• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.9
• /
• pp.1145-1151
• /
• 2010

In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.22 no.6
• /
• pp.806-814
• /
• 2019

One of the future weapon systems is the individual smart weapon which has a structure mounted on the forearm of soldiers. The structure may cause injuries or affect the accuracy of fire due to its impact on joints when shooting. This paper proposes human-impact interaction modeling and a verification methodology in order to estimate the impact of fire applied to the forearm. For this purpose, a human musculoskeletal model was constructed and the joints' behavior in various shooting positions was simulated. In order to verify the simulation results, an impact testing device substituting the smart weapon was made and the experiment was performed on a real human body. This paper compares the simulation results performed under various impact conditions and the experimental values in terms of accuracy and introduces methods to complement them. The results of the study are expected to be a basis for a reliable human-impact interaction modeling, and smart individual weapon development.

• Radiation Oncology Journal
• /
• v.5 no.2
• /
• pp.149-155
• /
• 1987

The success of radioation therapy depends on exact treatment of the tumor with significant high dose for maximizing local control and excluding the normal tissues for minimizing unwanted complications. To achieve these goals, correct estimation of target volume in three dimension, exact dose distribution in tumor and normal critical structures and correction of tissue inhomogeneity are required. The effect of therapy oriented CT (plannng CT) were compared with conventional simulation method in necessity of planning change, set dose, and proper distribution of tumor dose. Of 365 new patients examined, planning CT was performed in 104 patients $(28\%)$. Treatment planning was changed in $47\%$ of head and neck tumor, $79\%$ of intrathoracic tumor and $63\%$ of abdmonial tumor. in breast cancer and musculoskeletal tumors, planning CT was recommended for selection of adequate energy and calculation of exact dose to critical structures such as kidney or spinal cord. The average difference of tumor doses between CT planning and conventional simulation was $10\%$ in intrathoracic and intra-abdominal tumors but $20\%$ in head and neck tumors which suggested that tumor dose may be overestimated in conventional simulation Although some limitations and disadvantages including the cost and irradiation during CT are still criticizing, our study showed that CT Planning is very helpful in radiotherapy Planning.

• The Journal of the Korea Contents Association
• /
• v.7 no.4
• /
• pp.234-240
• /
• 2007

The purpose of this paper was to architecture optimal model of the scooped swing in high bar. The scooped swing was modeled to the double pendulum and was simulated with the Lagrange's equation of motion. Lagrange's method based on a energy approaching method was implemented as a equation of motion. The subject was a national man-gymnast(age 18yrs, height 153 cut mass 48 kg) and the high bar of SPIETH company was used to measure the scooped swing. Qualisys system(six MCU-240 cameras, QTM software)was used to capture data for imaging analysis. The solution of a model and data processing were solved in Mathematica5.0. The results were as follows: First model value of maximum bar displacement was longer than experimental value, that is, 0.02 m. Second, both angular pattern of segment1(HAT) had a increasing curve but curve patterns had a different concave and convex me. Third the experimental value of maximum angular angle of segment2(total leg) had larger than model value, that is, $4^{\circ}$. Conclusively, model parameters were quasi-optimized to obtain a quasi-match between simulated and actual performances. It hopes to simulate a human model by means of integrating musculoskeletal and neuromuscular system in the future study.

• Journal of the Korean Society of Radiology
• /
• v.15 no.6
• /
• pp.803-811
• /
• 2021

In this study, the exposure amount of IASCC test worker was evaluated by applying the process simulation technology. Using DELMIA Version 5, a commercial process simulation code, IASCC test facility, hot cells, and workers were prepared, and IASCC test activities were implemented, and the cumulative exposure of workers passing through the dose-distributed space could be evaluated through user coding. In order to simulate behavior of workers, human manikins with a degree of freedom of 200 or more imitating the human musculoskeletal system were applied. In order to calculate the worker's exposure, the coordinates, start time, and retention period for each posture were extracted by accessing the sub-information of the human manikin task, and the cumulative exposure was calculated by multiplying the spatial dose value by the posture retention time. The spatial dose for the exposure evaluation was calculated using MCNP6 Version 1.0, and the calculated spatial dose was embedded into the process simulation domain. As a result of comparing and analyzing the results of exposure evaluation by process simulation and typical exposure evaluation, the annual exposure to daily test work in the regular entrance was predicted at similar levels, 0.388 mSv/year and 1.334 mSv/year, respectively. Exposure assessment was also performed on special tasks performed in areas with high spatial doses, and tasks with high exposure could be easily identified, and work improvement plans could be derived intuitively through human manikin posture and spatial dose visualization of the tasks.