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김진탁(Jin Tak Kim),박상신(Sangshin Park),한상철(Sangchul Han),김진현(Jinhyeon Kim),조정산(Jungsan Cho) 유공압건설기계학회 2020 드라이브·컨트롤 Vol.17 No.4
We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of "as if the operator’s arm is moving" was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.
임피던스 제어를 이용한 비평탄면에서의 이족보행로봇의 보행
김진탁(Jin Tak Kim),손범규(Bum Gyu Son),박종현(Jong Hyeon Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
This paper describes a control method for biped robots walking on uneven terrain based on impedance control. In reality, a floor of house has a local and a global uneven surface. It is important to note that even slight unevenness of a floor can cause serious instability in biped walking robots. To be able to stable walking on uneven surface, it is necessary for a robot to reduce contact force generated on a foot contact place of the ground. We used a six-axis Force/Torque sensor mounted on biped robot to measure the force and torque from biped robot to the ground surface. The effectiveness and the performance are shown in computer simulations with a 12-DOF biped robot.
김진탁(Jin Tak Kim),박종현(Jong Hyeon Park) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper presents results on generating turning trajectory of a biped robot by slip the foot on the ground. The method to calculate the slipping frictional force and torque, to predict the most possible slipping direction of a support foot in single support phase is developed. To generate the slip motion, we predict the amount of slip using the hypothesis that the power generated by floor friction. The effectiveness and the performance are shown in computer simulation with a 12-DOF biped robot.
도시공원의 운영 및 관리에 대한 지역주민과 관광객 간 인식 차이 연구 -인천광역시 월미공원을 중심으로-
김진탁 ( Jin Tak Kim ),조중현 ( Joong Hyun Cho ) 한국환경생태학회 2011 한국환경생태학회지 Vol.25 No.3
본 연구는 외부 관광객이 많은 인천광역시 월미공원을 대상으로 지역주민과 외부 관광객 사이의 공원 운영과 관리에 대한 인식 차이를 조사·분석함으로써 공원 이용 활성화와 효과적인 운영관리 방안을 모색하기 위해 수행되었다. 자료수 집은 2009년 5월 1일부터 4일간 총 222명의 공원 방문객을 대상으로 현지설문조사를 통해 이루어졌다. 조사결과, 방문횟수 및 목적, 보완 시설물 등에서 지역주민과 외부 관광객 간 차이를 보였으며, 두 집단 모두 인근 관광지에 대한 인식이 공원 이용만족도에 영향을 미치는 것으로 인식함에 따라 공원 구역 내뿐만 아니라 주변지역의 운영·관리에도 만전을 기해야 할 것이다. This study attempted to investigate and analyze the difference of recognition between local residents and tourists, with the parks where tourists visit much and tried to make promotion of park utilization and available way of park management. Data were collected from 222 visitors in Wolmi park from May 1 to May 4, 2009 through field questionnaire. The results of this research were as follows. First, the local residents and tourist showed the difference in terms of use of parks. For the additional facilities, the local residents and tourists had different point view. While local residents responded that the supplementation of relaxation facilities, was the most important, the tourists selected the sign board providing the information about the parks as the most important factor. Secondly, in accordance with the awareness survey on the tourist spots for the spatial link between Wolmi Park and other areas, the local residents and the tourists demonstrated the difference in the satisfaction on Wolmi-Do tourist spot and what to improve.
강관기둥과 PHC 파일을 연결하는 접합부에 관한 구조성능평가
김상봉,오진탁,김영식,주영규,Kim, Sang-Bong,Oh, Jin-Tak,Kim, Young-Sik,Ju, Young-Kyu 한국공간구조학회 2015 한국공간구조학회지 Vol.15 No.3
This paper presents a foundation pile to steel column connection that can resist large magnitude of moment and that can be easy installed. The developed joint has spherical shape and it is given the name HAT joint to mean Hallow half-sphere steel joint. Four types of HAT joints are developed. Namely, H-type, T-type, P-type and K-type. In this paper I will talk about the performance assessment of T-type(Tube Column) and P-type(Pile Column) of HAT joints with finite element analysis and experiment on a full scale model is presented.
오진탁,이경주,주영규,우운택,김상대,Oh, Jin-Tak,Lee, Kyoung-Ju,Ju, Young-Kyu,Woo, Woon-Taek,Kim, Sang-Dae 한국공간구조학회 2011 한국공간구조학회지 Vol.11 No.3
최근 건축 경향에 따라 단층 프리폼 구조에 대한 관심이 증대되고 있다. 축력과 모멘트를 동시에 받는 구조적인 특성으로 인해 프리폼 구조에서 노드는 응력이 집중되는 부분으로 상세 개발이 이루어져야 한다. 본 논문은 단층 프리폼 구조의 모멘트형 노드를 제안하고 축력과 모멘트에 대한 유한요소해석을 수행하였다. 유한요소해석을 통해 내력이 검증된 모델에 구멍 크기 및 위치에 따른 변수를 적용하여 변수해석을 진행하였고 결과를 비교분석하여, 구조적인 성능을 만족하여 안전성을 가지고 동시에 물량도 가장 절약할 수 있는 노드 Prototype을 결정하였다. Due to architectural requirement, the attention of single layered freeform spatial structure is increasing nowadays. Because the node of single layered structure should resist the bending and axial forces simultaneously, it is necessary to develop a new proper type of node in detail. In this study, a new type of node for single layered freeform spatial structure was proposed. And the structural performance for the node was analytically evaluated using the commercial FEM software(ABACUS). As a result, a node prototype was selected and the proposed node showed good structural behaviors.