• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.5
• /
• pp.466-472
• /
• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.2
• /
• pp.264-270
• /
• 2011

This paper focuses on possibility to design and fabrication new combination of bullet core to substitute current toxic material of heavy metal such as lead by environment-friendly ones. The core is designed as dual structure to manipulate the core center of gravity easily by combining materials, which of basis is tungsten of low cost and easily acquired. Those combinations are W-M series such as W-Cu, W-Sn, W-Cu-Sn, and W-Cu-Ni to target the density of lead, $11.34g/cm^3$ through powder-metallurgy. Out of four, combination of W-Cu-Ni shows the highest compression density of 96% and is confirmed as the most suitable substitution for lead due to the excellent property of matter and sintering. All combination samples is simulated on the PRODAS software for designing and structure analysis by adjusting the center of gravity of dual core samples forward and backward. The simulations confirm the similarity of current bullet core with respect to properties of mass, aero dynamics, and flying stability.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.3
• /
• pp.345-352
• /
• 2011

This paper focuses on the properties analysis of 9mm bullet dual structure core to substitute current lead core by environment-friendly combination of W-Cu-Ni system high density composite materials. So the four combination samples were made of dual core with the different center of gravity location backward or forward compare to that of lead type bullet, and we experimented about the performance of 9mm bullet dual structure core. In the experimental results, the outer shape of core of four environment friendly samples on the target maintain marginally, while the current lead core bullets are completely crushed after hitting the target. The penetration depth of environment friendly samples excel seven times to lead type bullet and the three out of four samples with forward adjusted center of gravity penetrate deep as twice as ones backward. The impact tolerance of all four samples satisfies military specification, however, more firing tests are required to improve reliability of scattering distribution.

• Korean Journal of Metals and Materials
• /
• v.50 no.7
• /
• pp.531-538
• /
• 2012

In this study, we evaluated the fluidity of the Al-Zn based alloys which exhibit excellent mechanical properties. We conducted computer simulations of fluid flow using the results of DSC, DTA analysis and Java-based Materials Properties software (J. Mat. Pro). Such computer simulations were then compared with the results obtained from experimental observations. The computer simulation results and the experimental results were very similar in fluidity length. It was found that the fluidity length of Al-Zn alloys is improved by increasing the Zn content while decreasing the solidus temperature of an alloy. In addition, we elucidate the effect of Zn addition on variations in different mechanical properties and the microstructure characteristics of (Al-xZn3Cu0.4Si0.3Fe) x=20, 30, 40, and 45 wt% alloys fabricated by gravity casting.

• Journal of the Society of Naval Architects of Korea
• /
• v.46 no.4
• /
• pp.391-397
• /
• 2009

In this paper, longitudinal static stability is investigated, which is an essential requirement for the safety and the performance of the human powered hydrofoil boat (HPHB). In case a disturbance changes the trim angle of the boat, the derivative of the moment about the center of gravity must be negative in order to make the boat to be stable. The equation to evaluate the longitudinal static stability of the EPISODE, a HPHB of Chungnam National University with a height controlling system(HCS) is derived. From the derivative it is confirmed that a longitudinal and vertical position of the center of gravity is important for a HPHB. The range of a trim angle while the boat is foil-born was found with a HCS under the condition of mechanical restraint. And it is confirmed that the longitudinal static stability is satisfied for EPISODE in certain range of a trim angle. It is also shown that the longitudinal static stability and a range of the trim angle can be determined from the principal dimensions of a HPHB, therefore, it can be applied from the stage of the conceptual design of HPHB.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.8
• /
• pp.574-581
• /
• 2019

This paper investigates the effects of thrust misalignments and offsets of the lateral center of gravity of a space launch vehicle on its guidance performance. Sensitivity analysis and Monte Carlo simulations are applied to analyze their effects by computing changes in orbit injection errors when including the error sources. To compensate their effects, the attitude controller including an integrator additionally and the Steering Misalignment Correction (SMC) routine of the Saturn V are considered, and then Monte Carlo simulations are performed to evaluate their performances.

