• Proceedings of the KSR Conference
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• 2003.10c
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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)

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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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.

• The Journal of Korea Robotics Society
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• v.14 no.4
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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.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.1
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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.

• International Journal of Highway Engineering
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• v.7 no.4 s.26
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• pp.69-77
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• 2005

Joint spacing is a potent influence in increasing the long term performance of jointed concrete pavement slabs through the control of tensile stress, sealant failure and Load Transfer Efficiency (LTE). Internal Joint Spacing is an empirical and fixed method therefore this study will present the optimum joint spacing considerations depending on various climactic conditions. Calculating the optimum joint spacing eliminates random cracking due to the effect of the environmental loads such as the early behavior of drying shrinkage and heat hydration. Optimum joint spacing is calculated so as not to cause pavement distress by the deterioration of LTE by long term pavement movement. This study shows that the provisional joint spacing is 6-8m. Pavement Distress Prediction Models show that pavement distress has no effect on joint spacing of 8m.

• Journal of Aerospace System Engineering
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• v.1 no.2
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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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• v.21 no.5
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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.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.5
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• pp.59-63
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• 2011

We present a lattice transversal joint (LTJ) adaptive filter with fixed reflection coefficients to achieve fast convergence with low complexity. The reflection coefficients of the filter are given by the statistics of speech signals, and the proposed order of the lattice predictor is one. Experimental results confirm that as compared to the adaptive transversal filter, the proposed adaptive filter achieves fast convergence with a negligible increase in complexity. The proposed adaptive filter converges around six times faster than the adaptive transversal filter in case of the band-limited voiced signal from the ITU-T G.168 standard.

• Journal of muscle and joint health
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• v.25 no.3
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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.

• Magazine of the Korea Concrete Institute
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• v.8 no.4
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• pp.171-179
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• 1996

A proposal of the basic fbrm on the design of joint parts that can increase the shear strength by the useful joint shapes of each member is intended. The vertical joint parameters are the number of' shear key and a variety of' reinfbrcement details and the horizontal joint paramctcrs arc t,hc number of shear key and the direction of' shear f'orcc. 10 PC panel vortical joint arid 12 PC panel horizontal joint specimens were tested to investigate the effects of these parameters. Test results show that : 1. The ductility of the test specimen that has the horizontal reinforcing steels is larger than that does not have. 2. The maximum resisting force of round bar specimen is similar to that of strand wire specimen under the condition of fixed horizontal displacement.