• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.164-171
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• 2022

Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.

• Journal of Korea Water Resources Association
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• v.52 no.11
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• pp.887-894
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• 2019

We proposed a GPU (Grapic Processing Unit) accelerated kinematic wave model for rainfall runoff simulation and tested the accuracy and speed up performance of the proposed model. The governing equations are the kinematic wave equation for surface flow and the Green-Ampt model for infiltration. The kinematic wave equations were discretized using a finite volume method and CUDA fortran was used to implement the rainfall runoff model. Several numerical tests were conducted. The computed results of the GPU accelerated kinematic wave model were compared with several measured and other numerical results and reasonable agreements were observed from the comparisons. The speed up performance of the GPU accelerated model increased as the number of grids increased, achieving a maximum speed up of approximately 450 times compared to a CPU (Central Processing Unit) version, at least for the tested computing resources.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.35 no.2
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• pp.41-48
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• 2023

In this study, simplified linear numerical method that can simulate wave generation and transformation by a moving bottom is introduced. Numerical analysis is conducted in wave number domain after continuity equation, linear dynamic and kinematic free surface boundary conditions and linear kinematic bottom boundary condition are Fourier transformed, and the results are expressed in space domain by an inverse Fourier transform. In the wavenumber domain, the dynamic free water surface boundary condition and the kinematic free water surface boundary condition are numerically calculated, and the velocity potential in the mean water level (z = 0) satisfies the continuity equation and the kinematic bottom boundary condition. Wave generation and transformation are investigated when the triangular and rectangular shape of bottoms move periodically. The results of the simplified numerical method are compared with the results of previous analytical solutions and agree well with them. Stability of numerical results according to the calculation time interval (Δt) and the calculation wave number interval (Δk) was also investigated. It was found that the numerical results were appropriate when Δt ≤ T(period)/1000 and Δk ≤ π/100.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.75-83
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• 2005

The purpose of this study was to determine the kinematic characteristics of the ankle joint and RPM(repetition per minutes) during the supra maximal training in cycling. For this study, 8 national representative cyclists, distance cyclists in track and road, were selected. During the super-maximum pedalling, kinematic data were collected using a six-camera(240Hz) Qualisys system. the room coordinate system was right-handed and fixed in the back of a roller for cycle, with right-handed orthogonal segment coordinate systems defined for the leg and foot. Lateral kinematic data were recorded at least for 3 minutes while the participants pedal on a roller. Two-dimensional Cartesian coordinates for each marker were determined at the time of recording using a nonlinear transformation technique. Coordinate data were low-pass filtered using a fourth-order Butterworth recursive filter with cutoff frequency of 15Hz. Variables analyzed in this study were compared using a one factor(time) ANOVA with repeated measures. The results of investigation suggest that the number of rotating pedal was decreased with time phase during the super-maximum pedaling. Maximum angle of the ankle joint showed little in change with time phase compared with minimum angle of that.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.1221-1226
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• 2001

A structure gauge assessment is needed to ensure that a railway vehicle can run safely along a length of track without coming unacceptably close to lineside structures or equipment, or to vehicles running on adjacent tracks. This apparently straightforward question is in reality very complicated. The amount of space required for the safe passage of a railway vehicle is significantly greater than its static body profile for a number of reasons as follows: as the vehicle runs along the track, the track input excites the vehicle and it moves on its suspension. On curved track its geometric position leads to curve overthrows. A number of different approaches have been used to answer this question and some are described and specially applied to urban train by computer simulation in this paper. The program used for calculating the kinematic and swept envelope is the VAMPIRE made in U.K.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1512-1517
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• 2003

This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters are identifiable.

• Transactions of Materials Processing
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• v.9 no.4
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• pp.395-403
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• 2000

Formation of Shear Band under the adiabatic condition is widely observed In the engineering materials during rapidly forming process lot a thermally rate-dependent material. The shear band stems from evolution of a narrow region in which an intensive plastic flow occurs. The shear band often plays a role of a precursor of the ductile fracture during a forming process. The objective of this study is to investigate the localization behavior using numerical method. In this work, the implicit finite difference scheme is employed due to the ease of convergence and the numerical stability It is noted that physical and mechanical properties of materials determine how the shear band is formed and then localized. Material properties can be characterized with inertia number dissipation number and diffusion number. It is observed that the dimensionless numbers effect on localization. Using a parametric study, comparison was made between CRS-1018 steel with WHA (tungsten heavy alloy). The deformation behavior of material in this study include an isotropic hardening as well as thermal softening. Moreover, this study suggests that a kinematic hardening constitutive relation be required to predict a more accurate strain level at a shear band.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.1
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• pp.91-99
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• 2022

Purpose : The goal of this study is to examine the effect of robot assisted gait training (RAGT) on the kinematic factors (temporospatial gait parameters, gait cycle ratio, and gait line length) of gait in stroke patients. Methods : The subjects of this study were 24 stroke patients selected by inclusion criteria. Participants were randomly allocated to two groups: robot assisted gait training (n=11) and general neurological physical therapy group (n=11). In the robot-assisted gait training group, robot-assisted gait training was mediated for 30 minutes a day in addition to general neurological physical therapy. The general neurological physical therapy group was mediated by general neurological physical therapy for 30 minutes a day in addition to general neurological physical therapy. The number of interventions was 5 times a week for 5 weeks. In order to compare the kinematic factors of walking between the two groups, gait analysis was performed before and after 5 weeks of training using the Zebris gait analysis system. Results : As a result of the gait analysis of the two groups, there were significant differences in temporospatial gait variables (step length, stride length, step width, step time, stride time), gait cycle ratio (swing phase, stance phase) and gait line length. However, there was no significant difference in the cadence (temporospatial gait parameters) in the robot assisted gait training group compared to general neurological physical therapy group. Conclusion : It is considered to be a useful treatment for stroke patients to promote the recovery of gait function in stroke patients. Based on the results of this study, continuous robot assisted gait training treatment is considered to have a positive effect on gait ability, the goal of stroke rehabilitation. In the future, additional studies should be conducted on many subjects of stroke patients, the kinematic factors of the legs according to the severity of stroke and treatment period, and the effect of gait training.