• Journal of Fashion Business
• /
• v.28 no.1
• /
• pp.83-97
• /
• 2024

A plantar pressure mat with visual notifications was developed to confirm whether individuals can effectively balance themselves and correct imbalances. The sensor-embedded mat was made with a commercial yoga mat, and was tested on seven working women in their 30s to determine plantar pressure distribution when standing and squatting, and if they could recognize and correct imbalances with visual feedback. The study found that visual notifications significantly changed the plantar pressure ratio of the forefoot and hindfoot, as well as the left and right foot plantar pressure ratio. Without notifications, the center of gravity was more concentrated in the rear foot than the forefoot in both standing and squatting positions. Visual notifications showed that the center of gravity, which was largely focused on the rear foot, was distributed to the forefoot, resulting in a more evenly distributed center of gravity throughout the sole. For the change in left and right plantar pressure, the weight that was largely loaded on the left side was distributed to the right foot through the visual notification mat, confirming a more balanced plantar pressure.

• Economic and Environmental Geology
• /
• v.32 no.2
• /
• pp.177-187
• /
• 1999

Gravity, magnetic and VLF surveys were conducted to investigat the structural stability and hazards associated with the Ubong landfill in Pohang City, which has been built to dump industrial wastes. In 1994, the collapse of a bank happened in the 6th landfill site due to sudden heavy rain, and a large quantity of waste materials flowed out to the nearby landfill sites, factories and roads. We used $10{\times}10m$ resolution DEM data for gravity reductions. The maximum variation of the terrain effect in the survey area is about 0.5 mgal and the terrain effect is large in the vicinity of bank boundary. The Bouguer gravity anomaly map shows the effect due to the variatino of thickness and type of waste materials. The small negative gravity anomaly increases from the 9th site to the 6th site. The small negative gravity anomaly of the 9th site reflects the relatively shallow dumping depth of average 14.5 m in this site and increased density of waste materials by the repeated stabilization process of soil overlaying. The 6th site is located at the center of the former valley and rainfall and groundwater are expected to flow from south-east to north-west. Therefore, considering the previous accident of mixing waste and bank materials at the north-west boundary of the landfill, there may be some environmental problems of leakage of contaminated water and bank stability. The complex inversion technique using Simulated annealing and Marquardt-Levenberg methods was applied to calculate three-dimensional density distribution from gravity data. In the case of 6th site, it is apparent that the landfill had been dumped in four sectors. However, most part of the 9th site and showed that high magnetic industrial wastes were concentrated in the 6th site. The result of magnetic survey showing low magnetic anomalies along the boundaries of two sites is similar to that of gravity data. The VLF data also reveals four divided sectors in the 6th site, and overall anomaly trend indicates the directio of former valley.

• Journal of the Korea Society of Computer and Information
• /
• v.17 no.6
• /
• pp.49-55
• /
• 2012

Pacman is one of the world-famous and have been chosen game in the game room at the arcade. In this paper, pacman game gives you the ability to perform by simple hand movement alone. First, we obtain binary RGB image to extract skin color, and convert into binary image YCbCr by minus the luminance in this image. Next, we extract the hand region by the product of an binary RGB image and binary YCbCr image. Finally, the hand region, we obtain the center of gravity by the minimum bounding rectangle and the center of the hand pixel area, and we used to obtain the center of the hand area with an average of two center of gravity. In other words, we presented the game of motion that can take the place of arrow key by using the center coordinates of hand. In addition, these experiments showed the average movement and error rate, and cause of the error type was also investigated.

• Journal of the Korean Society of Visualization
• /
• v.20 no.1
• /
• pp.18-28
• /
• 2022

In this study, a cavity shape measurement experiment was conducted by changing the diameter and the angle of attack of a disk cavitator. Since the gravity effect is proportional to the cavity volume, the larger the cavity, the greater the effect. It is concluded that the gravity effect becomes smaller as the cavitation number decreases because of a short cavity maintaining time. The cavity centerline rises in case of the positive angle of attack and descends in case of the negative angle of attack. Since the effect of the angle of attack is inversely proportional to the square of the cavity radius, the effect of the angle of attack becomes dominant in the vicinity of the cavitator. It is judged that the horizontal section of the cavity centerline cannot be extended because the factors affecting the gravity effect and the angle of attack effect are different.