• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• Journal of Welding and Joining
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• 제34권3호
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• pp.1-5
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• 2016

At present, FSW(friction stir welding) process is being considered as an actual way for production of various industrial products. However FSW process involves high temperature and load on the tool during welding. These are make a difference between FSW machine and general machine tools. From this reason, development of FSW machine needs very careful consideration on stiffness of machine structure, spindle and moving axis including machine control system. In this study authors investigate on the trends of technology development of FSW machine in order to share the information for more extension of FSW technology with related researchers and engineers.

• Structural Engineering and Mechanics
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• 제75권3호
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• pp.357-367
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• 2020

The objective of this article is investigation of dynamic response of thick multilayer functionally graded (FG) beam under generalized dynamic forces. The plane stress problem is exploited to describe the constitutive equation of thick FG beam to get realistic and accurate response. Applied dynamic forces are assumed to be sinusoidal harmonic, sinusoidal pulse or triangle in time domain and point load. Equations of motion of deep FG beam are derived based on the Hamilton principle from kinematic relations and constitutive equations of plane stress problem. The numerical finite element procedure is adopted to discretize the space domain of structure and transform partial differential equations of motion to ordinary differential equations in time domain. Numerical time integration method is used to solve the system of equations in time domain and find the time responses. Numerical parametric studies are performed to illustrate effects of force type, graduation parameter, geometrical and stacking sequence of layers on the time response of deep multilayer FG beams.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• 한국운동역학회지
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• 제18권2호
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• pp.125-139
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• 2008

본 연구는 선천적 시각장애인과 후천적 시각장애인 그리고 정안 인을 대상으로 운동학적 특징을 비교 분석해보아, 시각장애인들의 운동지도와 운동능력의 향상 그리고 부상방지를 목적으로 한다. 비디오카메라는 3대를 사용하여 촬영속도는 60field/sec로 하였으며 가장 멀리 던진 자세를 선택하여 Kwon 3D ver. 3.1프로그램으로 자료를 분석 하였다. 실험의 결과는 1. 릴리스 시의 공의 속도는 정안 인이 가장 빠르고 후천 맹, 선천 맹의 순서로 나타났다. 2. 정안 인은 손목관절을 잘 이용하고 몸의 회전범위가 크며 서로 비슷한 동작 패턴을 보이고 있으나 선천 맹 은 전혀 그렇지 못했다. 3. 정안 인은 제2국면(P2)에서 허리가 어깨를 리드하며 공을 던지고 있으나, 선천 맹 과 후천 맹의 일부는 허리가 어깨를 리드하지 못했다. 4.정안 인들은 공이 날아 갈 방향을 쳐다보며 공을 던지나, 시각장애인들은 공이 날아 갈 방향을 쳐다보지 못했다. 5. 정안 인이 비교적 비슷한 패턴을 보이며 던지는데 비해, 후천 맹은 정안 인과 일부 비슷한 패턴을 보이고 있고, 선천 맹 은 각기 전혀 다른 패턴을 보이고 있다. 6. 정안 인의 체중이동이 잘되고 있는데 비해, 후천 맹 은 정안 인보다 좋지 못하고 선천 맹은 체중이동이 안 되고 있다. 이상을 종합해 보면 실명 시기가 던지기 동작에 많은 영향을 미친 다는 것을 알 수 있다.

• Smart Structures and Systems
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• 제13권4호
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• pp.659-683
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• 2014

The static analysis of structures with arbitrary cross-section geometry and material lamination via a refined one-dimensional (1D) approach is presented in this paper. Higher-order 1D models with a variable order of expansion for the displacement field are developed on the basis of Carrera Unified Formulation (CUF). Classical Euler-Bernoulli and Timoshenko beam theories are obtained as particular cases of the first-order model. Numerical results of displacement, strain and stress are provided by using the finite element method (FEM) along the longitudinal direction for different configurations in excellent agreement with three-dimensional (3D) finite element solutions. In particular, a layered thin-walled cylinder is considered as first assessment with a laminated conventional cross-section. An atherosclerotic plaque is introduced as a typical structure with arbitrary cross-section geometry and studied for both the homogeneous and nonhomogeneous material cases through the 1D variable kinematic models. The analyses highlight limitations of classical beam theories and the importance of higher-order terms in accurately detecting in-plane cross-section deformation without introducing additional numerical problems. Comparisons with 3D finite element solutions prove that 1D CUF provides remarkable three-dimensional accuracy in the analysis of even short and nonhomogeneous structures with arbitrary geometry through a significant reduction in computational cost.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.

