• The Journal of Korea Robotics Society
• /
• v.7 no.2
• /
• pp.65-75
• /
• 2012

This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

• Journal of the Korean earth science society
• /
• v.32 no.4
• /
• pp.402-410
• /
• 2011

We present results of CO observations toward an infrared (IR) source, IRAS 07280-1829, and its possibly related molecular clouds. The physical parameters of this IR source such as its infrared slope (${\alpha}$=16) of the Spectral Energy Distribution and bolometric temperature (145 K) indicate that it is an embedded protostar. Its luminosity is ${\sim}2.9{\times}10^4L_{\odot}$, typical of a massive star. The CO profile toward IRAS 07280-1829 has broad wing components, implying a possible existence of CO outflow. The excitation temperature and mass of a molecular cloud (Cloud A) which is thought to harbor the IR source are estimated to be 9~22 K and ~180 $M_{\odot}$, respectively, indicating the Cloud A is a typical infrared-dark cloud. Its LTE mass is found to be much smaller than its virial mass by more than a factor of 10 which is inconsistent with the fact that a protostar recently formed exists in the Cloud A. This may suggest that the environment of the cloud where the IR source is forming is dominant of turbulence and/or magnetic filed, making its virial mass estimated unusually high.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.14 no.2
• /
• pp.97-112
• /
• 1978

The rule 15, 16 and 17 of International Regulations for Preventing collisions at Sea direct actions to avoid collision when two power-driven vessels are crossing. But these rules do not present the safety minimum approaching distances outside which a give- way vessel deeps out of the way of a stand-on vessel. In this paper, the author analyzed the ship's collision avoiding actions from a viewpoint of ship kinematics as the method to calculate this distance. The author worked out mathematic formulas for calculating the safety minimum approaching distances outside which the give-way vessel takes the actions to avoid collisions in accordance with the cross angles of the crossing vessels' courses. Figuring out actually the values of maneuvering indices of the M. S. Koan Ack San (GT: 224tons), the training ship of the National Fisheries University of Busan and the M. S. Golden Clover (GT: 101, 235tons) of the Eastern Shipping Co., Ltd. through their Z test, the author applied these values to the calculating formulas and calculated the safety minimum approaching distances. The results of calculations are as follows; 1. The greatest distance is to be kept by the give-way vessel to avoid collision when the cross angle of courses is 90$^{\circ}$ or near it. In such case the safety minimum approaching distance of a small vessel must be more than 5 times of her own length and that of a large vessel more than 11 times of her own length. 2. Collision danger is greater when crossing angle is obtuse than in an acute angle, therefore greater distance is to be kept by the give-way vessel to avoid collision in the case of the obtuse angle. 3. The actions to be taken to avoid collisions by the give-way vessel in Rule 16 and by the stand-on vessel in Rule 17(a)(ii) of International Regulations for Preventing Collisions at Sea, must be done outside the above safety minimum approaching distance. When inevitably such actions are to be taken within the safety minimum approaching distance, they should be accompanied with engine motions.