• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.446-453
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• 1999

An athlete motion during weightlifting is analyzed based on robotic manipulability, which shows dexterities by changing the position and orientation of the end-effector of robot manipulators arbitrary or along a specified direction. The athlete body is modeled as a highly redundant robot manipulator. The motion of weightlifting is analyzed based on the selected model with a power manipulability. Power manipulability and its geometric characteristics are derived by combining kinematic manipulability and dynamic manipulability. Also, manipulability-based optimal trajectory of weightlifter for given body structure of weightlifter derived through genetic algorithm.

• Phonetics and Speech Sciences
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• v.3 no.2
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• pp.29-35
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• 2011

This paper examines several articulatory properties of /k/, known as a trigger of place assimilation as well as the object of post-obstruent tensing (/tk/), in comparison to non-assimilating controls (/kk/ and /kt/). Using EMMA, tongue body articulation in the place assimilation context robustly shows greater spatio-temporal articulation and lower jaw position. Results showed several characteristics. Firstly, constriction duration of the tongue body gesture in C2 of the assimilation context (/tk/) was longer than non-assimilating controls (/kk/ and /kt/). Secondly, constriction maxima also demonstrated greater constriction in the /tk/ sequences than in the control /kk/, but similar values with the control /kt/. In particular, results showed a significant relationship between the two variables - the longer the constriction duration, the greater the constriction degree. Lastly, jaw height was lower for the assimilating context /tk/, intermediate for the control /kk/, and higher for the control /kt/. Results suggest that speakers have lexical knowledge of place assimilation, producing a greater tongue body gesture in the spatio-temporal domains with lower jaw height as an indication of anticipating reduction of C1 in /tk/ sequences.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Journal of Energy Engineering
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• v.24 no.3
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• pp.128-134
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• 2015

This research is that analyze multi-body system that have flexible and rigid body. Transfer robots are widely used mainly in automobile industry owing to its capability to handle heavy parts with high speed in wide range of movement. For the transfer robots to widen the application area, a new three-axis mechanism with heavy payload has been recently developed in consideration of the strength and stiffness. For the purpose, transient dynamic analysis is carried out to find the component position yielding a certain time. Though this research, we can analysis stress distribution and deformation of robot component.

• Transactions of Materials Processing
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• v.7 no.4
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• pp.382-392
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• 1998

Computer simulations and test trials were carried out to obtain the optimal stamping conditions of the die design of the laser welded automotive body. The stamping process including gravity deflection bead calibration binder wrap, forming and spring back was simulated and compared with the results obtained from test trials. The production variables were determined from a preliminary operation and they were investigated in the simulation and the test trials. The formability was tested under the various conditions, such as the initial position of blank, blank holding force, corner radius and the shape of drawbead. Sound products without fracture, wrinkling and excessive weldline movement were produced by applying results obtained this investigation.

• Proceedings of the ESK Conference
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• 1997.04a
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• pp.100-106
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• 1997

The purpose of this study is to measure perceived joint discomfort in the seated and standing position, and to provide a ranking system of joint discomfort measured in this study. Seven male subjects with no history of musculo-skeletal disorders participated in the experiment. Their physical characteristics were: age -$27.6 {\pm}1.8$ years, stature -$171.0 {\pm}5.5cm$, and body weight -$66.4{\pm}9.3kg$. The results showed that perceived joint discomfort was different depending on the human body joints involved in motion and their movement directions, which imply that the human body motions should be classified intoseveral distinct classes that need to be assigned different weights of postural stress. In the seated postion, the hip movement was the most stressful, the back was the second, and the shoulder was the third. Similarly, in standing postures, the hip was given the highest ranking, followed by the back, and the wrist.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1928-1933
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• 2005

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.

• Journal of the Ergonomics Society of Korea
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• v.14 no.2
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• pp.33-39
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• 1995

The inverse Kinematics can be used for representing the motion of human body model. In order to find the final figure of the human body model with given target position, we can uwe the formula x=J .THETA. , where J is the Jacobian matrix of x=f( .THETA.), of the Inverse Kinematics. In this formula, f has so complicated form that it is difficult to calcuate the Jacobian matrix J by expanding all formulae exactly. In this paper, a numerical method that calculates the Jacobian matrix is proosed. The simulation results obtained by using the simple human model reprsent that the proposed. The simulation results obtained by using the simple human model represent that the proposed method is useful for generating the final figure of the body model.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.194-197
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• 1999

Automatic weld bead removal system is consisted of bead removal tool, bead profile measurement system and tool motion control system. In this paper, design of weld bead profile measurement system which is used for automatic weld bead removal system is described. The system measures the weld bead position, normal vector of the auto-body and weld bead profile. The optical sensor with structured laser beam is used as a sensor and comparison of the sensor that can be used for this purpose is discussed in detail. The measurement process and the related software developed for this purpose are also described. A median filter, average filter and long line filters are used and their effects in bead profile measurement are discussed. The measurement system is integrated into automatic bead removal system and is used to remove weld bead in rear pillar of automotive body. The whole system operates well in automotive body assembly line and thus the system is proved to be good for this purpose.

• The Journal of Korean Academy of Sensory Integration
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• v.5 no.1
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• pp.51-63
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• 2007

The purpose of this study is to provide definition of proprioception, foundations and roles of neuroanatomy, and systemical review of proprioceptive activities in sensory integration intervention. Proprioception exists in muscle, ligaments, joints and skin and it plays important role in controling body movements and interacting with environment during child development. Proprioception interacting with tactile and vestibular systems contributes to the change of muscle tone, postural control, refinements of planning and praxis. Children who are deficit in proprioceptive processing would seek hypo-responsive proprioceptive input or avoid hyperactive one. Outcome of poor proprioceptive input would cause the problems of praxis and postural control. Because proprioception provides information about the position and movement of body and limb it is important for development of body scheme and motor planning. It also influences the arousal and emotional tone. Sensory integration intervention which provides rich proprioceptive activities will improve the level of arousal and enhance motor planning.