• 한국철도학회:학술대회논문집
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• 한국철도학회 2003년도 추계학술대회 논문집(III)
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• pp.523-528
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• 2003

AS City traffic means, the electric railway of the role is overwhelming with recognizing good merits of safety, no environment disruption and accurate destination time. Currently, Korea subway are running about 290km through eight subway lines. The latest constructed subway had been made by imperoved matherials which is going on improving. Therefore, we researched this project to keep up facilites easily, repress a leakge current and reduse install cost and repair time in changing facility at overhead Contact wire system because of arc by reforming construction plan about Expansion Joint and Air Section which is regarded as weak point when facilities are fixed and maintianed of Rigid Trolley bar System. as above we can contribute various part to making useful O.C.S(overhead contact wire system)

• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 대한산업공학회지
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• 제25권1호
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• pp.56-66
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• 1999

Shoulder joint is the most movable joint in human body with, at least, three degrees of freedom, since there are at least three bones and five joints involved in shoulder movement. Due to the complexity of the shoulder joint and the lack of appropriate anatomical data, modeling of the shoulder joint has been known to be extremely difficult. In many biomechanical models being used, shoulder joint is considered as a fixed point and it is also assumed that the shoulder joint does not noticeably move during the shoulder movement. However, such an assumption is not valid in real applications and causes inaccuracy, especially, in the area of workspace evaluation. The reachable area generated by a human becomes somewhat different from that of current models for those models fail to appropriately reflect the movement of shoulder joint's center of rotation. In this study, the location of the shoulder joint's center of rotation was obtained in relation to the location of humerus, on which a new model for reach envelope generation was developed for workspace evaluation. From the experiments conducted for three subjects, the initial location of the center of rotation was determined for each subject and subsequent changes in the instantaneous center of rotation were drawn as a function of flexion and abduction of the shoulder. Based on the regression analysis, the study suggested a new method for the generation of reach envelope. Comparisons were also made among real reach envelopes obtained from the experiment, the ones from the model, and the ones from the new method suggested in the study. As a result, the prediction errors incurred from the new method were significantly reduced when compared to the ones from the current approach.

• 한국도로학회논문집
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• 제7권4호
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• pp.69-77
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• 2005

줄눈 콘크리트포장에서 적정한 줄눈간격은 슬래브의 거동에 의해 발생하는 인장응력 줄눈채움재의 파손과 다웰바의 하중전달율(LTE)의 저하를 방지하여 도로포장의 장기 공용성 증가에 큰 영향을 미친다. 하지만 국내 줄눈간격은 경험적이고 획일적으로 이루어진다. 그러므로 본 연구는 국내 권역별 기후조건을 토대로 합리적인 줄눈간격 산정에 대한 방안을 제시하였다. 합리적인 줄눈간격은 초기거동에서 환경하중의 영향에 따른 건조수축과 수화열에 의해 무작위 균열 발생하지 않도록 산정하였다. 그리고 장기거동에서 줄눈폭의 과도한 움직임에 따른 LTE 저하로 인해 포장파손이 발생하지 않도록 줄눈간격을 산정하였다. 본 연구에서 산정된 줄눈간격 잠정안은 6$\sim$8m이며, 포장파손 예측 모델을 통해 줄눈간격을 8m로 증가시켜도 포장 공용성엔 큰 차이가 없었다.

• 항공우주시스템공학회지
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• 제1권2호
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• pp.27-36
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• 2007

The Damage Tolerant Design is developed to help alleviate structural failure and cracking problems in aerospace structures. Recently, the Damage Tolerant Design is required and recommended for most of aircraft design. In this paper, the damage tolerant design is applied to tilt rotor UAV. First of all, the fatigue load spectrum for the tilt rotor UAV is developed and fatigue analysis is performed for the flaperon joint which has FCL (fatigue critical location). Tilt rotor UAV has two modes: helicopter mode when UAV is taking off and landing; fixed wing mode when the tilt rotor UAV is cruising. To make fatigue load spectrum, FELIX is used for helicopter mode. TWIST is used for fixed wing mode. Fatigue analysis of flaperon joint is performed using fatigue load spectrum. E-N curve approach is used for picking crack initiation point. The LEFM(Linear Elastic Fracture Method) is considered for analyzing crack growth or propagation. Finally, including the crack initiation and propagation, the fatigue life is evaluated. Therefore the Damage Tolerant Design can be done.

