• 방송공학회논문지
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• 제26권5호
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• pp.519-532
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• 2021

최근 게임, 영화, 애니메이션 다양한 분야에서 모션 캡처를 이용하여 신체 모델을 구축하고 캐릭터를 생성하여 3차원 공간에 표출하는 콘텐츠가 증가하고 있다. 마커를 부착하여 관절의 위치를 측정하는 방법에서 촬영 장비에 대한 비용과 같은 문제를 보완하기 위해 RGB-D 카메라를 이용하여 애니메이션을 생성하는 연구가 진행되고 있지만, 관절 추정 정확도나 장비 비용의 문제가 여전히 존재한다. 이에 본 논문에서는 애니메이션 생성에 필요한 장비 비용을 줄이고 관절 추정 정확도를 높이기 위해 RGB 이미지를 관절 추정 네트워크에 입력하고, 그 결과를 3차원 데이터로 변환하여 FBX 형식 애니메이션으로 생성하는 시스템을 제안한다. 먼저 RGB 이미지에 대한 2차원 관절을 추정하고, 이 값을 이용하여 관절의 3차원 좌표를 추정한다. 그 결과를 쿼터니언으로 변환하여 회전한 후, FBX 형식의 애니메이션을 생성한다. 제안한 방법의 정확도 측정을 위해 신체에 마커를 부착하여 마커의 3차원 위치를 바탕으로 생성한 애니메이션과 제안된 시스템으로 생성한 애니메이션의 오차를 비교하여 시스템 동작을 입증하였다.

• 대한수학회보
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• 제27권2호
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• pp.189-196
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• 1990

In this paper, we try to generalize ultraproducts in the category of locally convex spaces. To do so, we introduce D-ultracolimits. It is known [7] that the topology on a non-trivial ultraproduct in the category T $V^{ec}$ of topological vector spaces and continuous linear maps is trivial. To generalize the category Ba $n_{1}$ of Banach spaces and linear contractions, we introduce the category L $C_{1}$ of vector spaces endowed with families of semi-norms closed underfinite joints and linear contractions (see Definition 1.1) and its subcategory, L $C_{2}$ determined by Hausdorff objects of L $C_{1}$. It is shown that L $C_{1}$ contains the category LC of locally convex spaces and continuous linear maps as a coreflective subcategory and that L $C_{2}$ contains the category Nor $m_{1}$ of normed linear spaces and linear contractions as a coreflective subcategory. Thus L $C_{1}$ is a suitable category for the study of locally convex spaces. In L $C_{2}$, we introduce $l_{\infty}$(I. $E_{i}$ ) for a family ( $E_{i}$ )$_{i.mem.I}$ of objects in L $C_{2}$ and then for an ultrafilter u on I. we have a closed subspace $N_{u}$ . Using this, we construct ultraproducts in L $C_{2}$. Using the relationship between Nor $m_{1}$ and L $C_{2}$ and that between Nor $m_{1}$ and Ba $n_{1}$, we show thatour ultraproducts in Nor $m_{1}$ and Ba $n_{1}$ are exactly those in the literatures. For the terminology, we refer to [6] for the category theory and to [8] for ultraproducts in Ba $n_{1}$..

• Journal of Biosystems Engineering
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• 제38권2호
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• 대한기계학회논문집A
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• 제20권7호
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• 대한기계학회논문집A
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• 제30권8호
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• pp.931-940
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• 2006

Defect assessment of a weld zone is important in fitness-for-service evaluation of plant components. Typically a J and $C^*$ estimation method for a defective homogeneous component is extended to a mismatched component, by incorporating the effect due to the strength mismatch between the weld metal and the base material. The key element is a mismatch limit load. For instance, the R6/R5 procedure employs an equivalent material concept, defined by a mismatch limit load. A premise is that if a proper mismatch limit load solution is available, the same concept can be used for any defect location (either a weld centre defect or a heat affected zone (HAZ) defect) and for any material combination (either two-material or multi-material combinations; either similar or dissimilar joints). However, validation is still limited, and thus a more systematic investigation is needed to generalise the suggestion to any geometry, any defect location and any material combination. This paper describes the effect of structural geometry on the $C^*$ integral for defective similar welds, based on systematic elastic-creep 2-D and 3-D finite element (FE) analyses, to attempt to elucidate the questions given above. It is found that the existing 'equivalent material' concept is valid only for limited cases, although it provides conservative estimates of $C^*$ for most of cases. A modification to the existing equivalent material concept is suggested to improve accuracy.

