• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.64-71
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• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• Journal of the Korean earth science society
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• v.40 no.1
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• pp.56-67
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• 2019

In this study, we analyzed the intensity attenuation for M 6.0, 6.5, and 7.0 earthquakes using the broadband strong ground motion simulation platform based on the physical seismic modeling developed by the US Southern California Earthquake Center (SCEC). The location of the earthquake was assumed to be near the epicenter of the 2016 M 5.8 Gyeongju earthquake, but two of the representative US regional models provided by the SCEC strong ground motion simulation platform were used for the propagation model. One is the Central and Eastern United States (CEUS) model representing the intraplate region, and the other is the LA Basin model representing the interplate region. Five modeling methodologies are presented in the version 16.5 of the simulation platform, and Song and Exsim models were used in this study. In the analysis, we found that different intensity attenuation patterns can be observed with the same magnitude of earthquakes, especially depending on the region (CEUS vs LA Basin). Given the same magnitude and distance, the instrumental intensity in the CEUS region (intraplate) could be larger by a unit of 2 than that in the LA Basin region (interplate). Given the difference of intensity attenuation patterns observed in the study, it is important to know the regional intensity attenuation characteristics to understand the accurate level of seismic hazard imposed in the Korean Peninsula. This study also shows the level of the uncertainty of intensity attenuation if region specific attenuation characteristics are not considered.

• Nuclear Engineering and Technology
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• v.46 no.5
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• pp.699-706
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• 2014

The probabilistic seismic performance of a standard Korean nuclear power plant (NPP) with an idealized isolation is investigated in the present work. A probabilistic seismic hazard analysis (PSHA) of the Wolsong site on the Korean peninsula is performed by considering peak ground acceleration (PGA) as an earthquake intensity measure. A procedure is reported on the categorization and selection of two sets of ground motions of the Tohoku earthquake, i.e. long-period and common as Set A and Set B respectively, for the nonlinear time history response analysis of the base-isolated NPP. Limit state values as multiples of the displacement responses of the NPP base isolation are considered for the fragility estimation. The seismic risk of the NPP is further assessed by incorporation of the rate of frequency exceedance and conditional failure probability curves. Furthermore, this framework attempts to show the unacceptable performance of the isolated NPP in terms of the probabilistic distribution and annual probability of limit states. The comparative results for long and common ground motions are discussed to contribute to the future safety of nuclear facilities against drastic events like Tohoku.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2420-2426
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• 2015

This paper proposes an evolutionary optimization approach for optimal hopping of humanoid robots. In the proposed approach, the hopping trajectory is generated by a central pattern generator (CPG). The CPG is one of the biologically inspired approaches, and it generates rhythmic signals by using neural oscillators. During the hopping motion, the disturbance caused by the ground reaction forces is compensated for by utilizing the sensory feedback in the CPG. Posture control is essential for a stable hopping motion. A posture controller is utilized to maintain the balance of the humanoid robot while hopping. In addition, a compliance controller using a virtual spring-damper model is applied for stable landing. For optimal hopping, the optimization of the hopping motion is formulated as a minimization problem with equality constraints. To solve this problem, two-phase evolutionary programming is employed. The proposed approach is verified through computer simulations using a simulated model of the small-sized humanoid robot platform DARwIn-OP.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Journal of the Korean earth science society
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• v.41 no.3
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• pp.238-247
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• 2020

This study simulated strong ground motion waveforms in the southern Korean Peninsula, based on the physical earthquake modeling of the Southern California Earthquake Center (SCEC) BroadBand Platform (BBP). Characteristics of intensity attenuation were investigated for M 6.0-7.0 events, incorporating the site effects. The SCEC BBP is software generates broadband (0-10 Hz) ground-motion waveforms for earthquake scenarios. Among five available modeling methods in the v16.5 platform, we used the Song Model. Approximately 50 earthquake scenarios each were simulated for M 6.0, 6.5, and 7.0 events. Representative metrics such as peak ground acceleration (PGA) and peak ground velocity (PGV) were obtained from the synthetic waveforms that were simulated before and after the consideration of site effects (V_S30). They were then empirically converted to distribution of instrumental intensity. The intensity that considers the site effects is amplified at low rather than high V_S30 zones.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.227-233
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• 2015

