• 대한기계학회논문집
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• 제19권1호
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• Journal of Mechanical Science and Technology
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• 제17권9호
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• pp.1287-1296
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• 2003

In this paper the dynamic analysis of the Macpherson strut motor-vehicle suspension system is presented. The equations of motion are formulated using a two-step transformation. Initially, the equations of motion are derived for a dynamically equivalent constrained system of particles that replaces the rigid bodies by applying Newton's second law The equations of motion are then transformed to a reduced set in terms of the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. For closed loops, suitable joints should be cut and few cut-joints constraint equations should be included for each closed chain. The chosen suspension includes open and closed loops with quarter-car model. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

• 대한기계학회논문집
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• 제18권8호
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.237-254
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• 2005

The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• 대한치과의사협회지
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• 제41권12호통권415호
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• pp.818-824
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• 2003

Visually guided irrigation and lysis(VGIL) using temporomandibular joint(TMJ) arthroscope is useful for decreasing pain and increasing the functional mobility of TMJ. Also it demonstrated similar effectiveness comparing with arthrocentesis. Arthroscopy permits intracapsular inspection that is imperative not only for identification of morphological characteristics of joint space, but also for adequate irrigation and lysis of specific joint space. Conventional 2.3mm diameter arthroscope with 2.7mm catheter was too wide. So it was traumatic and uncomfortable to manipulate on temporomandibular joint space, especially on TMJ internal derangement patient with reduced space. We report our clinical experience on 6 TMJ closed lock patients who were treated with new 1.2mm fiberscope at Chung Hoon Dental Clinic between March 2003 and August 2003. Also we present clinical advantage & disadvantage of new system with literature review.

• 대한기계학회논문집
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• 제19권4호
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• 치과방사선
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• 제23권1호
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• pp.7-14
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• 1993

The Internal derangement of temporomandibular joint disc was evaluated by using magnetic resonance imaging and arthrogram in 5 patients having reciprocal clicking or locking and in 5 normal subjects. Parasagittal multisections on both closed and open mouth were serially obtained by using a 1.5 Tesla MR system and surface coil with CSMEMP, MPGR. MR images obtained were analized by correlating with images of arthrograms. The obtained results were as follows: 1. Displaced meniscus was clearly delineated as dark structure on MR images other than on arthrograms of closed mouth view of patient having clicking or locking. 2. The deltoid white images of synovial fluid were identified in the glenoid fossa and on the posterior surface of condyle on open mouth view and partly depicted on closed mouth view, of parasagittal sections by MPGR. 3. The greyish image of joint fluid was identified on the posterior surface of condyle on the open mouth view of parasagittal sections by CSMEMP. 4. The structural relationship among condyle, meniscus, and fluid showed the variety of images on each parasagitta1 view.

• Strategy21
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• 통권37호
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• pp.193-241
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• 2015

China, Japan and Korea are the world's top 10 energy consumers, and so very interested in the development of seabed hydrocarbon resources in order to meet their energy demands. The East China Sea is the tri-junction area where three countries' entitlements on the maritime boundaries are overlapped. There are abundant oil reserves in the East China Sea, and therefore competitions among countries are growing to get control of them. Although these countries have concluded the bilateral agreements to jointly develop resources in the East China Sea, they do not function as well. Because joint development and management of seabed petroleum resources can lead to stable development system, and to lower possibility of legal and political disputes, the needs for joint development agreement among three countries are urgent. Meanwhile, Northeast Asian seas are semi-closed seas, which are geographically closed and vulnerable to marine pollution. Moreover there are a lot of nuclear power plants in coastal area, and seabed petroleum resources are being developed. So it is likely to occur nuclear and oil spill accidents. Fukushima nuclear disaster and Bohai Bay oil spill accident in 2011 are the cases to exhibit the potential of major marine pollution accidents in this area. It is anticipated that the risks become higher because power plants and offshore oil platforms are extending gradually. Therefore, the ways to seek the joint marine environmental protection agreement focused on regulation of nuclear power plant and offshore oil platform have to be considered. In this paper, we try to find the way to make joint development and joint environmental protection agreement in Northeast Asian seas. We concentrate on the measure to drive joint development of seabed petroleum deposits in East China Sea's overlap area, despite of maritime delimitation and territorial disputes, and we try to drive joint marine environmental protection system to respond to marine pollution and accidents due to offshore oil platform and nuclear power plants. Through these consideration, we seek solutions to deal with lack of energy, disputes of maritime territorial and boundary delimitation, and marine pollution in Northeast Asia.