• 한국CDE학회논문집
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• 제16권4호
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• pp.249-259
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• 2011

In this paper we present our work on the parameterized construction of virtual drivers' reach motion to seat belt, by using motion capture data. A user can generate a new reach motion by controlling a number of parameters. We approach the problem by using multiple sets of example reach motions and learning the relation between the labeling parameters and the motion data. The work is composed of three tasks. First, we construct a motion database using multiple sets of labeled motion clips obtained by using a motion capture device. This involves removing the redundancy of each motion clip by using PCA (Principal Component Analysis), and establishing temporal correspondence among different motion clips by automatic segmentation and piecewise time warping of each clip. Next, we compute motion blending functions by learning the relation between labeling parameters (age, hip base point (HBP), and height) and the motion parameters as represented by a set of PC coefficients. During runtime, on-line motion synthesis is accomplished by evaluating the motion blending function from the user-supplied control parameters.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제15권8호
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• pp.2732-2748
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• 2021

In post-COVID-19 pandemic era, students' learning effects and experience may sharply decrease when teaching is transferred from offline to online. Several tools suitable for online teaching have been developed to guarantee and promote students' learning effects. However, they cannot fully consider teacher-student interaction in online teaching. To figure out this issue, this paper proposes integrated media platform-based virtual office hours implementation for online teaching. Specifically, an integrated media platform (IMP) is first constructed. Then, virtual office hours (VOH) is implemented based on the IMP, aiming at increasing student-teacher interactions. For evaluating the effectiveness of this scheme, 140 undergraduate students using IMP are divided into one control group and three experimental groups that respectively contain text, voice and video modes. The experiment results indicate that applying VOH in the IMP can improve students' online presence and test scores. Furthermore, students' participating modes during VOH implementation can largely affect their degree of presence, which can be well classified by using principal component analysis. The implication of this work is that IMP-based VOH is an effective and sustainable tool to be continuously implemented even when the COVID-19 pandemic period ends.

• Advances in robotics research
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• 제1권2호
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• pp.141-154
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• 2014

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

• Journal of Advanced Marine Engineering and Technology
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• 제14권4호
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• pp.46-56
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• 1990

Stress analysis of axi-symetric body with non-symetric loading and non-symetric given displacements is investigated in this paper using the finite element method. As the non-symetric load and non-symetric given displacements of axi-symetric body are generally periodic functions of angle .theta., the nodal forces and nodal displacements can be expanded in cosine and sine series, that is, Fourier series. Furthermore, using Euler's formula, the cosine and sine series can be converted into exponential series and it is prooved that the related calculus become more clear. Substituting the nodal displacements expanded in Fourier series into the strain components of cylindrical coordinates system, the element strains are expressed in series form and by the principal of virtual work, the element stiffness martix and element load vector are obtained for each order. It is also showed that if the non-symetric loads are even or odd functions of angle ${\theta}$ the stiffness matrix and load vector of the system are composed with only real numbers and relatively small capacity fo computer memory is enough for calculation.

• 대한조선학회지
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• 제11권1호
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• pp.9-16
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• 1974

To contribute towards more accurate estimation of the virtual inertia coefficient for the horizontal vibration of ships, three dimensional correction factor $J_H$ for the added mass of finitely long elliptic prismatic bars in horizontal vibration in a free surface of an ideal fluid are calculated. In the problem formulation Dr. T. Kumai's quasi-finite length concept[1,11,12] is employed. Now that, in Dr. Kumai's work[1] for the horizontal vibration the mathematical model was a circular cylinder, the principal aim of the authors' work is to investigate the influence of the beam-draft ratio B/T on $J_H$. The numerical results of this work are shown in Fig.3 graphically, from which we may recognize that the influence of B/T on $J_H$ is remarkable as much as that of the length-draft ratio L/T(refer to Fig.1 also). In Fig.3 the curves for B/T=2.00 are of those based on Dr. Kumai's result[1]. On the other hand, the experimental data obtained by Burril et al.[9] for the horizontal vibration of finitely long prismatic bars of various cross-section shapes are compared with the theoretical added mass coefficients defined by combination of the authors' $J_H$ from Fig.3 and two dimensional coefficients $C_H$ obtained by Lewis form approximation for the corresponding sections. They are in reasonable correspondence with each other as shown in Fig.2. Finally, considering that the longitudinal profile of full-form ship's hull is well resembled to that of an elliptic cylinder and that the influences of other factors such as the sectional area coefficient and the shape of section contour itself can be well merged in the two dimensional added mass coefficient, the authors recommend that the data given in Fig.3 may be successfully adopted for the three dimensional correction factor the added mass in the horizontal vibration of hull-form ships.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2001년도 추계학술대회 논문집(Proceeding of the KOSME 2001 Autumn Annual Meeting)
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• pp.21-27
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• 2001

