• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.8-19
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• 2013

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

• Advances in materials Research
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• v.1 no.1
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• pp.83-92
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• 2012

The effect of under-bump-metallization (UBM) on electromigration was investigated at temperatures ranging from $135^{\circ}C$ to $165^{\circ}C$. The UBM structures were examined: 5-${\mu}m$-Cu/3-${\mu}m$-Ni and $5{\mu}m$ Cu. Experimental results show that the solder joint with the Cu/Ni UBM has a longer electromigration lifetime than the solder joint with the Cu UBM. Three important parameters were analyzed to explain the difference in failure time, including maximum current density, hot-spot temperature, and electromigration activation energy. The simulation and experimental results illustrate that the addition 3-${\mu}m$-Ni layer is able to reduce the maximum current density and hot-spot temperature in solder, resulting in a longer electromigration lifetime. In addition, the Ni layer changes the electromigration failure mode. With the $5{\mu}m$ Cu UBM, dissolution of Cu layer and formation of $Cu_6Sn_5$ intermetallic compounds are responsible for the electromigration failure in the joint. Yet, the failure mode changes to void formation in the interface of $Ni_3Sn_4$ and the solder for the joint with the Cu/Ni UBM. The measured activation energy is 0.85 eV and 1.06 eV for the joint with the Cu/Ni and the Cu UBM, respectively.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.10
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• pp.5014-5034
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• 2016

This paper discusses how to effectively guarantee the coverage and connectivity quality of wireless sensor networks when joint perception model is used for the nodes whose communication ranges are multi-level adjustable in the absence of position information. A Connect Coverage Algorithm Based on Joint Sensing model (CCAJS) is proposed, with which least working nodes are chosen based on probability model ensuring the coverage quality of the network. The algorithm can balance the position distribution of selected working nodes as far as possible, as well as reduce the overall energy consumption of the whole network. The simulation results show that, less working nodes are needed to ensure the coverage quality of networks using joint perception model than using the binary perception model. CCAJS can not only satisfy expected coverage quality and connectivity, but also decrease the energy consumption, thereby prolonging the network lifetime.

• Journal of the Earthquake Engineering Society of Korea
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• v.25 no.4
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• pp.153-160
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• 2021

The connection of the steel structure serves to transmit external forces to the main components. The same is true for the behavior of modular systems composed mainly of steel or composite members. In this study, the joint performance of the composite and steel modules proposed was evaluated. The analytical models of the two joint types were constructed and were subjected to cyclic loading to assess the safety and the energy dissipation capacity of the joint types. The analysis results of the joints showed that the joints of the modular systems remain stable when the joint rotation reached the seismic performance limit state of the 0.02 rad required for steel intermediate moment frame. It was also observed that the joint of the composite modular system showed higher energy dissipation capacity compared with the steel modular system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.311-318
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• 1998

In this paper, the power flow analysis(PFA) method is applied to the prediction of the vibrational energy density and intensity of coupled co-planar plates. To cover the energy transmission and reflection at the joint of the plates, the wave transmission approach is introduced with the assumption that all the incident waves are normal to the joint. By changing the frequency ranges and internal loss factors, we have obtained the PFA results, and compared them with the analytical exact solutions.

• Journal of Korean Physical Therapy Science
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• v.9 no.1
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• pp.183-186
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• 2002

Five week SUKI therapy for the DeQuervian Disease was very successful. Ki energy physical therapy harmonizes the physiological rhythm and balance by matching the positive thought flux with respiration, obtaining maximized energy for life-maintain. If the physical therapist given confidency and hope to the patient, the result world be satisfactory.

• Tunnel and Underground Space
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• v.13 no.2
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• pp.153-168
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• 2003

The objective of this present study is to understand long term(500 years) thermohydromechanical interaction behavior in the vicinity of a repository cavern on the joint location and repository depth variations. The model includes a saturated discontinuous granitic rock mass, PWR spent nuclear fuel in a disposal canister surrounded with compacted bentonite inside a deposition hole, and mixed bentonite backfilled in the rest of the space within a repository cavern. It is assumed that two joint sets exist within the model. Joint set 1 includes joints of 56$^{\circ}$ dip angle, spaced at 20 m, and joint set 2 is in the perpendicular direction to joint set 1 and includes joints of 34$^{\circ}$ dip angle, spaced at 20 m. In order to understand the behavior change on the joint location variations, 5 different models of 500m in depth are analyzed, and additional 3 different models of 1000 m in depth are analyzed to understand the effect of depth variation.

• Computers and Concrete
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• v.26 no.6
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• pp.547-563
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• 2020

In this paper, the influence of axial compression ratio on the mechanical properties of new type joints of side span of rectangular concrete-filled steel tubular column-H-type steel beam is studied. Two new types of side-span joints of rectangular concrete-filled steel tubular column-H-type steel beam are designed and quasi-static tests of five new type joints with 1:2 scale reduction ratios are performed. The axial compression ratio of joint JD1 is 0.3, 0.4 and 0.5, and the axial compression ratio of joint JD2 is 0.3 and 0.5. In the joint test, different axial forces were applied to the top of the column according to different axial compression ratios, and low-cyclic reciprocating load was applied on the beam. The stress and strain distribution, beam and column deformation, limit state, failure process, failure mechanism, stiffness degradation, ductile deformation and energy dissipation capacity of the joint were measured and analyzed. The results show that: with the increase of axial compression ratio, the ultimate bearing capacity of the joint decreases slightly, the plastic deformation decreases, and the stiffness and ductility decrease. According to the energy dissipation curve of the specimen, the equivalent damping coefficient also increases with the increase of axial compression ratio in a certain range, indicating that the increase of axial compression ratio can improve the seismic performance of the joint to a certain extent. The finite element method is used to simulate the joint test, and the test results are in good agreement with the simulation results.

• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• Korean Journal of Applied Biomechanics
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• v.20 no.4
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• pp.387-393
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• 2010

The purpose of this study was to compare pregnant women's gait parameters and mechanical energies caused by changes in hormone levels and anatomical features such as body mass, body-mass distribution, joint laxity, and musculo-tendinous strength from pregnancy to postpartum. Ten subjects (height: $161{\pm}6.5cm$, mass: $62.7{\pm}10.4\;kg$, $66.4{\pm}9.3\;kg$, $68.4{\pm}7.7\;kg$, $57.2{\pm}7.7\;kg$) participated in the four times experiments (the first, middle, last term and after birth) and walked ten trials at a self-selected pace without shoes. The gait motions were captured with Qualisys system and gait parameters were calculated with Visual-3D. Pregnant women's gait velocities were decreased during the pregnancy periods, but increased after birth. Stride width and cycle time were increased during pregnancy, but decreased after birth. Thigh energy (77.4%) was greater than shank energy (19.06%) or feet (3.54%) about total energy of the lower limbs. Their feet (Left R2=0.881, Right R2=0.852) and shank (Left R2=0.318, Right R2=0.226) energies were significantly increased (positive correlation), but double limb stance time (DLST, R2=0.679) and body total energy (R2=0.138) were decreased (negative correlation) for their velocities. These differences suggest that thigh segment may be a dominant segment among lower limbs, and have something to do with gait velocities. Further studies should investigate joint power and joint work to find energy dissipation or absorption from pregnancy period to postpartum.