• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 2010.04a
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• pp.175-175
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• 2010

Adulterated Fuel is one of the most controversial issues due to its adverse effects to engine system and make it difficult to build up the sound distribution system. Typically, Solvent dissolved type among adulterated diesel fuel need much time and efforts to figure out through the experiments. In this paper, we analysis major properties(Kinematic viscosity and components pattern) of suspicious solvents and establish the correlations to substitute the experiments

• Computational Structural Engineering
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• v.10 no.4
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• pp.131-142
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• 1997

In this paper the kinematics of damage for finite elastoplastic deformations is introduced using the fourth-order damage effect tensor through the concept of the effective stress within the framework of continuum damage mechanics. Unlike the approach of strain equivalence or energy equivalence, which is applicable only to small strains, the proposed kinematic description provides a relation between the effective strain and the damage elastoplastic strain in finite deformation. This is accomplished by directly considering the kinematics of the deformation field both real configuration. The proposed approach shows that it is equivalent to the hypothesis of energy equivalence at finite strains. The damage effect tensor in this work is explicitly characterized in terms of a kinematic measure of damage in the elastoplastic domain through a second-order damage tensor.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.133-145
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• 2007

The purpose of this paper was to compare of difference between energy walking and normal walking. Subjects were selected 8 male undergraduates. The kinematic variables of a pelvis and a thorax were analysed at the take off and contact with 3d cinematography. In addition to the variables, the phase plot angle was calculated in order to definite characteristics in the phase space. The pelvic angle and angular velocity showed significant differences in the flexion/extension between two walking patterns. The pelvic angle and angular velocity were increasing when walking speed was increasing and magnitude of the variables of energy walking was larger than corresponding values for normal walking. On the other hand, the thoracic angle demonstrated significant differences in the flexion/extension and rotation between two walking patterns. The angles of energy walking were smaller in the flexion/extension and were larger in the rotation than the angle of normal walking. The kinematic characteristics of energy walking were also showed clearly significant differences in the range of motion and the relative angle of the trunk. The angle of phase plot only showed demonstrated a significant difference in the rotation at contact between the two walking patterns.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.294-301
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• 2003

The energy concept has been applied to the reported experimental results of six different structural steel connections to investigate the characteristics of system-dependent energy curve and energy absorption efficiency. For this the concept o( static and kinematic energy absorption efficiency has been defined. The present paper closes with the implication of the necessity of further investigation to extend the energy concept to reach the engineering practice.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.4
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• pp.295-300
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• 1990

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield, Tank's neural network. The states of neurons represent joint velocities, and the connection weights are determined from the current value of the Jacobian matirx. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint positon. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.303-307
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• 2022

This paper proposes a method that can generate a smooth trajectory from the discontinuous trajectory in kinematic, dynamic, and task-space trajectory constraints. The problem is defined as the minimization of kinetic energy, and then the simulation is performed by using the MATLAB. Kinematic and inverse kinematic equations are derived for the simulation of the 6-DOF robotic arm. The simulation results showed that the trajectory of each joint is generated while satisfying the constraints without any discontinuity. There are small errors in the Cartesian trajectory, but unnecessary deceleration and acceleration can be eliminated. In addition, it is possible to quickly switch between the robotic tasks by applying the proposed method.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.15 no.2
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• pp.33-41
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• 2020

Objectives The purpose of this report was to study the circulation of meridian WiGi, YoungGi, from the viewpoint of manual medicine. Methods First, the Korean Medical approach analyzes documents about the circulation of meridian WiGi, YoungGi, and the biomechanical approach is to analyze documents about kinetic force and kinematic movement. The third inherent energy approach is to analyze documents about craniosacral rhythm and visceral motility. Finally, it is to study the correlation between the circulation of meridian WiGi, YoungGi, and the viewpoint of biomechanics force and movement, the inherent energy of manual medicine. Results Meridian WiGi is fast, powerful, and changeful. It circulates through the head and extremities in the daytime and visceral organs at night. The deviation pelvis and distorted thoracic cage create kinetic force and kinematic movement. Meridian YoungGi is very small and soft energy and circulates meridians and visceral organs permanently. Craniosacral rhythm and visceral motility radiate continuously from cranial and visceral organs to the whole body. Conclusions Circulation of meridian WiGi is closely related to the biomechanical approach. In addition, circulation of meridian YoungGi is closely related to the inherent energy approach.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3871-3882
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• 1996

In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn-Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessaryand sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinemetics and gradient projection mehtod. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the Nuclear Power Plant.

• Geomechanics and Engineering
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• v.17 no.6
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• pp.573-581
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• 2019

Excavation of underground cavern and shaft was proposed for the construction of a ventilation facility in an urban area. A shaft connects the street-level air plenum to an underground cavern, which extends down approximately 46 m below the street surface. At the project site, the rock mass was relatively strong and well-defined joint sets were present. A kinematic block stability analysis was first performed to estimate the required reinforcement system. Then a 3-D discontinuum numerical analysis was conducted to evaluate the capacity of the initial support and the overall stability of the required excavation, followed by a 3-D continuum numerical analysis to complement the calculated result. This paper illustrates the application of detailed numerical analyses to the design of the required initial support system for the stability of underground hard rock mining at a relatively shallow depth.