• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.764-767
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• 1997

This paper presents the modulation of the dexterity of a parallel manipulator using joint freezing/releasing and joint unactuation/actuation. In this paper, individual limbs have redundant number of joints, and each joint can be frozen/released and unactuated/actuated, as needed. First, given a task, the restrictions on joint freezing and joint unactuation of a parallel manipulator are derived. Next, with/without joint freezing and/or joint unactuation, the kinematics of a parallel manipulator is formulated, based on which the manipulability ellipsoid is defined. The effects of joint freezing and joint unactuation on the manipulability are analyzed and compared. Finally, simulation results for a planar parallel manipulator are given. Joint mechanisms, such as joint freezing and joint unactuation, are rather simple to adopt into a parallel manipulator, but is quite effective to improve the task adaptability of the system.

• International Journal of Highway Engineering
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• v.3 no.1 s.7
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• pp.165-176
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• 2001

Joints in jointed concrete Pavement are designed to control against randomly occurred cracks within slabs, which may be caused by temperature or moisture variation. The advantage of these artificial cracks (joints) over naturally occurred cracks are easy access of protections, such as installation of joint seal and load transfer mechanism. The potential benefits of joint seals are to prevent infiltration of surface water through the joint into underlying soil and intrusion of incompressible materials (debris, fine size aggregate) in to the joint, which may prevent weakening of underlying soils and spallings due to excessive compressive stress, respectively. For the adequate design of joint seal, horizontal variation of joint widths (horizontal joint movements) are essential inputs. Based on long-term in-situ joint movement data of sixteen jointed concrete pavement sections in Long Term Performance Pavement Seasonal Monitoring Program (LTPP SMP), it was indicated that considerable Portion of joints showed no horizontal movements with change in temperature. This Phenomenon is called 'Joint Freezing'. Possible cause for joint freezing is that designed penetrated cracks do not occur at a joint. In this study, a model for the prediction of the ratio of freezing joints in a particular pavement sections is proposed. In addition, possible effects of joint freezing against pavement performance are addressed.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.499-502
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• 2003

The purpose of this study is to understand the sliding characteristics of the infilling-joint surface using the new devised shear test apparatus with changeable slope for the original infilling materials and the infilling materials experienced cyclic freezing-thawing processes. Three types of the mother rock classified as the igneous rock, the metamorphic rock and the sedimentary rock and the infilling materials were collected for laboratory test. The cohesion according to the slope change of the rock joint shows large variation within ${\pm}$5 degrees but the internal friction angle shows appears the linear decreasing tendency. It is confirmed that the affecting factor of slope change of rock joint at the behavior of rock mass is larger than that of the infilling thickness. Test results show that the cohesion and the internal friction angle in 100 times of cyclic freezing-thawing processes are decreased about 50 percent compared with original one. A further study using various infillings materials would lead to a better understanding of the failure mechanism of rock mass by slope change of rock joint.

• International Journal of Highway Engineering
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• v.9 no.2 s.32
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• pp.101-114
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• 2007

Dowel bars in the jointed concrete pavement are used to both provide load transfer across pavements joints and prevent the joint faulting leading to longer service life. On the contrary, the misplacement of dowel bar can provide negative results including the joint freezing(locking) that may cause the joint spatting and unexpected mid-slab cracking. The dowel bar can be placed using the assembly or dowel bar inserter (DBI) during the concrete pavement construction. In the domestic practice of the concrete pavement construction, the dowel bar is placed using the assembly method. This study primarily focuses on the comparison of these two dowel placement methods using the field data from the KHC test road in which both dowel placement methods have been applied to a certain length of the concrete pavement. The field data regarding the alignment of the dowel bars placed by both methods was collected using MIT-SCAN2, a nondestructive measuring equipment, and processed to compute Joint Score and Running Ave. Joint Score which are used as indicators of the dowel bar performance. The comparison of the methods for the dowel bar placement using these indicators shows that the DBI method provided much better alignment of the dowel bars reducing the risk of joint freezing than the assembly method. In order to improve the quality of the dowel bar placement using the assembly method, the current weak points of the assembly method including the fabrication, storage, and installation of dowel bar assembly were investigated and the solution was suggested. The improved dowel bar sets based on the suggested solution have been applied to an actual practice of the concrete pavement construction. The field data shows that the improved assembly method suggested in this study can highly reduce the risk of joint freezing.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.3
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• pp.165-175
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• 2008

An ankle-foot orthosis(AFO) is a brace for persons with gait disabilities to support or replace the function of ankle joint. Ankle-foot orthoses(AFO's) are usually prescribed to alleviate the drop-foot by constraining the excessive plantar flexion. The shape and the strength of the AFO are often based on 'trial and error' due to a lack of knowledge of the stress distribution in the AFO. In this study, an improved stress-freezing method was proposed to measure the stress distribution characteristics in the AFO. As a result, a photoelastic material with low freezing temperature was developed to measure the stresses under a person's direct contact loading condition. The three-dimensional stress-1rozen photoelastic models of AFO's for five stages of stance phase such as heel contact, foot flat, mid stance, heel off, and toe off were produced. The results of photoelastic analysis revealed that the stresses developed in the AFO were varied considerably from tensile to compressive or vice versa, during walking. At the posterior part of ankle joint in the AFO, the maximum compressive stress of 1.81MPa was observed in the mid stance, and the maximum tensile stress of 0.74MPa was observed during heel contact. The overall stress levels in the AFO's were low in the toe off phase. The results suggested that the posterior part of ankle joint might be the most fragile part in the AFO.

