• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1014-1022
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• 2009

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

• Structural Engineering and Mechanics
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• v.78 no.1
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• pp.53-66
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• 2021

The determination of the damage index to reveal the performance level of a structure can constitute the seismic risk generalization approach based on the parametric analysis. This study implemented this concept to one kind of civil engineering structure that is the concrete gravity dam. Different cases of the structure exhibit their individual responses, which constitute different considerations. Therefore, this approach allows the parametric study of concrete as well as soil for evaluating the seismic nature in the generalized case. To ensure that the target algorithm applicable to most of the concrete gravity dams, a very simple procedure has been considered. In order to develop a correlated algorithm (by response surface methodology; RSM) between the ground motion and the structural property, randomized sampling was adopted through a stochastic method called half-fractional central composite design. The responses in the case of fluid-foundation-dam interaction (FFDI) make it more reliable by introducing the foundation as being bounded by infinite elements. To evaluate the seismic generalization of FFDI models, incremental dynamic analysis (IDA) was carried out under the impacts of various earthquake records, which have been selected from the Pacific Earthquake Engineering Research Center data. Here, the displacement-based damage indexed fragility curves have been generated to show the variation in the seismic pattern of the dam. The responses to the sensitivity analysis of the various parameters presented here are the most effective controlling factors for the concrete gravity dam. Finally, to establish the accuracy of the proposed approach, reliable verification was adopted in this study.

• Proceedings of the KIEE Conference
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• 2000.07e
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• pp.40-43
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• 2000

Our studies diagnose insulation degradation using the method of computer sensing system, which has the advantages of PD(partial discharge) and AE(acoustic emission) sensing system. To use advantages of these two methods can be used effectively to search for treeing location and PD in some materials. In analysis method of degradation, using statically operator such as the center of gravity (G), the gradient of the discharge distribution(C), we have analyzed for the prediction of life which we can be obtained the time, occurred of many pulse of small discharge amplitude.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.102-107
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• 1986

This paper presents a new idea to obtain moment of inertia values of an arbitrary shape body by applying inverse modal transformation technique. A multiaxes inertia pendulum apparatus was designed to measure 6 rigid body modes of a test body. A software was developed to calculate inertia properties as well as the location of center of gravity and total mass of the test body from the measured modal data. The developed method was applied to a simple body of which the inertia properties are known then the obtained values were compared with the known values.

• Journal of Ship and Ocean Technology
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• v.2 no.1
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• pp.1-12
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• 1998

A method to predict the dynamic roll stability of hard-chine planing craft is presented. Starting with the equation of motion, an equation governing small roll perturbations is developed. The roll restoring moment acting on the hull is evaluated by considering “static”and dynamic contributions. The contribution of rudders and skegs, which is significant for this type of craft, is also determined. A worked example is presented to show how the method can be used to find the maximum center of gravity height for transverse stability.

• Economic and Environmental Geology
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• v.24 no.4
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• pp.409-419
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• 1991

A gravity survey was conducted in the western Marquette district, Michigan, to delineate the subsurface structure and the relationship of the Proterozoic Marquette Range Supergroup rocks (Precambrian X) and Archean basement (Precambrian W) where the Republic, Michigan River, and Marquette troughs join. In order to accomplish these purposes, three hundred and forty gravity stations were established in the area of $380km^2$. Positive anomalies are associated with the Precambria X, metasedimentary sequence which has a higer density with respect to the Precambrian W, basement rocks. The dominant positive gravity anomalies follow the axes of the three troughs which are filled with Precambrian X rocks. Subsurface structure was modelled by using the Talwani method. Gravity model studies indicate that the Marquette trough is asymetrically shaped and steeply dipping at the north edge except in the eastern part of the study area. The interpretive results obtained from two dimensional model studies suggest that the basement structure of the study area is relatively flat, and that the troughs were formed contemporaneously.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2654-2659
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• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• Phonetics and Speech Sciences
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• v.12 no.3
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• pp.85-94
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• 2020

Vowel articulation in subjects related to speech disorders seems to be difficult. A chant method that properly reflects the characteristics of language could be used as an effective way of addressing the difficulties. The purpose of this study was to find out whether the chant method is effective as a means of enhancing vowel articulation. The subjects of this study were 60 normal adults (30 males and 30 females) in their 20s and 30s whose native language is Korean. Eight utterance conditions including chanting and reading conditions were recorded and their acoustic data were analyzed. The results of the analysis of the acoustic variables related to the formant confirmed that the F1 and F2 values of the vowel formants are increased and the direction of movement of the center of gravity of the vowel triangle is statistically significantly forwarded and lowered in the chant method in both the word and the phrase context. The results also proved that accent is the most influential musical factor in chant. There was no significant difference between four repeated tokens, which increased the reliability of the results. In other words, chanting is an effective way to shift the center of gravity of the vowel triangle, which suggests that it can help to improve speech intelligibility by forming a desirable place for articulation.

• Journal of Korea Foundry Society
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• v.19 no.1
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• pp.47-53
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• 1999

Squeeze casting process has been used in the field of a commercial manufacturing method, in which metal is enforcedly solidified under pressure enough to prevent the cast defects such as either gas porosity or shrinkage defect. In this paper, to clarify the relationship between applied pressures and macro ${\cdot}$ microstructural behaviors in gravity and direct squeeze casts, specimens were cast by various squeezing pressures during solidification of 7000 series Al wrought alloy in the metal die designed specially. The applied pressures used in this study were 0, 25, 50, and 75 MPa. The microstructural morphologies of squeeze cast were more fine and dense with increasing the applied pressures, because of the greater solidification rate of billet resulting from the applied pressure. A normal segregation phenomenon of an increasing in amount of eutectics towards the center of the billet was observed for squeeze casts, whereas gravity cast showed an inverse segregation phenomenon of an increasing in amount of eutectics towards the edge in the billet. This change in segregation pattern which is normal or inverse is due to a higher radial temperature gradient and reduced time in the semi solid state for squeeze casting.

• Journal of the Korean Professional Engineers Association
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• v.16 no.2
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• pp.1-11
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• 1983

The resistance property of a high speed passenger craft (: "DOL-PIN HO" designed by the author in 1972) is investigated as follows; -. The Resistance property of the craft is determined by savitsky′s method and blount-Fox′s method. The theoretical results are also compared with the full scale data. The comparison reveals that the result when using blount/fox′s method are in much closer agreement with the full scale data than savitsky′s. -. The effects of ship speed on the positions of the center of pressure and of the longitudinal center of gravity (L.C.G.) are investigated. The investigation shows that the position of L.C.G. of the craft is almost constant although the ship speed is changed. -. The effect of transom flap on the Resistance property of the craft is studied using savitsky/brown′s method. From the study it is found that the resistance of the craft is decreased and hence speed gain (about 3% of the service speed) can be obtained, when using transom flap for the craft.