In this study, an indoor test environment was developed for studying the vision stabilizer of an unmanned vehicle, using a virtual environment and a 6-axis motion simulator. The real driving environment was replaced by a virtual environment based on the Aberdeen Proving Ground bump test course for military tank testing. The vehicle motion was reproduced by a 6-axis motion simulator. Virtual reality driving courses were displayed in front of the vision stabilizer, which was located on the top of the motion simulator. The performance of the stabilizer was investigated by checking the image of the camera, and the pitch and roll angles of the stabilizer captured by the IMU sensor of the camera.

• Journal of the Earthquake Engineering Society of Korea
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• v.11 no.6
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• pp.15-21
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• 2007

Strong motion attenuation relationship represents a comprehensive trend of ground shakings at sites with distances from the source, geology, local soil conditions, and others. It is necessary to develop an attenuation relationship with careful considerations of characteristics of the target area for reliable seismic hazard/risk assessments. In the study, observed ground motions from the January 2007 magnitude 4.9 Odaesan earthquake and the events occurring in the Gyeongsang provinces are compared with the previously proposed ground attenuation relationships in the Korean Peninsula to select most appropriate one. In the meantime, a few strong ground motion attenuation relationships are proposed and introduced in HAZUS, which have been designed for the Western United States and the Central and Eastern United States. The selected relationship from the ones for the Korean Peninsula has been compared with attenuation relationships available in HAZUS. Results of the study will increase the reliability of seismic hazard/risk assessments using HAZUS in the Korean Peninsula.

• Geophysics and Geophysical Exploration
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• v.13 no.3
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• pp.219-226
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• 2010

Current earthquake alert notification for immediate post-earthquake procedures for the critical facilities is exclusively dependent on the ground-motion intensity measures observed at the seismic station located within the site. This practice is prune to false notification due to a noise and problems of missing and poor quality records of the seismic station. The credibility of the earthquake alert notification can be enhanced by utilizing the multiple transformed records of the nearby seismic stations at other sites interconnected to the same earthquake monitoring system by a network. The time-domain transformation of the site-response between the seismic stations is implemented by convoluting the nearby records with a pair of forward and inverse FIR filters designed for the site response relative to a seismic basement. The transformed records from the nearby seismic stations can be used to estimate the ground-motion intensity measures missing at the site or to evaluate the data quality along with other various possible applications in the area of geoscience and earthquake engineering.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.55-63
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• 2012

The purpose of this study was to investigate the balance differences between skilled players and less-skilled players during Hakdariseogi motion of Keumgang Poomsae in Taekwondo. To achieve the study goal, total of 10 Taekwondo athletes; 5 skilled players(S, body mass: $67.0{\pm}5.7$ kg, height: $174.0{\pm}4.8$ cm, age: $20.0{\pm}2.0$ yrs) and 5 less-skilled players(LS, body mass: $73.0{\pm}4.9$ kg, height: $176.4{\pm}6.1$ cm, age: $20.8{\pm}1.3$ yrs) participated in this study. A three-dimensional motion analysis with 8 infrared cameras and one force plate whose sampling frequency as 30 Hz and 300 Hz, respectively, were performed. Participants' motion were divided into three phases which were preparation phase(P1), performing phase(P2) and maintaining phase(P3). The range and velocities of COP, the range and RMS of ground reaction torque and displacement between COM and center of BOS of each phase were computed. In this study, at P1 and P3 which were double and single stance, respectively, the range and M-L velocities of COP revealed significantly higher in LS compared with those of S(p<.05). At P2 which was single stance, LS indicated significantly higher in range of COP and ground reaction torque, and M-L velocities of COP than those of S(p<.05). The significantly shorter displacement between COM and center of BOS, however, was found in LS compared with that of S(p<.05). The results from our study indicated that S revealed more stable performance and a better posture control ability during performing Hakdariseogi motion.