• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.146-158
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• 1996

This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.

• The Journal of Engineering Geology
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• v.21 no.4
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• pp.295-304
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• 2011

The first step in improving our understanding of uncertainties suclt as rock mass strength parameters and deformation modulus in rock masses around high-level radioactive waste disposal repositories, for improved safety, is to study the process of crack development in intact rock. Therefore, in this study, the fracture process and crack development were examined in samples of KURT granite taken from the KAERI Underground Research Tunnel (KURT), based on acoustic emission (AE) and moment tensor analysis. The results show that crack initiation, coalescence, and unstable crack occurred at rock uniaxial compressive strengths of 0.45, 0.73, and 0.84, respectively. In addition, moment tensor analysis indicated that during the early stage of loading, tensile cracks were predominant. With increasing applied stress, the number of shear cracks gradually increased. When the applied stress exceeded the stress level required for crack damage, unstable shear cracks which directly result in failure of the rock were generated along the failure plane.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.7
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• pp.646-652
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• 2016

This paper presents a tumor detection for breast cancer that utilizes two-dimensional(2D) image reconstruction with microwave tomographic imaging. The breast cancer detection system under development consists of 16 transmit/receive antennas, and the microwave tomography system operates at 1,700 MHz. The four types of breast(ED-, HD-, SC-, and FT-type) are used for image reconstruction. To solve a 2D inverse scattering problem, the method of moments(MoM) is employed for forward problem solving, and the simplex method employed as an optimization algorithm. The results of the reconstructed image show that the ED- and HD-types of breasts are well reconstructed, but SC- and FT-type breasts are not well because of the error including.

• Journal of the Korea Convergence Society
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• v.6 no.1
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• pp.57-63
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• 2015

In this study, the lower arm is connected and fixed at the model of the automotive stabilizer link as the moment is applied. There are models of 1, 2 and 3 as a length control type, a general type and a single body type respectively. These models are investigated by performing the convergence technique through the design and the strength analysis with CATIA and ANSYS. As the maximum equivalent stress of model 3 has the least, model 3 can endure the highest load among three models. As the fatigue analysis, model 3 has the minimum blocks as the frequency of stress state, model 3 becomes also safest among three models. As models of 1, 2 are in the order of the next safety, the number of blocks becomes larger as the frequency of stress state and the instability becomes higher. And it is possible to be grafted onto the convergence technique at design and show the esthetic sense.

• Journal of the Earthquake Engineering Society of Korea
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• v.14 no.4
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• pp.23-28
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• 2010

This study evaluated the effect of vibration, level of lateral yielding strength, site conditions, ductility factor, strain-hardening ratio, and post-capping ratio of the strength limited bilinear SDF systems on the inelastic displacement ratio. The nonlinear response history analysis was conducted using 240 ground motions which were collected at the sites classified as site classes B, C, and D according to the NEHRP. To account for the P-$\Delta$ effects, this study considered negative stiffness ratios ranging from -0.1 to -0.5 of elastic stiffness. Four different damping ratios are used: 2, 5, 10, and 20%. From this study, an equation of inelastic displacement ratio was proposed using nonlinear regression analysis.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.388-392
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• 2007

