• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1227-1233
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• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.153-164
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• 2006

This thesis is focused on kinematical and kinematical analysis of each types(Type #1 : use both swing of arm and reaction of knee, Type #2 : Use only swing of arm, not reaction of knee, type #3 : Neither use of swing of arm nor reaction of knee) of vertical jumps according to gender of High School Students. The subjects of this study is High School Student's male and female, 5 each, for analyzation of actions 3D image analyzing and GRF machines were used. To identify the differences of analyzed variables, an independent T-test on gender, an One-way ANOVA on types were used. Summery of the results are stated below. first of all, female students showed differences on Hip Joint angle and Joint Velocity from male students on Kimentic Variable. So training on hip joint force of flection and extension of female students is needed. Both male and female students showed relatively bigger result of arm's Angular Momentum than thigh's Angular Momentum on Type #1. This is regarded of faster Joint Velocity of Arm. Bigger result of female students of arm's contribution on Type #1 than male students can be said as Female student's weaker hip joint's angular muscle force than male student's, so the dependency of arm is heavier than male students. In Kinetic variable, GRF showed bigger result on male students than female students. So female students need to enhance joint's torque to increase GRF than male students. On vertical Impulse, high numeric data of last two reaction of tiptoe of vertical GRF and antero-posterior GRF helped increasing impulse by extending action time of force.

• Composites Research
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• v.25 no.6
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• pp.186-190
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• 2012

With the wide application of fiber-reinforced composite material in aero-structures and mechanical parts, composite joint have become a very important research area because they are often the weakest sites in composite structures. In this paper, the failure strengths of the bolted joint and pin joint which have variable hole clearance were evaluated and compared. From the tests, the first failure loads of the bolted joint and pin joint with $880{\mu}m$ hole clearance have decreased by 24.2 % and 51.3 % compared to those of joints with $0{\mu}m$ hole clearance, respectively. Also, the failure index of the joints were calculated by the finite element method and compared with experimental results.

• Structural Engineering and Mechanics
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• v.57 no.1
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• pp.141-159
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• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• Journal of the Earthquake Engineering Society of Korea
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• v.24 no.4
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• pp.189-196
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• 2020

In this study, two full-scale gravity load-designed reinforced concrete corner beam-column joints were tested by being subjected to uniand bi-directional cyclic lateral loading. The test variable was loading type: uni- or bi-directional loading. To investigate the effect of the loading type on the cyclic behavior of joint specimens, damage progression, force-deformation relation, contribution of joint deformation to total drift, joint stress-strain response, and cumulative energy dissipation were investigated. The test data suggest that bidirectional loading can amplify damage accumulation in the joint region.

• International Journal of Korean Welding Society
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• v.3 no.2
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• pp.24-28
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• 2003

This study was aimed to evaluate the quality of flash welded joints and optimize the welding process for flash butt welding of 780MPa grade high strength steel. And then the relationship between the welding process variables and the joint quality would be established. The effect of process variables between flashing and upsetting process was elucidated. Microstructure observation of the joint indicated that the decarburized band was mainly changed with upsetting process. Width of HAZ was also related to the upsetting conditions rather than the flashing conditions. Generally maximum hardness at HAZ was correlated with Ceq of steel and the empirical relationship was obtained to estimate the HAZ properties. Tensile elongation at the joint was usually decreased with increasing the initial clamping distance. Investigation of fracture surface after tensile and bending tests reveal that the origin of cracking at the joint was oxide inclusions composed of $SiO_2$, MnO, $Al_2O_3$, and/or FeO. The amount of inclusions was dependent on the composition ratio of Mn/Si in steel. If this ratio was above 4, the amount of inclusions was low and then the resistance to cracking at the joint was enough to maintain the joint performance. It was obtained that the flashing process influenced the conditions for the energy input to establish uniform or non­uniform molten layer, while the upsetting conditions influenced the joint strength. Heat input variable during flashing process was also discussed with the joint properties.

• Journal of the Korean Applied Science and Technology
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• v.37 no.4
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• pp.839-847
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• 2020

The purpose of this study was to analyze the effects of ankle flexibility, gender, and Q-angle on the ankle joint injury factors during one leg drop landing. For this study, 16 males(age: 20.19±1.78 years, mass: 69.54±10.12 kg, height: 173.22±4.43 cm) and 16 females(age: 21.05±1.53 years, mass: 61.75±6.97 kg, height: 159.34±4.56 cm) in their 20's majoring in physical education using the right foot as their dominant feet were selected as subjects. First, an independent t-test of joint motion and joint moment according to the experience of ankle injury was conducted to determine the effect of physical characteristics on ankle joint injury during one leg drop landing(α = .05). Second, the variable that showed a significant difference through t-test was set as the dependent variable, and the ankle flexibility, gender difference, and Q-angle were designated as independent variables to use Multiple Linear Regression(α =. 05). As a result of this study, it was found that the group that experienced an ankle joint injury was found to use a landing strategy and technique through adduction of the ankle joint and internal rotation of the knee joint, unlike the group without an injury. It was also confirmed that this movement increases the extension moment of the ankle joint and decreases the extension moment of the hip joint. In particular, it was found that the dorsi flexion flexibility of the ankle affects the ankle and knee landing strategy, and the gender difference affects the ankle extension moment. Therefore, it was confirmed that physical characteristics factors affecting ankle joint injuries during one leg drop landing.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• Journal of Korean Foot and Ankle Society
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• v.15 no.4
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• pp.187-194
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• 2011

Ankle injuries may involve the distal tibiofibular syndesmosis and can be associated with a variable degree of trauma to the soft tissue and osseous structures that play an important role in ankle joint stability. Ankle syndesmotic injury may occur solely as a soft tissue injury or in association with variable ankle fractures. Ankle syndesmotic injury does not necessarily lead to ankle instability; however, the coexistence of deltoid ligament injury critically destabilizes the ankle joint. The prevalence of these injuries may be higher than previously reported. The diagnosis of syndesmotic injury as not always easy because isolated ankle sprains may be missed in the absence of a frank diastasis and syndesmotic instability may be unnoticed in the presence of bimalleolar ankle fractures. Controversies arise at almost every phase of treatment includings : type of fixation(screw size, type of implant), number of cortices required for fixation and of need for hardware removal. Regardless of controversies, the most important goal should be restore and maintain the normal tibiofibular relationship to allow for healing of the ligamentous structures of the syndesmosis.

• Journal of the Korean Statistical Society
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• v.33 no.2
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• pp.245-254
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• 2004

This paper derives a distribution function of the terminal value and running maximum of two-dimensional Brownian motion {X($\tau$) = (X$_1$($\tau$), X$_2$ ($\tau$))', $\tau$ 〉0}. One random variable of the joint distribution is the terminal time value, X$_1$ (T). The other random variable is the maximum of the Brownian motion {X$_2$($\tau$), $\tau$〉} between time s and time t. With this distribution function, this paper also derives an explicit pricing formula for an outside barrier option whose monitoring period starts at an arbitrary date and ends at another arbitrary date before maturity.