• Journal of the Korea Computer Graphics Society
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• v.20 no.3
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• pp.9-17
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• 2014

This paper presents a method to retarget a source motion to the rig-space parameter for a target character that can be equipped with a complex rig structure as used in traditional animation pipelines. Our solution allows the animators to edit the retargeted motion easily and intuitively as they can work with the same rig parameters that have been used for keyframe animation. To acheive this, we analyze the correspondence between the source motion space and the target rig-space, followed by performing non-linear optimization for the motion retargeting to target rig-space. We observed the general workflow practiced by animators and apply this process to the optimization step.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Journal of Welding and Joining
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• v.35 no.3
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• pp.44-51
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• 2017

In the present study, AA 5083-O plates are joined by friction stir welding technique. A universal milling machine was used to perform the welding process of the work-pieces which were fixed on the proper position by a vice. The joints were friction stir welded by two tools with different pin profiles; cylindrical threaded pin and tapered smooth one at different rotational speed values; 400 rpm and 630 rpm, and different welding speed values; 100 mm/min and 160 mm/min. During FSW of each joint, the temperature was measured by infra-red thermal image camera. The welded joints were inspected by visually as well as by the macro- and microstructure evolutions. Furthermore, the joints were tested for measuring the hardness and the tensile strength to study the effect of changing the FSW parameters on the mechanical properties. The results show that increasing the rotational speed results in increasing the peak temperature, while increasing the welding speed results in decreasing the peak temperature for the same tool pin profile. Defect free welds were obtained at lower rotational speed by the threaded tool profile. Moreover, the threaded tool pin profile gives superior mechanical properties at lower rotational speed.

• Computers and Concrete
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• v.19 no.2
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• pp.171-177
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• 2017

Water pressure test operation is used before the grouting to determine the rate of penetrability, the necessity and estimations related to grouting, by the penetration of water into the borehole. One of the parameters which have the highest effect is pressure of water penetration since the application of excessive pressure causes the hydraulic fracture to occur in the rock mass, and on the other hand, it must not be so small that prevents from seeing mechanical weaknesses and the rate of permeability. Mathematical modeling is used for the first time in this study to determine the optimum pressure. Thus, the joints that exist in the rock mass are simulated using cylindrical shell model. The joint surroundings are also modeled through Pasternak environment. To obtain equations governing the joints and the surroundings, energy method is used accompanied by Hamilton principle and an analytical solution method is used to obtain the maximum pressure. In order to validate the modeling, the pressure values obtained by the model were used in the sites of Seymareh and Aghbolagh dams and the relative error rates were measured considering the differences between calculated and actual pressures. Modeling in the sections of Seymareh dam showed 4.75, 3.93, 4.8 percent error rates and in the sections of Aghbolagh dam it rendered the values of 22.43, 5.22, 2.6 percent. The results indicate that this modeling can be used to estimate the amount of pressure for hydraulic fracture in water pressure test, to predict it and to prevent it.

• Structural Engineering and Mechanics
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• v.62 no.2
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• pp.225-236
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• 2017

The purpose of this work is to predict ductile fracture of structural steel under extremely low cyclic loading experienced in earthquake. A cumulative damage model is proposed on the basis of an existing damage model originally aiming to predict fracture under monotonic loading. The cumulative damage model assumes that damage does not grow when stress triaxiality is below a threshold and fracture occurs when accumulated damage reach unit. The model was implemented in ABAQUS software. The cumulative damage model parameters for steel base metal, weld metal and heat affected zone were calibrated, respectively, through testing and finite element analyses of notched coupon specimens. The damage evolution law in the notched coupon specimens under different loads was compared. Finally, in order to examine the engineering applicability of the proposed model, the fracture performance of beam-column welded joints reported by previous researches was analyzed based on the cumulative damage model. The analysis results show that the cumulative damage model is able to successfully predict the cracking location, fracture process, the crack initiation life, and the total fatigue life of the joints.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.1
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• pp.63.2-63.2
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• 2011