• 천문학회보
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• 제43권2호
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• pp.53.1-53.1
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• 2018

We present the second data release from the SAMI Galaxy Survey. The data release contains reduced spectral cubes for 1559 galaxies, about 50% of the full survey, having a redshift range 0.004 < z < 0.113 and a large stellar mass range 7.5 < log($M_*/M_{\odot}$) < 11.6. This release also includes stellar kinematic and stellar population value-added products derived from absorption line measurements, and all emission line value-added products from Data Release One. The data are provided online through Australian Astronomical Optics' Data Central. Our poster presents stellar/gas kinematics on the metallicity-mass plane and highlight several galaxies from the SAMI Galaxy Survey that have interesting stellar and gas kinematics. For more information about data release 2, please see: https://sami-survey.org/abdr.

• The Journal of Korean Physical Therapy
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• 제29권3호
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• pp.145-151
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• 2017

Purpose: The purpose of this study was to investigate the validity and reliability of the measurement of shoulder joint motions using an inertial measurement unit (IMU). Methods: For this study, 33 participants (32 females and 1 male) were recruited. The subjects were passively positioned with the shoulder placed at specific angles using a goniometer (shoulder flexion $0^{\circ}-170^{\circ}$, abduction $0^{\circ}-170^{\circ}$, external rotation $0^{\circ}-90^{\circ}$, and internal rotation $0^{\circ}-60^{\circ}$ angles). Kinematic data on the shoulder joints were simultaneously obtained using IMU three-dimensional (3D) angular measurement (MyoMotion) and photographic measurement. Test-retest reliability and concurrent validity were examined. Results: The MyoMotion system provided good to very good relative reliability with small standard error of measurement (SEM) and minimal detectable change (MDC) values from all three planes. It also presented acceptable validity, except for some of shoulder flexion, shoulder external rotation, and shoulder abduction. There was a trend for the shoulder joint measurements to be underestimated using the IMU 3D angular measurement system compared to the goniometer and photo methods in all planes. Conclusion: The IMU 3D angular measurement provided a reliable measurement and presented acceptable validity. However, it showed relatively low accuracy in some shoulder positions. Therefore, using the MyoMotion measurement system to assess shoulder joint angles would be recommended only with careful consideration and supervision in all situations.

• 한국운동역학회지
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• 제17권4호
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• pp.65-71
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• 2007

The purpose of this study was to investigate variability of kinematic factors affecting the record in women's javelin throwing. For this study, 8 female-javelin thrower participated in this experiment. The three digital video cameras (Sony, 120x) were used to record motions. Kwon3D 2.1 was used to process data and they were analyzed with Excell for factors. The sampling rate of a camera was 60Hz and shutter speed of a camera was 1/1000sec. The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 6Hz. The results were as follows: 1. From cross step to landing of delivery, the average velocities of CoM of non-dominant athletes were greater than dominant athletes and those of CoM of non-dominant athletes less than dominant athletes, but at release dominant athletes had a lower average velocity and a variability than non-dominant athletes. 2. From cross step to landing of delivery, the average throwing velocities and variabilities of a javelin of dominant athletes were greater than dominant athletes, but at release, dominant athletes had a higher velocity than dominant athletes and had a equal variability. 3. At every events, a forward or backward angles and variabilities of non-dominant athletes were greater than dominant athletes. 4. From cross step to landing of delivery, dominant athletes' elbow average angles were greater than non-dominant athletes and the variabilities of latter less than non-dominant athletes, but at release dominant athletes' variabilities were smaller than non-dominant athletes. 5. At landing of delivery, dominant athletes' knee average angles and variabilities of a supporting foot were a greater than non-dominant athletes, and at release, dominant athletes' knee average angles was a greater but variabilities less than non-dominant athletes. In conclusion, the dominant threw javelins fast while having stable postures and the range of elbow's angle large.