• Title/Summary/Keyword: Lifting an object

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Development of an Experimental Humanoid Robot and Dynamics Based Motion Optimization for Rescue Missions (구조/구난 임무 수행을 위한 실험용 휴머노이드 로봇의 개발과 동역학 기반의 모션 최적화)

  • Hong, Seongil;Lee, Youngwoo;Park, Kyu Hyun;Lee, Won Suk;Sim, Okkee;Oh, Jun-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.8
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    • pp.753-757
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    • 2015
  • This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

Nonlinear Dynamic Behavior of Temporary Rail Considering the Effect of Vibration (진동영향을 고려한 가시설 레일의 동적 거동 특성)

  • Lim, Hyung Joon;Ryu, Dong Hyeon;Won, Jong Hwa;Kim, Moon Kyum
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.28 no.2A
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    • pp.171-178
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    • 2008
  • The object of this study is to propose a rate of vibration increase in the analysis of temporary rail non-fixed in the vertical direction and characterize the nonlinear dynamic behavior of temporary rail while considering longitudinal and latitudinal load, vibration and lifting. The rate of vibration increase is proposed through measurement of an actual structure that is largely affected by loading and vibration of the superstructure. Dynamic behavior was additionally characterized by the dynamic response resulting from nonlinear dynamic finite element analysis with vehicle loading, including the rate of vibration increase. As a result, the rate of vibration increase by the vibration of an Auto Bar Machine is determined as 7% and the maximum stress in the analysis of the nonlinear rail is increased 14.5% over that of linear rail, and temporary rail is shown to be very sensitive to the velocity of the superstructure.

A Comparative Study on the Object Detection of Deposited Marine Debris (DMD) Using YOLOv5 and YOLOv7 Models (YOLOv5와 YOLOv7 모델을 이용한 해양침적쓰레기 객체탐지 비교평가)

  • Park, Ganghyun;Youn, Youjeong;Kang, Jonggu;Kim, Geunah;Choi, Soyeon;Jang, Seonwoong;Bak, Suho;Gong, Shinwoo;Kwak, Jiwoo;Lee, Yangwon
    • Korean Journal of Remote Sensing
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    • v.38 no.6_2
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    • pp.1643-1652
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    • 2022
  • Deposited Marine Debris(DMD) can negatively affect marine ecosystems, fishery resources, and maritime safety and is mainly detected by sonar sensors, lifting frames, and divers. Considering the limitation of cost and time, recent efforts are being made by integrating underwater images and artificial intelligence (AI). We conducted a comparative study of You Only Look Once Version 5 (YOLOv5) and You Only Look Once Version 7 (YOLOv7) models to detect DMD from underwater images for more accurate and efficient management of DMD. For the detection of the DMD objects such as glass, metal, fish traps, tires, wood, and plastic, the two models showed a performance of over 0.85 in terms of Mean Average Precision (mAP@0.5). A more objective evaluation and an improvement of the models are expected with the construction of an extensive image database.

A Legal Study on liability for damages cause of the air carrier : With an emphasis upon liability of passenger (항공운송인의 손해배상책임 원인에 관한 법적 고찰 - 여객 손해배상책임을 중심으로 -)

  • So, Jae-Seon;Lee, Chang-Kyu
    • The Korean Journal of Air & Space Law and Policy
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    • v.28 no.2
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    • pp.3-35
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    • 2013
  • Air transport today is a means of transport that is optimized for exchanges between nations. Around the world, has experienced an increase in operating and the number of airline route expansion that has entered into the international aviation agreements in order to take advantage of the air transport efficient, but the possibility of the occurrence of air transport accidents increased. When compared to the accident of other means of transport, development of air transport accidents, not high, but it leads to catastrophe aviation accident occurs. Air Transport accident many international transportation accident than domestic transportation accident, in the event of an accident, the analysis of the legal responsibility of the shipper or the like is necessary or passenger air carrier. Judgment of the legal order of discipline of air transport accident is a classification of the type of air transport agreement. Depending on the object, air transport agreements are classified into the contract of carriage of aviation of the air passenger transportation contract. For casualties occurs, air passenger transportation accident is a need more discussion of legal discipline for this particular. Korean Commercial Code, it is possible to reflect in accordance with the actual situation of South Korea the contents of the treaty, which is utilized worldwide in international air transport, even on the system, to control land, sea, air transport and welcoming to international standards. However, Korean Commercial Code, the problem of the Montreal Convention has occurred as it is primarily reflecting the Montreal Convention. As a cause of liability for damages, under the Commercial Code of Korea and the contents of the treaty precedent is reflected, the concept of accident is necessary definition of the exact concept for damages of passengers in particular. Cause of personal injury or death of passengers, in the event of an accident to the "working for the elevation" or "aircraft" on, the Montreal Convention is the mother method of Korea Commercial Code, liability for damages of air carrier defines. The Montreal Convention such, continue to be a matter of debate so far in connection with the scope of "working for the lifting of" the concepts defined in the same way from Warsaw Convention "accident". In addition, it is discussed and put to see if you can be included mental damage passenger suffered in air transport in the "personal injury" in the damage of the passenger is in the range of damages. If the operation of aircraft, injury accident, in certain circumstances, compensation for mental damage is possible, in the same way as serious injury, mental damage caused by aviation accidents not be able to live a normal life for the victim it is damage to make. So it is necessary to interpret and what is included in the injury to the body in Korea Commercial Code and related conventions, non-economic damage of passengers, clearly demonstrated from the point of view of prevention of abuse of litigation and reasonable protection of air carrier it must compensate only psychological damage that can be. Since the compensation of delay damages, Warsaw Convention, the Montreal Convention, Korea Commercial Code, there are provisions of the liability of the air carrier due to the delayed arrival of passenger and baggage, but you do not have a reference to delayed arrival, the concept of delay arrangement is necessary. The strict interpretation of the concept of delayed arrival, because it may interfere with safe operation of the air carrier, within the time agreed to the airport of arrival that is described in the aviation contract of carriage of passenger baggage, or, these agreements I think the absence is to be defined as when it is possible to consider this situation, requests the carrier in good faith is not Indian or arrive within a reasonable time is correct. The loss of passenger, according to the international passenger Conditions of Carriage of Korean Air, in addition to the cases prescribed by law and other treaties, loss of airline contracts, resulting in passengers from a service that Korean Air and air transport in question do damage was is, that the fact that Korean Air does not bear the responsibility as a general rule, that was caused by the negligence or intentional negligence of Korean Air is proof, negligence of passengers of the damage has not been interposed bear responsibility only when it is found. It is a clause in the case of damage that is not mandated by law or treaty, and responsible only if the negligence of the airline side has been demonstrated, but of the term negligence "for" intentional or negligent "Korean Air's Terms" I considered judgment of compatibility is required, and that gross negligence is appropriate. The "Korean Air international passenger Conditions of Carriage", airlines about the damage such as electronic equipment that is included in the checked baggage of passengers does not bear the responsibility, but the loss of baggage, international to arrive or depart the U.S. it is not the case of transportation. Therefore, it is intended to discriminate unfairly passengers of international flights arriving or departure to another country passengers of international flights arriving or departure, the United States, airlines will bear the responsibility for the goods in the same way as the contents of the treaty it should be revised in the direction.

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