• Korean Journal of Applied Biomechanics
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• v.28 no.1
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• pp.19-27
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• 2018

Objective: This study aimed to analyze the effects of freezing of gait on spatiotemporal variables, ground reaction forces (GRFs), and joint moments during the sit-to-walk task at the preferred and maximum speeds in patients with Parkinson's disease (PD). Method: The subjects were classified by a neurologist into 12 freezers, 12 non-freezers, and 12 controls. Sit-to-walk parameters were measured during three repetitions of the task in a random order at the preferred and maximum possible speeds. Results: In the sit-to-walk task at the preferred speed, the freezers and non-freezers exhibited a higher peak anterior-posterior GRF (p<0.001) in the sit-to-stand phase and lower step velocity (p<0.001), step length (p<0.001), and peak anterior-posterior GRF (p<0.001) in the first-step phase than the controls. The freezers had higher peak anterior-posterior GRF (p<0.001) and peak moment of the hip joint (p=0.008) in the sit-to-stand phase than the non-freezers. In the sit-to-walk phase at the maximum speed, the freezers and non-freezers had lower peak moment of the hip joint (p=0.008) in the sit-to-stand phase than the controls. The freezers and non-freezers displayed lower step velocity (p<0.001) and peak anterior-posterior GRF (p<0.001) in the first-step phase than the controls. The freezers showed higher peak moments of the hip joint in the sit-to-stand phase than the non-freezers (p=0.008). Conclusion: The PD patients had reduced control ability in sit-to-stand motions for efficient performance of the sit-to-walk task and reduced performance in the sit-to-walk task. Furthermore, the freezers displayed reduced control ability in the sit-to-stand task. Finally, the PD patients exhibited a lower ability to control dynamic stability with changes in speed than the controls.

• Journal of Industrial Technology
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• v.21 no.B
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• pp.325-330
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• 2001

In this research, the early-age movements of joint at JPCP(Jointed Plain Concrete Pavement) were measured by field tests. The field tests were carried out for 5 days just after concrete placement, for 1 day after 52 and 72 days on Chung-Ang Expressway construction site in Dan-yang on the 28th and 29th of May 2001. The joint movements were measured by demec gauge and clip gauge. The results of regression analysis for the data measured during early 5 days showed that the joints of No.4, No.5, No.6, No.10, No.13, and No.15 could be considered as a moving joint. From data analysis on july 20, the joints of No.2, No.9, and No.10 showed the significant correlations from the minus value of coefficient of regression. As a result of regression data on August 8, joint movements occurred at all joints. Joint freezing and closure could be judged from the regression analysis using joint opening and total temperature measured at field tests.

• Journal of the Korea Institute of Building Construction
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• v.15 no.2
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• pp.185-192
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• 2015

Expansion joint is the essential element of the bridge in many cases. When the bridge faces chloride of preventing freezing on the surface of the bridge, the expansion joints is damaged significantly, thus this reduces service life and increases maintenance cost of the bridge. As a solution of this problem, new technology using high ductile materials for the joint without expansion joint was developed and in this research, crack control performance, preventing leaking after the cracking, and chloride resistance were experimentally evaluated. As a result of the experiment, with PCM and FRC materials, the connecting joint suffered poor crack dispersion and severe damage by the chloride penetration while with high-ductile material, the connecting joint dispersed the tensile deformation to microcracks stably up to 7.5mm. Furthermore, under the sever conditions, the leaking was prevented and penetration of chloride ions was prevented after the crack occurred.

• Korean Journal of Construction Engineering and Management
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• v.11 no.6
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• pp.111-121
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• 2010

As the customer's interest for sidewalk block in the street or apartment complex is increasing, the materials of block which had been a concrete block exclusively are varied to clay paver, native rock and wood etc. Especially, the sales volume of clay paver which is environment-friendly and ergonomic is dramatically increasing every year with two digits growth rate, however, many problems like "Edge Cracking" "Freezing Breakage" "Bending Breakage" "Joint Gap" are happening frequently within a couple of hours after installation due to the durabilities. Because of the characteristics of Ceramic products, clay pavers are very easy to be broken when they are bumped against each other. In addition, they are relatively fragile by a freezing expansion breakage when exposed to water due to hydrophilic property as well as the intensity and absorptance of the products are varied with small difference from the production process such as production equipment and process control. Therefore, it costs a lot of money to repair the breakdown unless production and installation is carried out according to the strict criteria of the quality control. In this study, the symptoms of breakdown frequently happened in clay paver are classified by each type and finally the solution for this problem in the production of brick, installation and criteria of quality control through compressive strength and absorptance test is suggested.

• Journal of the Korean association of regional geographers
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• v.18 no.3
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• pp.253-267
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• 2012

The study looked into the type and characteristics of debris landforms in Mt. Mudeung. By focusing on the representative area, we aimed to categorize the debris landforms based on the morphologic and genetic characteristcis. The types of debris areas in Mt. Mudeung can be divided into the exposed debris type, mixed type of matrix, and the boulder-hidden type. Supply of block in the debris slope area displays different features depending on types of rocks. For the stony slopes of andesite, the block must be moved from the columnar joint or cliff in the upper part. The andesite debris slopes display dominant edge shape while displaying no round shape. The granite stony slopes display dominant round shape and the present exposed slope was assumed to be formed as the core stone which was deep weathered moved along slope during the periglacial era and the matrix was removed after post-glacial era. The movements of blocks are assumed to be caused by solifluction process. The joint area where granite and andesite areas meet, granite is located beneath andesite area, and this implies that blocks were actively freezing and creeping by solifluction and freezing and thawing at that time. It can be assumes that the granite matrix formed plain slope and then andesite boulder covered up the slope. Currently, the blocks in the stony slopes of Mt. Mudeung shows almost no mobility and the stony slopes created under periglacial climate can be considered to be fossil landform.