• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.2
• /
• pp.264-270
• /
• 2011

This paper focuses on possibility to design and fabrication new combination of bullet core to substitute current toxic material of heavy metal such as lead by environment-friendly ones. The core is designed as dual structure to manipulate the core center of gravity easily by combining materials, which of basis is tungsten of low cost and easily acquired. Those combinations are W-M series such as W-Cu, W-Sn, W-Cu-Sn, and W-Cu-Ni to target the density of lead, $11.34g/cm^3$ through powder-metallurgy. Out of four, combination of W-Cu-Ni shows the highest compression density of 96% and is confirmed as the most suitable substitution for lead due to the excellent property of matter and sintering. All combination samples is simulated on the PRODAS software for designing and structure analysis by adjusting the center of gravity of dual core samples forward and backward. The simulations confirm the similarity of current bullet core with respect to properties of mass, aero dynamics, and flying stability.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.7
• /
• pp.319-326
• /
• 2006

This paper proposes a novel fault-tolerant gait for Quadruped robots using energy stability margins. The previously developed fault-tolerant gaits for quadruped robots have a drawback of having marginal stability margin, which may lead to tumbling. In the process of tumbling, the potential energy of the center of gravity goes through a maximum. The larger the difference between the potential energy of the center of gravity of the initial position and that of this maximum, the less the robot tumbles. Hence this difference of potential energy, dubbed as Energy Stability Margin (ESM), can be regarded as the stability margin. In this paper, a novel fault-tolerant gait is presented which gives positive ESM to a quadruped robot suffering from a locked joint failure. Positive ESM is obtained by adjusting foot positions between leg swing sequences. The advantage of the proposed fault-tolerant gait is demonstrated in a case study where a quadruped robot with a failed leg walks on a even slope.

• Journal of Korean Society of Occupational and Environmental Hygiene
• /
• v.25 no.4
• /
• pp.493-505
• /
• 2015

Objectives: The purpose of this study was to evaluate the relevance of adjusting a urinary sample for urine hippuric correction value and its effects. Urinary biological monitoring data are typically adjusted to a constant creatinine and specific gravity concentration to correct for variable dilutions among spot samples. This study was conducted to evaluate the suitability of adjusting the urinary concentrations of urine creatinine and specific gravity(SG). Methods: We measured the concentrations of hippuric acid, in spot urine samples collected from control(119), case(120) individuals. The value of hippuric acid was adjusted by SG and urinary creatinine(HPLC & Jaffe). Results: The major results were as follows. The concentrations of urinary creatinine and SG for the control group were 1.84 g/L(SD 0.99) for arithmetic mean and 1.56 g/L(GSD 1.86) for geometric mean by HPLC method, 1.57 g/L (SD, 0.82) for arithmetic mean and 1.33 g/L(GSD 1.85) for geometric mean by Jaffe method, 1.028(SD 0.09) for arithmetic mean and 1.02(GSD 1.06) for geometric mean by refractometer. Hippuric acid levels were 0.40 g/L(SD 0.51) by arithmetic mean and 0.20 g/L(GSD 3.59). In that case the exposed group was 1.40 g/L(SD 0.58) for arithmetic mean and 1.28 g/L(GSD 1.55) for geometric mean by HPLC method, 1.27 g/L(SD 0.56) for arithmetic mean and 1.14 g/L(GSD 1.62) for geometric mean by Jaffe method, 1.045 L(SD 0.27) for arithmetic mean and 1.02(GSD 1.13) for geometric mean by refractometer(P<0.05). Hippuric acid levels were 0.67 g/L(SD 0.79) for arithmetic mean and 0.39 g/L(GSD 2.94)(p<0.05). The urine creatinine concentrations were affected by gender(p < 0.01) but SG levels were not affected by gender or age(p>0.05). After adjustment, urine hippuric acid was correlated with creatinine(HPLC & Jaffe)(r=0.723, P<0.05, r=0.708, P<0.05) and SG(r=0.936, P<0.05) and the control group shows significantly higher than the case group. In the case group for adjusted urine hippuric acid was correlated with creatinine(HPLC & Jaffe), (r=0.736, P<0.05), r=0.549, P<0.05), SG(r=0.549, P<0.05). After adjusting urine hippuric acid by urine creatinine(HPLC and Jaffe method) and specific gravity, significant associations were found between the control group and case group, respectively(r=0.832, P<0.05, r=0.845, P<0.05) and (r=0.841, P<0.05, r=0.849, P<0.05). Specific gravity adjustment appears to be more appropriate for variations in the urine creatinine method. Conclusion: we found that urinary creatinine concentrations were significantly affected by gender, and other factors and that care should therefore be exercised when correcting urinary metabolites according to the urinary creatinine concentration in spot urine. It is determined that additional study is needed for biological monitoring.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1157-1160
• /
• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Journal of Software Assessment and Valuation
• /
• v.17 no.2
• /
• pp.101-107
• /
• 2021

Animation production is collaborated by many experts and gives many ideas for new and interesting video production. Interesting video production is a problem directly related to the success of the project, so it can be said that it is better to create an environment that is not burdened with technical aspects in expressing ideas. In the actual keyframe animation production environment, ideas are frequently modified to obtain better results, and techniques that are re-used so that the animation key pose data developed at the early stage of the possible stage can be rewritten without abandoning it, and functions that can temporarily change the center of gravity contribute to the productivity of animation work and greatly help the creator to improve the creative atmosphere. This study analyzes action animations implemented in computer animation software to examine the factors that hinder actual productivity, and derives the technical concepts that can contribute to the improvement of animation production productivity and the necessity of developing related tools.

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2309-2311
• /
• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.9
• /
• pp.1147-1153
• /
• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.288-295
• /
• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• Journal of the Korea Concrete Institute
• /
• v.27 no.5
• /
• pp.551-558
• /
• 2015

Lateral displacement in the most complex-shaped tall buildings is caused by eccentric gravity loads which are induced by the difference in location between a center of mass and a center of stiffness. The lateral displacements obtained from analysis, using conventional procedures, are prone to overestimate the actual values because much of realignment efforts made during construction phase are ignored. In construction sequence analysis, the self-leveling of slab and the verticality of columns/walls could be considered at each construction stage. Moreover, the displacement compensation can be achieved by manual process such as re-centering - locating to global coordinates through surveying. Because the lateral displacement increases with the building height, it is necessary to set up adjustment plan through construction stage analysis in advance in order to result in displacements less than the allowable limits. Because analytical solution includes lots of assumptions, the pre-adjusting displacement should be reasonably controlled with considerations for the uncertainty due to these assumptions.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.43 no.5 s.311
• /
• pp.19-27
• /
• 2006

Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.