• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2003.10a
• /
• pp.589-593
• /
• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Chua's equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.6
• /
• pp.729-736
• /
• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding some chaotic such as Chua`s equation, Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent In the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is VDP obstacle which have an unstable limit cycle. In the VDP obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2004.05a
• /
• pp.123-127
• /
• 2004

In this paper, we propose that the chaotic behavior analysis in the several Arnold chaos mobile robot of embedding some chaotic such as Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is hidden obstacle which have an unstable limit cycle. In the hidden obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.1
• /
• pp.100-108
• /
• 2004

In this paper, the new casing oscillator, which is a construction machine and which structure is similar to that of a parallel manipulator with redundancy, is proposed. The singularity analysis of this machine is performed by two different methods. First, the singularities are found by the numerical method at configurations where the rank of the Jacobian matrix becomes deficient. The singularities are outside the workspace. To investigate the physical information on these configurations, the singularities are examined by the geometric method at configurations where the casing oscillator cannot resist the external forces and moments applied to the upper platform due to losing static equilibrium. The results of the geometric method are the same as those of the numerical method. It proves that the new casing oscillator is free from the singularity, which causes serious problems to a parallel manipulator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1994.10a
• /
• pp.611-616
• /
• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deforma ble structures. In this work, we propose another type of assembly devices which generate the compliance effec ts by attaching the compliances (or spring) at the prismatic joints of the griven mechainsm. First, the kinematic analysis for a parallel-type planar 3-degree-of-freedom mechanism is performed using modified transfer method of generalized coordinate. Then, compliance characteristics for the mechanism using prismatic joint compliances are investigated. In particular, when the system maintains its symmetric configuration, the mechanism is show n to have RCC points at the center of the workspace. Finally, sensitivity analysis around RCC points is perfor med.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.9
• /
• pp.866-871
• /
• 2010

Gait analysis is essential for leg diagnosis and rehabilitation for the patients, the handicapped and the elderly. The use of 3D motion capture device for gait analysis is very common for gait analysis. However, this device has several shortcomings including limited workspace, visibility and high price. Instead, we developed gait estimation system using gyroscopes. This system provides gait information including the number of gaits, stride and walking distance. With four gyroscope (one for each leg's thigh and calf) outputs, the proposed gait modeling estimates the movements of the hip, the knees and the feet. Complete pedestrian localization is implemented with gait information and the heading angle estimated from the rate gyro and the magnetic compass measurements. The developed system is very useful for diagnosis and the rehabilitation of the pedestrian at the hospital. It is also useful for indoor localization of the pedestrians.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.520-524
• /
• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1662-1667
• /
• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• Korean Institute of Interior Design Journal
• /
• v.23 no.2
• /
• pp.12-20
• /
• 2014

The purpose of this study is to analyze the general patterns of the floor plans and space of Usonian house which designed by Frank Lloyd Wright. this thesis can be summarized as follows : 1) F.L.Wright's houses mostly used simple geometric shapes as the basis for most of his architectural designs. In his early works, his typical floor plans were square or rectangular shapes, which gradually were transformed into various kinds of shape to make the adjustment of location of the site and shape. 2) The general patterns of floor plans of his U-houses were L-shaped or straight shaped using a $4{\times}4$ grid system. Most of U-houses consisted of 3 space: living room, workspace(Kitchen) & dining, and bedroom. Among them, a workspace worked as core role in each house. 3) Even though solid wall is the opposite concept of the transparent glass but most U-houses were designed to have solid walls on one side to provide a gallery space(to secure habitability of resident) and transparent glass walls used on the other side to connect between interior space and natural space of exterior. 4) The cantilever have not been used before Usonian house but F.L.Wright used it which take charge of functions as transfer space between inside space and outside space. 5) F.L.Wright saw the nature as a truth, so he thought the interior space would be natural and all houses must be able to adjust to the natural environment.

• Journal of Korean Institute of Industrial Engineers
• /
• v.25 no.1
• /
• pp.56-66
• /
• 1999

Shoulder joint is the most movable joint in human body with, at least, three degrees of freedom, since there are at least three bones and five joints involved in shoulder movement. Due to the complexity of the shoulder joint and the lack of appropriate anatomical data, modeling of the shoulder joint has been known to be extremely difficult. In many biomechanical models being used, shoulder joint is considered as a fixed point and it is also assumed that the shoulder joint does not noticeably move during the shoulder movement. However, such an assumption is not valid in real applications and causes inaccuracy, especially, in the area of workspace evaluation. The reachable area generated by a human becomes somewhat different from that of current models for those models fail to appropriately reflect the movement of shoulder joint's center of rotation. In this study, the location of the shoulder joint's center of rotation was obtained in relation to the location of humerus, on which a new model for reach envelope generation was developed for workspace evaluation. From the experiments conducted for three subjects, the initial location of the center of rotation was determined for each subject and subsequent changes in the instantaneous center of rotation were drawn as a function of flexion and abduction of the shoulder. Based on the regression analysis, the study suggested a new method for the generation of reach envelope. Comparisons were also made among real reach envelopes obtained from the experiment, the ones from the model, and the ones from the new method suggested in the study. As a result, the prediction errors incurred from the new method were significantly reduced when compared to the ones from the current approach.