• Journal of Biosystems Engineering
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• 제38권2호
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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.

• 한국에너지공학회:학술대회논문집
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• 한국에너지공학회 2010년도 춘계학술 발표회
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• pp.175-175
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• 2010

지능화, 고도화되어 제조되는 유사연료유는 차량 안전과 건전한 에너지 산업 육성을 저해시키고 있다는 점에서 문제가 되고 있다. 대표적인 유사경유 유형 중용제혼입의 경우는 적출과정에서 원료와 일반경유와의 혼입율을 조제시험을 통해 확인하고 있는데, 원료확보와 분석에 많은 시간과 노력이 소요되고 있다. 본 연구에서는 예상 유사경유원료를 조사하고 주요 물성에 대한 분석을 근거로 관계식을 도출하였으며, 실제 분석을 대체할 수 있는 예측 프로그램을 제작하였다.

• 전산구조공학
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• 제10권4호
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• pp.131-142
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• 1997

본 논문에서는 4차 손상유효 tensor를 이용하여 유한 탄소성변형에 대한 운동학적인 손상해석이 소개된다. 이는 뼈대구조에서의 연속체 손상역학의 유효응력개념을 통하여 이루어진다. 소규모 변형율상태에만 적용할 수 있는 등가변형율 혹은 에너지법과는 달리 제안된 운동학적인 방법은 유효변형율과 유한변형율에 적용할 수 있는 소규모 변형상태에 있어서의 손상탄소성변형율 사이의 관계를 제공한다. 이는 실제 형상과 가상의 유효형상 모두에 대한 변형장의 운동학을 직접 고려하여 수행된다. 이 방법은 등가변형율이나 변형율 에너지 경우처럼 소규모 변형율에 한정되지 않으며, 유한변형율에 대한 에너지등가의 가정과 일치함을 보여준다. 본 논문에서는 손상이 탄소성영역에서 운동학적으로 표현되며, 손상유효 tensor는 2차 손상 tensor를 통해 손상을 운동학적 측정값이 항으로 특징지워진다.

• 한국운동역학회지
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• 제17권3호
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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.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 춘계 학술발표회논문집
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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.

• 한국통신학회논문지
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• 제15권4호
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• pp.295-300
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• 1990

역 운동학 문제는 로보트 매니퓰레이터 제어에서 중요한 관점이 되어 왔다. 본 논문에서는 Jacobi 제어 기법을 실현하기 위하여 Hopfield, Tank의 신경회로망 모델을 사용하였다. 뉴런의 상태는 매니퓰레이터의 관절 속도를 나타내고, 연결강도는 Jacobi 행렬의 값으로 결정되어 진다. 회로망의 에너지 함수는 실제 관절 속도와 원하는 관절 속도간의 최소 자승 오차와 대응하도록 구성한다. 매 샘플링에서 연결 강도와 뉴런의 상태는 현재의 관절위치값에 따라서 변한다. 여유 자유도를 가지는 평면 매니퓰레이터에 대한 역 운동학 해를 컴퓨터 시뮬레이션을 통하여 구하였다.

• 로봇학회논문지
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• 제17권3호
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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.

• 척추신경추나의학회지
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• 제15권2호
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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.

• 대한기계학회논문집A
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• 제20권12호
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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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• 제17권6호
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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.