• 로봇학회논문지
• /
• 제3권1호
• /
• pp.9-15
• /
• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• 한국강구조학회 논문집
• /
• 제28권6호
• /
• pp.459-465
• /
• 2016

본 연구에서는 인장이음에 대한 반복하중의 영향을 파악하기 위하여 단순 인장이음을 대상으로 피로시험을 수행하였다. 인장이음의 볼트체결에 따른 축력과 작용하중에 의한 축력의 변화를 측정하였고 반복하중에 의한 볼트의 축력과 파괴양상, 이음의 피로강도를 조사하였다. 인장이음의 구조 상세 변수는 플랜지 두께와 고장력 볼트의 직경으로서 이들의 조합에 따라 볼트와 연결부의 강성이 달라지도록 하였다. 피로시험결과, 반복하중을 받는 인장이음의 파괴모드는 EC3에서 제시하고 있는 정적 파괴모드별 극한하중을 이용하여 평가될 수 있었다. 인장이음의 피로강도는 지레작용을 고려하지 않은 EC3(36)의 피로강도보다 상당히 안전측의 결과로 나타났다. 그러나, 지레작용에 의한 부가축력은 볼트 축력의 증가를 일으키기 때문에 피로강도에 대한 신중한 평가가 필요하다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
• /
• 제10권5호
• /
• pp.187-194
• /
• 2021

사람의 행동인식(Action Recognition)은 사람의 관절 움직임에 따라 어떤 행동을 하는지 인식하는 것이다. 이를 위해서 영상처리에 활용되는 컴퓨터 비전 태스크를 활용하였다. 사람의 행동인식은 딥러닝과 CCTV를 결합한 안전사고 대응서비스로서 안전관리 현장 내에서도 적용될 수 있다. 기존연구는 딥러닝을 활용하여 사람의 관절 키포인트 추출을 통한 행동인식 연구가 상대적으로 부족한 상태이다. 또한 안전관리 현장에서 작업자를 지속적이고 체계적으로 관리하기 어려운 문제점도 있었다. 본 논문에서는 이러한 문제점들을 해결하기 위해 관절 키포인트와 관절 움직임 정보만을 이용하여 위험 행동을 인식하는 방법을 제안하고자 한다. 자세추정방법(Pose Estimation)의 하나인 AlphaPose를 활용하여 신체 부위의 관절 키포인트를 추출하였다. 추출된 관절 키포인트를 LSTM(Long Short-Term Memory) 모델에 순차적으로 입력하여 연속적인 데이터로 학습을 하였다. 행동인식 정확률을 확인한 결과 "누워있기(Lying Down)" 행동인식 결과의 정확도가 높음을 확인할 수 있었다.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 2008년도 춘계 학술발표회 초청강연 및 논문집
• /
• pp.875-883
• /
• 2008

The amount of granite distribution area occupies about 40 - 50% of Korean Peninsula. The granite irregularly Intruded through preCambrian to Tertiary times but in Jurassic time so called, Daebo granite most widely crops out in Korean Peninsula. In addition to Bulkuksa Grante which intruded at Cretaceous time crops out at the southern part of Korean Peninsula and in northern part Triassic Songrim Granite is distributed. These granites have equigranular texture and are relatively isotropic. Their uniaxial compressive strength is above $1,500kg/cm^2$ and also seismic velocity is over 2,000m/sec. When these rocks receive a weathering action, the feldspar weathers first and the quartz grains remain plentifully to make the "Masato(Korean name)". Also when the granite receives a weathering action, quite often it make sheeting joint which is topographically parallel to the earth surface and also make a (so called, onion structure. These weathering phenomena easily make a land sliding when it is heavy rain and weathering surface is irregular.

