• Journal of Adhesion and Interface
• /
• v.7 no.4
• /
• pp.28-31
• /
• 2006

Due to the miniaturization of MEMS and microelectronics the joining techniques also have to be adjusted. The dosing technology with viscous adhesives does not permit reproducible adhesive volumes, which are clearly under a nano-liter. A nano-liter means however a diameter of bonding area within the range of several 100 micrometers. Additional, viscous adhesives need a certain time, until they are cross linked or cured. The problem especially in the MEMS is the initial strength, since it gives the time, which is needed for joining an individual adhesive joint. The time up to the initial strength is with viscous, also with fast curing systems, within the range of seconds until minutes. Until the reach of the initial strength, the micro part must be fixed/held. Without sufficient adjustment/clamping it can come to a shift of the micro parts. Also existing micro adhesive bonding processes are not batch able, i.e. the individual adhesive joints of a micro system must be processed successively. In the context of the WCARP III 2006 now an innovative method is to be presented, how it is possible to solve the existing problems with micro bonding. i.e. a method is presented, which is batch able, possess a minimum joining geometry with some micrometers and is so fast that no problems with the initial strength arise. It is a method, which could revolutionize the sticking technology in the micro system engineering.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.399-405
• /
• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2005.03a
• /
• pp.338-345
• /
• 2005

Recently, surface-wave methods have been widely used for site investigation due to economic advantage and improved reliability. Specially, the Spectral-Analysis-of-Surface-Wave (SASW) method has been used to evaluate soil properties in geotechnical engineering. In determination of subgrade stiffness by SASW measurements, only the vertical Rayleigh waves have been used. This study proposed a framework to determine shear-wave velocity profiles by using vertical and horizontal Rayleigh waves and Love wave all together. In addition, the Common-Array-Profiling(CAP) SASW method was employed, which subgrade stiffness of profile the local material under two fixed receivers. The procedure proposed in this study was verified by comparing the shear-wave velocity profiles with the shear-wave velocity profiles of downhole testing at two geotechnical sites.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.2
• /
• pp.89-93
• /
• 2014

Variable polarity (VP) arc welding is known as an effective solution for aluminum thanks to the cleaning effect, which means oxide removal, during the DCEP (direct current electrode positive) period. In this research, VP GTAW (gas tungsten arc welding) is adopted for lap joint fillet welding of 3mm thickness 5052 aluminum alloy. Various welding currents and DCEP duty cycles are applied as welding conditions with a fixed welding speed to investigate the influence of DCEP characteristics on weld bead formation. Results show a tendency of higher heat input for higher DCEP duty cycle, which result does not follow conventional arc theory because it is known that DCEN (DC electrode negative) polarity is more efficient for heat input than is DCEP. This phenomenonhas recently been reported by several VP-GTA researchers and is still controversial because the mechanism of oxide removal is not yet clear except for the previous, well-known idea of "ion bombardment", which cannot explain the situation. Finally, proper usage conditions for VP-GTAW are suggested; then, further, related theoretical topics in the field of cathode physics are brieflyintroduced.

• Archives of Plastic Surgery
• /
• v.33 no.3
• /
• pp.379-382
• /
• 2006

Clinodactyly is defined as an angulation of a digit in the radio-ulnar plane. This anomaly can be congenital, dominantly inherited, or acquired due to trauma or inflammation. Although the deformity usually causes little functional impairment, correction is made because of cosmetic problems. Male subject, with polydactyly on thumb(Wassel's type VII) received first surgery at the age of one. And at the age of six, abnormal growth on the radial side of the first metacarpal bone and ulnar deviation of the distal phalanx of the thumb at the interphalangeal joint had developed. The authors used the growing bony segment from the first metacarpal bone as a bone graft for the correction of clinodactyly on thumb. Z-plasty incision was made on the concave(ulnar) side of thumb and a wedge osteotomy was made on the distal phalanx. The bone graft was inserted into the gap of the distal phalanx of the thumb and fixed it with K-wires. Deformity of the metacarpal bone and clinodactyly on thumb was corrected effectively without donor site morbidity with noticible growth of the grafted metacarpal bone 12 months after surgery.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.1
• /
• pp.78-86
• /
• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of Mechanical Science and Technology
• /
• v.20 no.3
• /
• pp.335-344
• /
• 2006

A comprehensive review of through thickness transverse residual stress distributions in a range of as-welded and mechanically bent components made up of a range of steels has been carried out, and simplified generic transverse residual stress profiles for a plate and pipe components have been proposed. The geometries consisted of welded pipe butt joints, T-plate joints, tubular T-joints, tubular Y-joints and a pipe on plate joints as well as cold bent tubes and pipes. The collected data covered a range of engineering steels including ferritic, austenitic, C-Mn and Cr-Mo steels. Measured residual stress data, normalised with respect to the parent material yield stress, has shown a good linear correlation versus the normalised depth of the region containing the residual stress resulting from the welding or cold-bending process. The proposed simplified generic residual stress profiles based on the mean statistical linear fit of all the data provides a reasonably conservative prediction of the stress intensity factors. Whereas the profiles for the assessment procedures are fixed and case specific, the simple bilinear profiles for the residual stresses obtained by shifting the mean and bending stress from the mean regression line have been proposed and validated.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.12
• /
• pp.65-74
• /
• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.7 no.12
• /
• pp.3118-3134
• /
• 2013

This paper deliberates for a multimedia transmission scheme combining multiple description coding (MDC) and network coding (NC). Our goal is to take advantage from the property of MDC to provide quantized and compressed independent and identically distributed (iid) descriptions and also from the benefit of network coding, which uses network resources efficiently to recover lost data in the network. Recently, p-cycle NC has been introduced to recover and protect any lost or distorted descriptions at the receiver part exactly without need of retransmission. So far, MDC have not been explored using this type of NC. Compressed and coded descriptions are transmitted through the network where p-cycle NC is applied. P-cycle based algorithm is proposed for single and multiple descriptions lost. Results show that in the fixed bit rate, the PSNR (Peak Signal to Noise Ratio) of our reconstructed image and also subjective evaluation is improved significantly compared to previous work which is averaging method joint with MDC in order to conceal lost descriptions.

• Korean Journal of Veterinary Service
• /
• v.40 no.3
• /
• pp.161-168
• /
• 2017

Caprine arthritis encephalitis (CAE) virus is a causative agent of caprine arthritis-encephalitis. In our previous study we reported a prevalence of CAE. In this study, we described the further detailed pathological features of CAE and examined the detection of virus by in situ hybridization (ISH). Histopathologically, interstitial pneumonia and bronchopneumonia in lung, focal inflammation in mammary glands, perivascular cuffing in brain, arthritis, and focal necrosis, mild steatosis, inflammatory cell infiltration of liver were noted. CAEV proviral-DNA was identified by nested polymerase chain reaction (PCR) in blood cells, brain, synovial fluid, and lymph node. Confirmation by nested PCR involved amplification of a 296 bp ($1^{st}$ PCR) and 185 bp ($2^{nd}$ PCR) fragments corresponding to a conserved region on the gag gene of CAEV. Positive ISH signals were detected in the brain and liver. In conclusion, significant histopathological findings included parenchymal infection in various organs, including the lung, liver, brain, joint, and mammary gland were noted in the CAEV infected dairy goat. ISH can help confirm the diagnosis of CAE in formalin-fixed samples.