• 한국터널지하공간학회 논문집
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• 제7권4호
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• pp.269-283
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• 2005

기존의 전단강도 모델에서 거칠기와 전단강도를 실제보다 과소평가 하고 있는 문제의 원인을 파악하기 위하여 먼저 거칠기의 발현 특성, 거칠기 계수의 특성, 거칠기 계수에 미치는 측정 간격과 만곡 (waviness)의 효과 등을 검토하였다. 그 결과, 이러한 문제에는 거칠기의 발현특성의 고려 부족, 거칠기 계수의 오용, 거칠기의 측정 과정에서의 엘리어싱 (aliasing)이 중요한 역할을 하는 것으로 확인하였다. 확인된 결과를 토대로 문제점을 개선하기 위한 실질적인 방법을 제안하였다. 거칠기 측정 방법에서는 카메라 방식의 3D 스캐너를 사용하는 것이 기존의 방법보다 유효한 것으로 확인하였다. 측정간격은 엘리어싱을 막기 위하여 전단강도에 영향을 주는 작은 돌출부의 1/4 이하가 되어야 한다. 거칠기 정량화 면에서는 거칠기 계수를 돌출부의 규모별로 2개의 성분으로 구분하여 전단 모델에 적용하여야 하는 것으로 분석되었다. 이를 위하여 돌출부의 소성파괴 개념에 근거하여 거칠기를 만곡과 요철로 구분할 수 있는 구분 기준을 제시하였으며, 새로운 전단강도 모델을 제안하기 위한 토대를 마련하였다.

• Computers and Concrete
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• 제26권6호
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• pp.565-576
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• 2020

Experimental and discrete element methods were used to investigate the effects of angle of Y shape non-persistent joint on the tensile behaviour of joint's bridge area under brazilian test. concrete samples with diameter of 100 mm and thikness of 40 mm were prepared. Within the specimen, two Y shape non-persistent notches were provided. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0°, 30°, 60°, 90°. Totally, 12 different configuration systems were prepared for Y shape non-persistent joints. Also, 18 models with different Y shape non-persistent notch angle and notch length were prepared in numerical model. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0, 30, 60, 90, 120 and 150. Tensile strength of model materil was 1 MPa. The axial load was applied to the model by rate of 0.02 mm/sec. This testing showed that the failure process was mostly governed by the Y shape non-persistent joint angle and joint length. The tensile strengths of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. It was shown that the tensile behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint length and joint angle. The minimum tensile strength occurs when the angle of larger joint related to horizontal axis was 60°. Also, the maximum compressive strength occurs when the angle of larger joint related to horizontal axis was 90°. The tensile strength was decreased by increasing the notch length. The failure pattern and failure strength are similar in both methods i.e. the experimental testing and the numerical simulation methods.

• 마이크로전자및패키징학회지
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• 제26권3호
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• pp.43-49
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• 2019

본 연구에서는 그래핀 산화(graphene oxide, GO) 분말 복합 Sn-3.0Ag-0.5Cu(in wt.%) 솔더페이스트를 이용한 플렉시블 기판과 SOP(small outline package) 사이의 솔더 접합부의 굽힘 신뢰성 향상에 관한 새로운 접근을 제안하였다. 솔더페이스트에 GO의 첨가는 녹는점에 약간의 영향을 미치었으나 그 차이는 미미한 것으로 나타났다. 한편, GO의 첨가는 리플로우 공정 동안 솔더 접합부의 금속간화합물(intermetallic compound, IMC) 성장과 두께를 억제 할 수 있음을 확인하였다. 더욱이 접합부의 신뢰성에 미치는 영향을 살펴보고자 반복 굽힘 시험을 진행하였으며 GO 분말의 첨가로 솔더 접합부의 반복 굽힘 신뢰성 향상 시킬 수 있었다. 0.2 wt.%의 GO가 첨가된 솔더 접합부의 경우 GO가 첨가되지 않은 경우에 비하여 굽힘 수명은 20% 가량 증가하는 것으로 나타났다. GO가 첨가된 경우 솔더 접합부의 인장 강도와 연성이 증가하게 나타났는데 이러한 GO 첨가에 의한 기계적 특성 향상이 솔더 접합부의 반복 굽힘 신뢰성 향상에 기여한 것으로 추측된다.