Springs are widely utilized in machine element. To find out stiffness of frustum-shaped coil spring, the space beam theory using the finite element method is adopted in this paper In three dimensional space, a space frame element is a straight bar of uniform cross section which is capable of resisting axial forces, bending moments about two principal axes in the plane of its cross section and twisting moment about its centroidal axis. The corresponding displacement degrees of freedom are twelve. To find out load vector of coil spring subjected to distributed compression, principle of virtual work is adapted The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculate the another increments of nodal displacements, that is, the step by step method is used in this paper. The results of the finite element method are fairly well agreed with those of various experiments. Using MATLAB program developed in this paper, spring constants and stresses can be predicted by input of few factors.

• Journal of Advanced Marine Engineering and Technology
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• 제32권2호
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• pp.250-255
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• 2008

Springs are widely utilized in machine element. To find out stiffness of frustum-shaped coil spring, the space beam theory using the finite element method is adopted in this paper. In three dimensional space, a space frame element is a straight bar of uniform cross section which is capable of resisting axial forces, bending moments about two principal axes in the plane of its cross section and twisting moment about its centroidal axis. The corresponding displacement degrees of freedom are twelve. To find out load vector of coil spring subjected to distributed compression. principle of virtual work is adapted. And this theory was programming using MATLAB software. To compare FEM using MATLAB software was applied MSC. Nastran software. The geometry model for MSC. Patran was produced by 3-D design modeling software. Finite element model was produced by MSC. Patran. Finite element was applied tetra (CTETRA) having 10 node. The analysis results of the MATLAB and MSC. Nastran are fairly well agreed with those of various experiments. Using MATLAB program proposed in this paper and MSC. Nastran, spring constants and stresses can be predicted by input of few factors.

• Structural Engineering and Mechanics
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• 제35권6호
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• pp.677-697
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• 2010

This paper focuses on geometrically non-linear static analysis of a simply supported beam made of hyperelastic material subjected to a non-follower transversal uniformly distributed load. As it is known, the line of action of follower forces is affected by the deformation of the elastic system on which they act and therefore such forces are non-conservative. The material of the beam is assumed as isotropic and hyperelastic. Two types of simply supported beams are considered which have the following boundary conditions: 1) There is a pin at left end and a roller at right end of the beam (pinned-rolled beam). 2) Both ends of the beam are supported by pins (pinned-pinned beam). In this study, finite element model of the beam is constructed by using total Lagrangian finite element model of two dimensional continuum for a twelve-node quadratic element. The considered highly non-linear problem is solved by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. In order to use the solution procedures of Newton-Raphson type, there is need to linearized equilibrium equations, which can be achieved through the linearization of the principle of virtual work in its continuum form. In the study, the effect of the large deflections and rotations on the displacements and the normal stress and the shear stress distributions through the thickness of the beam is investigated in detail. It is known that in the failure analysis, the most important quantities are the principal normal stresses and the maximum shear stress. Therefore these stresses are investigated in detail. The convergence studies are performed for various numbers of finite elements. The effects of the geometric non-linearity and pinned-pinned and pinned-rolled support conditions on the displacements and on the stresses are investigated. By using a twelve-node quadratic element, the free boundary conditions are satisfied and very good stress diagrams are obtained. Also, some of the results of the total Lagrangian finite element model of two dimensional continuum for a twelve-node quadratic element are compared with the results of SAP2000 packet program. Numerical results show that geometrical nonlinearity plays very important role in the static responses of the beam.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.