• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.21 no.48
• /
• pp.201-211
• /
• 1998

The fundamental object of work measurement is to precisely establish the time standards, which are the indices of labor productivity. This study discussed the development of robot work measurement method that could establish the time standard effectively. In manufacturing industries the various robot tasks are generally classified and standardized by the unit motions. The Robot Modularization of the Unit Motion (ROMUM) was realized by the module of two steps GET and PUT unit motions. This method reduced time and effort of analysis, and could be done with ease. Therefore, ROMUM will increase the convenience of use for the unskilled worker and decrease the time required, cost and errors. And, it will contribute to reduce the unnecessary motion by robot motion analysis.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2126-2131
• /
• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.51.5-51
• /
• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.3 no.1
• /
• pp.105-110
• /
• 2011

Some research work on CFD computation of ship motions and added resistance in waves for a high speed trimaran is carried out in this paper. The governing equations, Reynolds Averaged Navier-Stokes and continuity equations are discretized by finite volume method. Volume of fluid method is adopted to deal with the nonlinear free surface. The incident waves are generated from the inflow boundary by prescribing a velocity profile resembling flexible flap wavemaker motions, and the outgoing waves are dissipated inside an artificial damping zone located at the rear part of the wave tank. In this paper, the computed results of ship motion and added resistance for a high speed trimaran are presented. The results of seakeeping experiment for the high speed trimaran carried out in CSSRC towing tank are also presented in this paper. Rather good agreements are shown between the computational and experimental results. The work in this paper provides a numerical tool for the study of seakeeping performance of high speed trimarans.

• Earthquakes and Structures
• /
• v.17 no.6
• /
• pp.557-566
• /
• 2019

The evaluation of the seismic hazard for a given site is to estimate the seismic ground motion at the surface. This is the result of the combination of the action of the seismic source, which generates seismic waves, the propagation of these waves between the source and the site, and site local conditions. The aim of this work is to evaluate the sensitivity of dynamic response of extended structures to spatial variable ground motions (SVGM). All factors of spatial variability of ground motion are considered, especially local site effect. In this paper, a method is presented to simulate spatially varying earthquake ground motions. The scheme for generating spatially varying ground motions is established for spatial locations on the ground surface with varying site conditions. In this proposed method, two steps are necessary. Firstly, the base rock motions are assumed to have the same intensity and are modelled with a filtered Tajimi-Kanai power spectral density function. An empirical coherency loss model is used to define spatial variable seismic ground motions at the base rock. In the second step, power spectral density function of ground motion on surface is derived by considering site amplification effect based on the one dimensional seismic wave propagation theory. Several dynamics analysis of a curved viaduct to various cases of spatially varying seismic ground motions are performed. For comparison, responses to uniform ground motion, to spatial ground motions without considering local site effect, to spatial ground motions with considering coherency loss, phase delay and local site effects are also calculated. The results showed that the generated seismic signals are strongly conditioned by the local site effect. In the same sense, the dynamic response of the viaduct is very sensitive of the variation of local geological conditions of the site. The effect of neglecting local site effect in dynamic analysis gives rise to a significant underestimation of the seismic demand of the structure.

• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.287-299
• /
• 2008

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

• Journal of Korean Institute of Industrial Engineers
• /
• v.28 no.2
• /
• pp.223-231
• /
• 2002

Recently, work-related musculoskeletal disorders(WMSDs) have rapidly increased and have been a major issue in the field of industrial safety. Of several physical risk factors for WMSDs, which include postures, vibration, repetitive work, speed or acceleration of movements, etc., awkward postures have been known as one of the major causes of WMSDs. For reducing the potential for injury as a result of postures, cost effective quantification of the magnitude for physical exposure to poor working postures is important and needed. To do this, several postural classification schemes have been developed and used in industrial sites. It is known that perceived discomfort for joint motions and muscle strength for females were much less than those for males. However, the existing postural classification schemes were developed without considering these gender effects. This study aims to develop a new postural classification scheme for female workers, based on the perceived discomfort for joint motions. The result showed that there was significant difference between the schemes for female and male. It was also found that when compared with OWAS, RULA and REBA, postural load was quantified more precisely with the developed scheme. It is recommended that different schemes according to gender of workers involved in work be used in order to accurately evaluate postural load of work postures.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.539-544
• /
• 1991

In order to verify robot motions for a desired work, it is necessary to visualize it on a computer screen. This paper presents a simulation algorithm for robot manipulator motion. Kinematic description is based on the Denavit- Hartenberg link representation. In order to be applied to various types of the robot manipulator, inverse kinematics make use of the Newton-Raphson iterative method with the least squares method. Joint variables are interpolated by the lowest polynomial segment satisfying acceleration continuity. The robot motions are generated and then animated on a computer screen in the form of skeleton type.

• Proceedings of the Earthquake Engineering Society of Korea Conference
• /
• 2000.04a
• /
• pp.70-80
• /
• 2000

In order to reduce seismic hazard the characteristics of strong earthquakes are required. In the region where strong earthquakes do not happen frequently the stochastic simulation of strong motion is an alternative way to predict strong motions. this simulation required input parameters such as the quality factor the corner frequency the moment magnitude the stress drop and so on which can be obtained from analyses of records of small and intermediate earthquakes. Using those parameters obtained in the previous work the strong ground motions are predicted employing the stochastic method, . The results are compared to the two observed earthquakes-the Ulsan Offshore Earthquake and the Kyungju Earthquake. Although some deviations are found the predictions are similar to the observed data. Finally we computed attenuation equations for PGA PGV and ground accelerations for some frequencies using the results of predictions. These results can be used for earthquake engineering and more reliable results will come out as earthquake observations continue.

• Structural Engineering and Mechanics
• /
• v.2 no.3
• /
• pp.257-267
• /
• 1994

Motions of an unsymmetric rigid body on a rigid floor subjected to earthquake excitations with special attention to coefficient of friction are investigated. Motions of a body in a plane are classified (Ishiyama 1980) into six types, i.e. (1) rest, (2) slide, (3) rotation, (4) slide rotation, (5) translation jump, (6) rotation jump. Based upon the theoretical and experimental research work special attention is paid to the sliding of a body. The equations of motions and the behavior of coefficient of friction in the time of floor excitation are studied. One of the features of this investigation is the introduction and estimation of the "time dependent" coefficient of friction. It has been established that the constant kinetic coefficient of friction $${\mu}(kin){\sim_\sim}0.8{\mu}(stat)$$ does not give the appropriate results. The method for the estimation of the friction coefficient variation during the time is given.