• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.78-83
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• 2007

The paper focuses on the establishment of optimized bucket path planning and trajectory control designated for force-reflecting backhoe reacting to excavation environment, such as potential obstacles and ground characteristics. The developed path planning method can be used for precise bucket control, and more importantly for obstacle avoidance which is directly related to safety issues. The platform of this research was based on conventional papers regarding the kinematic model of excavator. Jacobian matrix was constructed to find optimal joint angles and rotation angles of bucket from position and orientation data of excavator. By applying Newton-Raphson method optimal joint angles and bucket orientation were derived simultaneously in the way of minimizing positional errors of excavator. The model presented in this paper was intended to function as a cornerstone to build complete and advanced path planning of excavator by implementing soil mechanics and further study of excavator dynamics together.

• Smart Structures and Systems
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• v.15 no.3
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• pp.543-553
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• 2015

The condition of the vehicular bridge network in New York City, as represented by ratings obtained during biennial inspections is reviewed over a period of three decades. Concurrently, the bridges comprising the network are considered as networks of structural elements whose condition defines the overall bridge condition according to New York State assumptions. A knowledge-based matrix of assessments is used in order to determine each element's vulnerability and impact within the network of an individual structure and the network of City bridges. In both networks expansion deck joints emerge as the weak link. Typical joint failures are illustrated. Bridge management options for maintenance, preservation, rehabilitation and replacement are examined in the context of joint performance.

• Journal of the Korean Arthroscopy Society
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• v.13 no.3
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• pp.189-192
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• 2009

Although the articular cartilage is only a few milimiters thick, it has surprising stiffness to compression, exceptional ability to distribute load minimizing peak stress on subchondral bone and great durability. In many instances, it help to preserve normal joint function for more than 80 years. Varying in thickness, cell density, matrix composition, mechanical properties even within the same joint, it provides low-friction and pain free-motion. However, it lacks a blood or lymphatic supply and neurological elements are absent. It shows limited healing potential because of poor regenerative capacity.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.5
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• pp.507-512
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• 2013

This paper proposes a new model to compensate for errors of a five-axis machine tool. A matrix with error components, that is, an error matrix, is separated from the error synthesis model of a five-axis machine tool. Based on the kinematics and inversion of the error matrix which can be obtained not by using a numerical method, an error compensation model is established and used to calculate compensation values of joint variables. The proposed compensation model does not need numerical methods to find the compensation values from the error compensation model, which includes nonlinear equations. An experiment using a double ball-bar is implemented to verify the proposed model.

• Communications for Statistical Applications and Methods
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• v.3 no.2
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• pp.37-42
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• 1996

Maximum likelihood estimation of Cholesky decomposition is considered under normality assumption. It is shown that maximum liklihood estimation gives a Cholesky decomposition of the sample covariance matrix. The joint distribution of the maximum likelihood estimators is derived. The ussual algorithm for a Cholesky decomposition is shown to be equivalent to a maximumlikelihood estimation of a Cholesky root when the underlying distribution is a multivariate normal one.

• Structural Monitoring and Maintenance
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• v.3 no.4
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• pp.395-406
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• 2016

Modal parameter identification has received much attention recently for their usefulness in earthquake engineering, damage detection and structural health monitoring. The identification method based on Matrix Pencil technique is adopted in this paper to identify structural modal parameters, such as natural frequencies, damping ratios and modal shapes using impulse vibration responses. This method can also be applied to dynamic responses induced by stationary and white-noise inputs since the auto- and cross-correlation function of the two outputs has the same form as the impulse response dynamic functions. Matrix Pencil method is very robust to noise contained in the measurement data. It has a lower variance of estimates of the parameters of interest than the Polynomial Method, and is also computationally more efficient. The numerical simulation results show that this technique can identify modal parameters accurately even if the noise level is high.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1640-1648
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• 1991

본 연구에서는 이러한 편사 함수 최소화의 방법을 적용함에 있어 보다 안정된 수렴성과 계산 시간을 단축시키기 위하여 근접 위치 방법(near position method)을 개 발하여 적용하였다. 근접 위치 방법이란 이론적 해석법으로 풀기가 불가능한 기구학 을 갖는 6관절 로봇을 반복적 해석법을 사용한다는 것을 전제로 하여, 초기 위치를 목 표 위치에 가능한 근접하게 잡아서 반복 계산을 수행하는 방법으로써 로봇의 기구학적 자세에 따른 수렴의 불안정성을 방지하고, 계산 시간을 단축하는데 그 목적이 있다.

• Journal of Mechanical Science and Technology
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• v.18 no.5
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• pp.780-788
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• 2004

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1500-1505
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• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• Journal of Microbiology and Biotechnology
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• v.22 no.5
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• pp.654-658
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• 2012

Osteoarthritis (OA) is the most common rheumatic pathology. One of the major objectives of OA research is the development of early diagnostic strategies such as those using proteomic technology. Synovial fluid (SF) in OA patients is a potential source of biomarkers for OA. The efficient and reliable preparation of SF proteomes is a critical step towards biomarker discovery. In this study, we have optimized a pretreatment method for twodimensional gel electrophoresis (2DE) separation of the SF proteome, by enriching low-abundance proteins and simultaneously removing hyaluronic acid, albumin, and IgG. SF samples pretreated using this optimized method were then evaluated by 1DE and 2DE separation followed by immunodetection of cartilage oligomeric matrix protein (COMP), a known OA biomarker, and by the identification of 3 proteins (apolipoprotein, haptoglobin precursor, and fibrinogen D fragment) that are related to joint diseases.