• 한방재활의학과학회지
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• 제27권3호
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• pp.137-146
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• 2017

Objectives The purpose of this study is to compare the effects between the KL-Grade and improvement of knee pain treated by Korean Medicine therapy. Methods 114 patients who received inpatient treatment from July 2014 to May 2017 in the Daejeon Jaseng of Korean Medicine Hospital were divided into 5 groups by the KL-Grade. All patients received a combination of treatment including acupunture, pharmacopunture, herbal medication. They were compared and analyzed on the basis of improvement between measuring Numeric Rating Scale (NRS), Western Ontario and McMaster Universities Arthritis Index (WOMAC Index), EuroQol-5 Dimension Index (EQ-5D Index) as they were hospitalized and as they were discharged. The statistically significance was evaluated by SPSS 23.0 for windows. Results After treatment, KL-Grade 0 group's Numeric Rating Scale (NRS), Western Ontario and McMaster Universities Arthritis Index (WOMAC Index), EuroQol-5 Dimension Index (EQ-5D Index) improvement was $2.02{\pm}1.69$, $7.50{\pm}9.67$ and $0.11{\pm}0.15$ respectively. KL-Grade 1 group's improvement was $2.09{\pm}1.23$, $11.75{\pm}13.99$ and $0.12{\pm}0.13$ respectively. KL-Grade 2 group's improvement was $1.60{\pm}1.07$ and $14.70{\pm}14.19$ respectively. But In this group, EQ-5D Index has decreased by $0.01{\pm}0.10$. KL-Grade 3 group's improvement was $1.88{\pm}1.31$, $7.81{\pm}13.35$ and $0.13{\pm}0.20$ respectively (p<0.034). In the case of KL-Grade 4, the population was not statistically significant (N=2) and therefore excluded from statistical significance. And there was no statistically significance between 4 group's improvement after treatment (p>0.05). Conclusions The above study showed that Korean medicine treatments showed significant therapeutic effects on knee pain and degenerative knee joints, but there was no significant difference in the effectiveness of degenerative arthritis (KL-Grade).

• Clinics in Shoulder and Elbow
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• 제21권3호
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• pp.151-157
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• 2018

Background: Nonunion of lateral humeral condyle fracture causes cubitus valgus deformity. Although corrective osteotomy or osteosynthesis can be considered, there are controversies regarding its treatment. To evaluate elbow joint biomechanics in non-united lateral humeral condyle fractures, we analyzed the motion of elbow joint and pseudo-joint via in vivo three-dimensional (3D) kinematics, using 3D images obtained by computed tomography (CT) scan. Methods: Eight non-united lateral humeral condyle fractures with cubitus valgus and 8 normal elbows were evaluated in this study. CT scan was performed at 3 different elbow positions (full flexion, $90^{\circ}$ flexion and full extension). With bone surface model, 3D elbow motion was reconstructed. We calculated the axis of rotation in both the normal and non-united joints, as well as the rotational movement of the ulno-humeral joint and pseudo-joint of non-united lateral condyle in 3D space from full extension to full flexion. Results: Ulno-humeral joint moved to the varus on the coronal plane during flexion, $25.45^{\circ}$ in the non-united cubitus valgus group and $-2.03^{\circ}$ in normal group, with statistically significant difference. Moreover, it moved to rotate externally on the axial plane $-26.75^{\circ}$ in the non-united cubitus valgus group and $-3.09^{\circ}$ in the normal group, with statistical significance. Movement of the pseudo-joint of fragment of lateral condyle showed irregular pattern. Conclusions: The non-united cubitus valgus group moved to the varus with external rotation during elbow flexion. The pseudo-joint showed a diverse and irregular motion. In vivo 3D motion analysis for the non-united cubitus valgus could be helpful to evaluate its kinematics.