• Journal of Digital Contents Society
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• v.19 no.4
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• pp.815-819
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• 2018

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• Journal of the Earthquake Engineering Society of Korea
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• v.12 no.6
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• pp.55-63
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• 2008

This paper presents a seismic analysis technique for a 3D soil-structure interaction system in a frequency domain, based on the finite element formulation incorporating frequency-dependent infinite elements for the far field soil region. Earthquake input motions are regarded as traveling P, SV and SH waves which are incident vertically from the far-field soil region, and then equivalent earthquake forces are calculated using impedances of infinite soil by dynamic infinite elements and traction and displacement from free field response analysis. For verification and application, seismic response analyses are carried out for a multi-layered soil medium without structure and a typical nuclear power plant in consideration of soil-structure interaction. The results are compared with the free field response using a one-dimensional analytic solution, and a dynamic response of an example structure from another SSI package.

• Journal of agriculture & life science
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• v.52 no.6
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• pp.127-138
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• 2018

In this study, the operational characteristics of a domestic vegetable transplanter were investigated. The main functional components and power path of the tranplanter were analyzed. The link structure of transplanting device waskinematically analyzed, and 3D modeling and dynamic simulation were performed. Based on this analysis, the trajectory of the bottom end of the transplanting hopper was analyzed. Also, the plant spacing according to the engine speed and the shifting stage of transplanting transmission was analyzed and verified by field test. As main results of this study, the transplanting device is one degree of freedom(DOF) 4-bar link type mechanism which comprises 10 links and 13 rotating joints. The transplanting hopper plants seedlings in a vertical direction while maintaining a constant posture by the links of transplanting device. The power is transmitted to both the driving part and transplanting part from the engine, and the maximum and minimum plant spacing of the transplanting device were 428.97 mm and 261.20 mm.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.6
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• pp.170-176
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• 2018

Recently, weapon system requires personal protection products due to the explosion of rapid-fire explosion, which is considered to be multi threat in modernization, complication and war against terrorism. However, the conventional Korean military bullet protection helmets are not suitable for wearing convenience and combatant interoperability in terms of ergonomic. In this paper, we propose a suitable 3D Scanning method for the head, and compare the measured 3D dimension with the existing 2D measurement value to identity the reliability. Reverse engineered soldier head using the quick surface method was realized with a perfect free-form surface and satisfactory tolerance range (${\pm}0.2mm$). Through the comparison of 3D and 2D measured head dimensions, the absolute error value was 0.73 mm on average and relative error was 0.35 %, confirming the high accuracy of the 3D scan modeling. Also, quick surface method using 3D scanner is suggested a fast and accurate skill for ergonomics in obtaining the head modeling needed for military's personal bullet protection helmet design.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.46-53
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• 2005

Compare to the large number of curved quadrilateral degenerated-shell elements, there are only a very few curved triangular degenerated-shell elements. Based on the assumed natural strain sampling scheme previously developed for a quadratic degenerated-shell element for linear analysis, this paper devises geometric non-linear six-node degenerated-shell element. The element can be curved and is only equipped with the standard nodal d.o.f.'s. Careful consideration has been exercised to circumvent various locking phenomena that plague degenerated-shell element. Numerical examples are presented to illustrate efficiency.

• Magazine of the Korea Concrete Institute
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• v.8 no.6
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• pp.205-212
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• 1996

This paper presents progressive fracture analysis of concrete using boundary element method and its stabilizing technique. To determine ultimate strength and to predict nonlinear behavior of concrete during progressive crack growth, the modelling of fracture process zone is done based on Dugdale-Barenblatt model with linear tension-softening curve. We regulate displacement and traction boundary integral equation of solids including crack boundary and analyze progressive fracture of concrete beam and compact tension specimen. Also a numerical technique which considers the growth of stress-free crack of concrete during the analysis and removes snapback of postpeak behavior is proposed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.2
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• pp.229-236
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• 2016

For this research, the trajectory of a projectile was simulated via the multibody dynamics analysis of a self-propelled mortar. The dynamic model was composed of a mortar model and a vehicle model, and was simulated using the RecurDyn program. Interior ballistic was applied to the mortar model, and exterior ballistic was conducted by Matlab using the simulation results of the interior trajectory. Through repetitive Monte-Carlo simulations, the accuracy of the mortar was analyzed by considering variations in the aiming angle and vehicle dynamic response.

• Journal of the Korean Geotechnical Society
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• v.30 no.12
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• pp.41-49
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• 2014

The 3D numerical analysis is carried out to investigate the settlement behavior of flexible mat foundations subjected to vertical loads. Special attention is given to the improved analytical method (YS-MAT) that reflects the mat flexibility and soil spring coupling effect. The soil model captures the stiffness of the soil springs as well as the shear interaction between the soil springs. The proposed method has been validated by comparing the results with other numerical methods and a field measurement on mat foundation. Through comparative studies, the settlement of the proposed method was in relatively good agreement with those of a field measurement and other numerical methods. The results permit us to estimate the response of the mat foundation subjected to vertical loads that should be taken into account in the combination of mat flexibility and soil continuity characteristics.

• Journal of Biomedical Engineering Research
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• v.24 no.6 s.81
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• pp.495-500
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• 2003

The purpose of this investigation was to study the kinematics of joints between the foot segments based on computer graphic model during the stance? phase of walking. In the model, all joints were assumed to act as monocentric. single degree of freedom hinge joints. The motion of foot was captured by a video collection system using four cameras. The model fitted in an individual subject was simulated with this motion data. The range of motion of the first tarsometatarsal joint was $-8^{\circ}\;\~\;-13^{\circ}$, and the first metatarsophanlangeal joint was $-13^{\circ}\;\~\;-48^{\circ}$. The kinematic data of tarsometatarsal joint and metatarsophanlangeal joint were similar to the previous data. Therefore, our method based on the graphical computer model is considered useful.