• Steel and Composite Structures
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• 제21권5호
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• pp.963-980
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• 2016

The jib system with middle strut is widely used to achieve the large arm length in the large scale tower crane and the deployability in the mobile construction crane. In this paper, an analytical solution for the out-of-plane buckling of the jib system with middle strut is proposed. To obtain the analytical expression of the buckling characteristic equation, the method of differential equation was adopted by establishing the bending and torsional differential equation of the jib system under the instability critical state. Compared with the numerical solutions of the finite element software ANSYS, the analytical results in this work agree well with them. Therefore, the correctness of the results in this work can be confirmed. Then the influences of the lateral stiffness of the cable fixed joint, the dip angle of the strut, the inertia moment of the strut, and the horizontal position of the cable fixed joint on the out-of-plane buckling behavior of the jib system were investigated.

• 한국인터넷방송통신학회논문지
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• 제11권5호
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• pp.59-63
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• 2011

본 논문에서는 적은 계산량으로도 빠른 수렴 속도를 얻을 수 있도록 고정반사계수를 갖는 격자 트랜스버설 결합 적응필터를 제안하였다. 필터의 반사계수는 음성신호의 통계적 특성에 따라 주어지며, 격자예측기의 차수는 1을 제안하였다. 제안한 적응필터가 트랜스버설 적응필터에 비해 무시할 만한 추가 계산량으로도 고속 수렴함이 실험을 통하여 입증되었다. ITU-T G.168 표준안의 대역제한된 유성음신호를 사용한 실험에서 제안된 적응필터는 적응 트랜스버설 필터에 비해 약 6배 빨리 수렴하였다.

• 근관절건강학회지
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• 제25권3호
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• pp.196-204
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• 2018

Purpose: The purpose of this study was to contribute to the activation of comprehensive nursing care services by comparing and analyzing the working environment and operational status of comprehensive nursing care wards with general wards. Methods: A questionnaire survey was conducted at hospitals operating comprehensive nursing care services. We collected data on patient characteristics, workforce, working environment, and work support facilities of 40 hospitals voluntarily participating in the survey. The collected data were analyzed by dividing it into an comprehensive nursing care ward and a general ward. Results: Compared with the general ward, the comprehensive nursing care ward had fewer hospitalized patients, but the severity of the patients and the need for nursing were high. The number of nurses, assistant nurses, and ward support workers per patient was higher in the comprehensive nursing care ward than in the general ward, and the implementation rate of night shift fixed system, the fixed shift system, and the preceptor system were higher. In terms of structural environment, comprehensive nursing care wards had more room for interviews. Conclusion: The comprehensive nursing care ward had more nursing staff and provided a better working environment than the general ward, but required additional support for the structural environment.

• 콘크리트학회지
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• 제8권4호
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• pp.171-179
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• 1996

PC판넬 조립식 구조의 수직.수평접합부의 유용한 접합형태에 따라 접합부 전단내력을 상승시킬 수 있는 접합부 설계의 기본 형태를 제시하는데 연구의 목적이 있다. 시험체는 수직접합부의 경우 전단키의 개수 및 보강철물의 종류에 변수를 주고 수평접합부의 경우에는 전단키의 갯수 및 가력방향에 변수를 주어 총 22개의 시험체를 제작하여 실험하였다. 결론적으로 수직접합부의 경우, 수평보강철물이 있는 시험체는 기존의 다른 실험결과와 마찬가지로 수평보강철물이 없는 시험체에 비하여 연성이 크게 나타났다. EH한 와이어로프와 원형철근 두 종류의 보강철물을 사용하여 실험한 결과 와이어 로프를 사용한 시험체는 원형철근을 사용한 시험체와 최대내력 및 전단강성 등 전체적인 구조거동이 거의 비슷하게 나타났다.