지구온단화와 이상기후에 의해 시설물 피해가 나날이 증가하고 있으며, 농촌의 인구감소 및 고령화에 의해 이러한 집중강우등에 대한 대처도 어려운 실정이다. 현재 전국에서 농업용수 공급을 위해 사용하고 있는 농업용 저수지는 17,882개소로서 이 중 축조한지가 35년 이상 경과된 저수지가 15,856개소로서 88.7%나 차지하고 있다. 이러한 현상은 저수지를 구성하고 있는 각종 부대시설의 노후화로 귀결되며 농업용수의 낭비 및 효율적인 운영을 위해서는 시설의 현대화가 필수적이라고 할 수 있다. 따라서 본 연구에서는 저수지에서 물을 직접 공급하는 시설인 사통수문을 대상으로 현대화를 이룩하고 또한 사용동력도 대체에너지를 이용하기 위한 방안을 제시하였다. 사통수문의 수문비는 수중의 압력을 효율적으로 분산시킬 수 있는 원형수문비와 수중에서도 사용동력을 가장 적게 할 수 있는 밸브형을 기준으로 개발을 하였으며, 수문비와 구동부를 연결하는 작동 롯드의 힘전달을 최소화하기 위하여 유니버셜 쪼인트를 볼밸브형으로 개발하였다. 이에 따라서 작동용 롯드의 길이가 길어져도 수문비에 걸리는 작동모멘트를 최소화하여 태양광을 이용한 동력사용이 가능해졌다. 특히 수중에서 움직이는 특성을 감안하여 원형 수문비의 경우에는 수문비와 수문틀 사이에 마찰력을 감소시키기 위하여 수문틀측을 약간 경사지게 가공을 하고 중간에 볼 베이렁을 부착시켜 수문개폐가 원활토록 지수부의 구조변화를 하였다. 또한 농업용수공급시 수류와 함께 유입되는 저수지 내 오물을 차단하기 위하여 수문의 전면에 스크린을 설치하였으며 토사퇴적으로 인하여 수문작동의 방해가 되지 않도록 하기 위하여 토목구조물을 설치하였다. 그리고 동력전달을 효율적으로 하기 위하여 Solar Unit으로부터 나오는 전기를 중전기에서 밧데리로 축전을 시키고 완전 충전 후에는 나머지 전기는 방전이 되도록 회로를 구성하였다. 사통수문 자원조사 결과에 의하면 현재 저수지에 물공급을 하는 수문은 취수탑 형식이 70% 이상을 차지하고 있으며 나머지 30%의 사통수문 중 원형수문비가 98% 이상을 차지하고 있다. 현재 대체에너지를 사용하는 저수지 사통수문은 없는 것으로 조사되었으며 전력을 사용하는 사통도 조사결과에 의하면 20% 이내로 나타났다. 이러한 결과는 향후 수리시설 개보수시 적은 예산으로 사업을 시행하는 경우 사통수문의 설치방향의 지표가 될 것으로 판단되며 수리시설의 운영관리에 대한 새로운 대안으로 제시할 수 있다.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.13-21
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• 2003

The purpose of this study is (a) to estimate effective moment arms of quadriceps forces and (b) to compare the $d_e$ between the ACL-reconstructed and uninjured knees from the same individual. One female (20 yrs old, 2 yrs post-op, hamstring tendon autograft) and two males (22 yrs old, 2 yrs post-op; 28 yrs old, 4 yrs post-op; Patellar tendon autografts for both). Sagittal view radiographs were obtained for 6-7 different angles $(range\;5^{\circ}-110^{\circ})$ from each knee. The do was determined by the method of Chow et al. (1999a). The results showed that the maximum de values ranged from 4.61 to 5.59cm and 4.59 to 4.89cm for the ACL-reconstructed and uninjured knees, respectively. The maximum $d_e$ occurred between $35^{\circ}\;and\;50^{\circ}\;and\;20^{\circ}\;and\;50^{\circ}$ for the ACL-reconstructed and uninjured knees, respectively. The minimum do values ranged from 4.12 to 4.35 cm and 3.12 to 3.63cm for the ACL-reconstructed and uninjured knees, respectively. The effective moment arm of the knee extensor affects the loads on knee ligaments during knee-extension exercises. Because apparent differences in the moment arm of the quadriceps in different participants, it is very important to use personalized knee joint geometry for the computation of knee joint force. In the present study, no noticeable bilateral difference was found in the male subjects. However, apparent bilateral differences in de were observed in the female subject. This suggests that the effects of ACL reconstruction surgery on patellar mechanism deserve further investigation.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.2
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• pp.83-93
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• 2004

In this study. the Modified Response Displacement Method(MRDM) for seismic design of underground box-type structures is proposed. Firstly, to investigate the applicability of the conventional RDM, various parametric studies are performed according to buried depth and soil conditions. Results from the conventional RDM are compared with those of time history analysis in terms of the maximum bending moment and relative displacement. The comparison shows that the velocity response spectrum and the determination method of foundation modulus which significantly influence the accuracy of RDM should be modified. Thus, the modified velocity response spectrum and the new determination method of foundation modulus are proposed under consideration of domestic conditions. In order to demonstrate the accuracy and validity of the proposed MRDM numerical analyses are performed according to different parameters such as depth of base rock, height and width of box, buried depth and soil condition. the comparison with the results of the time history analysis verifies the feasibility of the proposed MRDM for the seismic analysis.

• Journal of the Korean Geotechnical Society
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• v.26 no.8
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• pp.39-47
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• 2010

In recent days, the foundations of huge structures in general and mega foundations of grand bridges and high-rise buildings in particular are required in geotechnical engineering. This study described 3 dimensional behavior of mat foundation on soft rock based on a numerical study using 3D finite element method. A series of numerical analyses were performed for various soil conditions and mat rigidities under vertical loading. Based on the results of the parametric study, it is shown that the prediction of the settlement, cross sectional tensile stress and bending moments in the mat is overestimated in the analysis without considering interface behavior in comparison with the analysis considering interface between mat and rock mass.