• Structural Engineering and Mechanics
• /
• 제55권4호
• /
• pp.801-813
• /
• 2015

Flexural stiffness of bridge spans has become even more important parameter since Eurocode 1 introduced for railway bridges the serviceability limit state of resonance. For simply supported bridge spans it relies, in general, on accurate assessment of span moment of inertia that governs span flexural stiffness. The paper presents three methods of estimation of the equivalent moment of inertia for such spans: experimental, analytical and numerical. Test loading of the twin truss bridge spans and test results are presented. Recorded displacements and the method of least squares are used to find an "experimental" moment of inertia. Then it is computed according to the analytical method that accounts for joint action of truss girders and composite deck as well as limited span shear stiffness provided by diagonal bracing. Finally a 3D model of finite element method is created to assess the moment of inertia. Discussion of results is given. The comparative analysis proves efficiency of the analytical method.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 1990년도 가을 학술발표회 논문집
• /
• pp.1-6
• /
• 1990

Joints are provided in cement concrete pavements to control transverse and longitudinal cracking that occur due to restrained deformations caused by moisture and temperature variations in the slab. But the construction of joints reduces the load-carrying capacity of the pavement at the joints, and pavements have beem deteriorated by cracks at the slab edges along the joints due to traffic loads. Therefore, it is important to analyze the behavior of joints accurately in the design of cement concrete pavements. In this study, the mechanical behavior of cement concrete pavement slabs is analyzed by the plate-finite element model, and Winkler foundation model is adopted to analyze the subgrades. The load transfer mechanism of joints are composed of dowel action, aggregate interlocking, and tied-key action, and the analytical program is developed using these joint models.

• Journal of Mechanical Science and Technology
• /
• 제19권spc1호
• /
• pp.444-451
• /
• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• 국제학술발표논문집
• /
• The 2th International Conference on Construction Engineering and Project Management
• /
• pp.450-458
• /
• 2007

This paper presents the results of a statistical analysis and its research findings focusing on the learning aspect in the process of international joint ventures (IJVs). The contents of this paper is derived from a sample of 96 field cases based on a proposed conceptual model of effective learning for international construction joint ventures (ICJVs). The paper presents a brief review on the conceptual model with hypotheses and summarized the key results of statistical analysis including factor and multiple regression analysis for the testing of the validity of the proposed conceptual model and its associated research hypotheses. Among other research findings, the research confirms that ICJVs provides an excellent platform of in-action learning for construction organization and suggests that good outcomes in learning could be reaped by a company who has a clear learning intent from the beginning and subsequently take corresponding learning actions during the full process of the joint venture.

• Asia pacific journal of information systems
• /
• 제15권2호
• /
• pp.171-193
• /
• 2005

Small firms are considered as the last mile in electronic networks of business enterprises. Since small firms lack in their resources and capabilities for IT deployment, it seems a challenging project to make them electronically linked to their trading partners. This study aims to investigate the factors that influence the intent of small firms to adopt electronic linkage to their trading partners. This study considers the context where small firms already have transaction relationships with partner firms and where their adoption of electronic linkage may influence the nature and performance of the transactional relationships. This study considers the expected value of electronic linkage and the joint actions of the trading firms as the major factors. Its research model also includes traditional factors such as influences from the industry and the trading partner, the support of CEO, and the readiness of the trading partner. Based on the survey data from more than 1000 small firms, the present study performs regression analysis and finds that all but one factor are significant in explaining the variations in the adoption intention of small firms. The exception is the joint action, which is shown to decrease the intention. Based on the results, this study offers business and policy implications that would be useful to business managers and policy makers.

• Geomechanics and Engineering
• /
• 제13권6호
• /
• pp.977-995
• /
• 2017

It is well accepted that rock failure mechanism influence the cutting efficiency and determination of optimum cutting parameters. In this paper, an attempt was made to research the factors that affect the failure mechanism based on discrete element method (DEM). The influences of cutting depth, hydrostatic pressure, cutting velocity, back rake angle and joint set on failure mechanism in rock-cutting are researched by PFC2D. The results show that: the ductile failure occurs at shallow cutting depths, the brittle failure occurs as the depth of cut increases beyond a threshold value. The mean cutting forces have a linear related to the cutting depth if the cutting action is dominated by the ductile mode, however, the mean cutting forces are deviate from the linear relationship while the cutting action is dominated by the brittle mode. The failure mechanism changes from brittle mode with larger chips under atmospheric conditions, to ductile mode with crushed chips under hydrostatic conditions. As the cutting velocity increases, a grow number of micro-cracks are initiated around the cutter and the volume of the chipped fragmentation is decreasing correspondingly. The crack initiates and propagates parallel to the free surface with a smaller rake angle, but with the rake angle increases, the direction of crack initiation and propagation is changed to towards the intact rock. The existence of joint set have significant influence on crack initiation and propagation, it makes the crack prone to propagate along the joint.