We present a photometric study of star clusters in three nearby barred spiral galaxies NGC 1300, NGC 1672 and NGC 6217. We use the Hubble Heritage CCD images taken with Advanced Camera for Surveys (ACS) of Hubble Space Telescope (HST) in several filters. We have selected hundreds of star clusters with V $\leq$ 24 mag in each galaxy, based on the morphological parameters and visual inspection. Most of the blue star clusters with B-V $\leq$ 0.5 are strongly concentrated in spiral arms. A significant fraction of these star clusters are distributed in ansae (the joint between spiral arms and bar structure). Some of the blue star clusters are also found in the nuclear starburst region, especially in NGC 1672. A small number of star clusters are found in the bar region. In contrast, the red star clusters with B-V < 0.5 are relatively uniformly located over the entire field of galaxy, and show some central concentration around the bulge. We discuss the physical properties of these star clusters with the expected results from simulations.

• Korean Journal of Applied Biomechanics
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• v.20 no.4
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• pp.365-372
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• 2010

The purpose of this study were to analyze the changes in kinematic and kinetic parameters and to find biomechanical benefits of Nordic Walking and normal gait performed under the same velocity. Nine participants(age: $26.73{\pm}3.28$ year, height: $182.45{\pm}4.62\;cm$, weight: $76.59{\pm}6.84\;kg$) was chosen. The velocity of gait was set by 5.75 km/h which was made by a Nordic Walking professional. The data were collected by using VICON with 8 cameras to analyze kinematic variables with 200 Hz and force platform to analyze kinetic variables with 2000 Hz. The results of this study were as follows. First, when compared with Normal gait, Nordic Walking group showed decreased Plantarflexion angle and ROM. Second, Nordic Walking group showed decreased knee flexion angle and ROM. Third, Nordic Walking group showed increased hip joint movement. Fourth, Nordic Walking group showed higher active GRF but decreased loading rate from delayed Peak Vertical GRF time and increased impulse. Fifth, Nordic Walking group showed longer ground contact time. Through this study, we found that Nordic Walking showed higher stability and efficiency during gait than normal gait and that Nordic Walking may help people who have walking difficulties.

• Journal of Welding and Joining
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• v.26 no.5
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• pp.66-73
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• 2008

Welding work in pre-erection or erection stage of shipbuilding construction to be carried out in flat and vertical upward position mostly and Electrogas welding(EGW) is actively applied especially for vertical butt joint of thicker steel plate recently. In this study considered how to develope and improve mechanical properties of weld metal and HAZ in high heat input welding processes such as EGW and Electroslag welding(ESW) with its welding equipment in order to extend the application range to the longitudinal members and hatch coaming parts of container ship. Some components of welding system and parameters were modified to get the faster travel speed and reduce weld heat input, and also by adding additional filler rods or tubes increase the amount of deposited weld metal. With the test get some good date can apply to actual fabrication work and recommend items to manufacture welding materials make better. Above all things it's a fruition that to prepare the possibility of application of ESW to shipbuilding construction which fill up the gap of stoppage days of more than 20 years.

• Steel and Composite Structures
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• v.38 no.2
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• pp.165-176
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• 2021

Existing research on confined concrete filled steel tubular (CCFT) columns has been mainly focused on static or cyclic loading. In this paper, square section CCFT and CFT columns were tested under both static and impact loading, using a 10,000 kN capacity compression test machine and a drop weight testing equipment. Research parameters included bonded and unbonded fiber reinforced polymer (FRP) wraps, with carbon, basalt and glass FRPs (or CFRP, BFRP, and GFRP), respectively. Time history curves for impact force and steel strain observed are discussed in detail. Experimental results show that the failure modes of specimens under impact testing were characterized by local buckling of the steel tube and cracking at the corners, for both CCFT and CFT columns, similar to those under static loading. For both static and impact loading, the FRP wraps could improve the behavior and increase the loading capacity. To analyze the dynamic behavior of the composite columns, a finite element, FE, model was established in LS-DYNA. A simplified method that is compared favorably with test results is also proposed to predict the impact load capacity of square CCFT columns.