apply to the wide beam-high strength concrete column. (2) the presence of a slab have an effect on the performance of the wide beam-high strength concrete column interior joints(type 2). therefore in the design of the wide beam-high strength concrete column interior joints(type 2), the width of slab effective as a T beam flange should be considered. It was show that the case of the ratio of column-to-beam flexural capacity is more than 2.0, the effective width of slab are 2 times of an effective depth of wide beam, however if the ratio of column-to-beam flexural capacity is 1.4~2.0, the effective width of slab are not able to be considered.

• Journal of the Korean Society of Safety
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• v.6 no.3
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• pp.35-39
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• 1991

Concentrically braced frames are limited in their ability to absorb energy during an earthquake However by placing the bracing members eccentric to the beam column joints, an energy absorbing link unit is produced. The energy is absorbed by the link and / or columns deforming inelastically. Three models of a multistorey structure were analyzed using DRAIN-2D computer program .Three link lengths were used in the analyses, 7, 11 and 15 inches. The yield patterns are produced. However it is interesting to note the relative valuses of force and moment obtained.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.260-270
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• 1994

With the prevalent use of robot, the interests in moving speed of robot have been increasing for the purpose of upgrading performance of production. But the faster robot manipulator moves, the worse working accuracies are. And mechanical vibration is more and more serious with the increment of the moving speed of robot. So, the study on the cause and control method of robot vibration is one of the points of issue in robotics. This paper focuses on the vibration of 3 DOF parallel link drive mechanism robot. We assume that links of robot manipulator are `rigid' and joints are `flexible elements'. Governing equations of robot system including controller, servo amplifier, D.C servo motor, transmission with elasticity, and manipulator dynamics are derived. On the basis of modelling, we define `controller stiffness' by the proportional gain of controller and `stiffness of transmission'. Numerical and experimental research is performed to study vibration phenomena of robot induced from the variation of these two defined stiffnesses, and its results are shown.

• Journal of Welding and Joining
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• v.28 no.2
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• pp.79-83
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• 2010

In this study, newly developed welding consumables for EGW were welded in EH 36 TM steel plates and their welded joints were evaluated in point of mechanical properties and microstructures compared with imported consumables. Newly developed welding consumables were evaluated as good arc stability and slag fluidity, substantially the same with imported products. The tensile strength of all welded joints were sufficient to meet the requirements specified in a ship’s classification(490~640MPa) and all areas of fracture were heat affected zone(HAZ). Charpy absorbed energy values of all EG welded metals were sufficient to meet the requirements of classification(min. 34J) and those of newly developed wires were evaluated to be better than those of imported wires. As a result observing microstructures of single and tandem EG welded metals through optical and scanning electron microscope (OM&SEM), no grain boundary ferrite(PF(G)) were created in a prior austenite grain boundary and a volume fraction of a fine acicular ferrite were observed very high.

• Advances in robotics research
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• v.2 no.3
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• pp.183-199
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• 2018

This paper presents the development of a 3D printed humanoid robotic hands of SignBot, which can perform Malaysian Sign Language (MSL). The study is considered as the first attempt to ease the means of communication between the general community and the hearing-impaired individuals in Malaysia. The signed motions performed by the developed robot in this work can be done by two hands. The designed system, unlike previously conducted work, includes a speech recognition system that can feasibly integrate with the controlling platform of the robot. Furthermore, the design of the system takes into account the grammar of the MSL which differs from that of Malay spoken language. This reduces the redundancy and makes the design more efficient and effective. The robot hands are built with detailed finger joints. Micro servo motors, controlled by Arduino Mega, are also loaded to actuate the relevant joints of selected alphabetical and numerical signs as well as phrases for emergency contexts from MSL. A database for the selected signs is developed wherein the sequential movements of the servo motor arrays are stored. The results showed that the system performed well as the selected signs can be understood by hearing-impaired individuals.

• Applied Microscopy
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• v.49
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• pp.1.1-1.10
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• 2019

Joints of three-dimensional (3D) rutile-type (r) tin dioxide ($SnO_2$) nanowire networks, produced by the flame transport synthesis (FTS), are formed by coherent twin boundaries at $(101)^r$ serving for the interpenetration of the nanowires. Transmission electron microscopy (TEM) methods, i.e. high resolution and (precession) electron diffraction (PED), were utilized to collect information of the atomic interface structure along the edge-on zone axes $[010]^r$, $[111]^r$ and superposition directions $[001]^r$, $[101]^r$. A model of the twin boundary is generated by a supercell approach, serving as base for simulations of all given real and reciprocal space data as for the elaboration of three-dimensional, i.e. relrod and higher order Laue zones (HOLZ), contributions to the intensity distribution of PED patterns. Confirmed by the comparison of simulated and experimental findings, details of the structural distortion at the twin boundary can be demonstrated.

• Geomechanics and Engineering
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• v.33 no.2
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• pp.155-165
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• 2023

Hurricane Katrina swept New Orleans, Louisiana, USA, in 2005, causing more than 1,000 fatalities and severe damage to the flood protection system. Recovery activities are complete, however, clarifying failure mechanisms and devising resilient and cost-effective retrofitting techniques for the flood protection system are still of utmost importance to enhance the general structural integrity of water retaining structures. This study presents extensive centrifuge test results to find various failure mechanisms and effective retrofitting techniques for a levee system. The result confirmed the rotational failure and translational failure mechanisms for the London Ave. Canal levee and 17^th St. Canal levee, respectively. In addition, it found that the floodwalls with fresh waterstop in their joints perform better than those with old/weathered waterstop by decreasing pore water pressure build-up in the levee. Structural caps placed on the top of the joints between I-walls could also prevent local failure by spreading the load to surrounding walls. At the same time, the self-sealing bentonite-sand mixture installed along the riverside of floodwalls could mitigate the failure of floodwalls by blocking the infiltration of seepage water into the gap formed between levee soils and floodwalls.

• Journal of Korea Multimedia Society
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• v.10 no.6
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.