• 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.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09b
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• pp.1207-1208
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• 2006

We developed the copper core ball electroplated with Sn-Ag-Cu of the eutectic composition which used mostly as Pb free solder ball with high reliability. In order to search for the practicality of this developed copper core ball, the evaluation was executed by measuring the initial joint strength of the sample mounted on the substrate and reflowed and by measuring the joint strength of the sample after the high temperature leaving test and the constant temperature and the humidity leaving test. This evaluation was compered with those of the usual other copper core balls electroplated with (Sn,Sn-Ag,Sn-Cu,Sn-Bi) and the Sn-Ag-Cu solder ball.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.843-847
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• 2010

Recently, one of the most interesting issue in the intelligent robot and the industrial robot area is the design and an implementation of servo driver module based on motion network for hollow type joint module of all-in-one structure. In this paper, we designed and implemented for hollow type driver, and also verified the performance of the developed module through the experiment.

• Proceedings of the KIEE Conference
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• 2005.07c
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• pp.2256-2258
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• 2005

우리는 기존의 현장몰드방식의 TMJ(Tape Molded Joint)와 부품조립방식 의 PJ(Prefabricated Joint) 보다 조립시간과 숙련도가 덜 필요한 고무몰드접속함을 탄성 및 우수한 절연특성을 가진 silicone 고무를 사용하여 조립공정과 절연특성, 탄성특성, 계면특성, 열적 특성 등을 연구하여 개발에 성공하였다. 고무 몰드 접속함은 실리콘 재료의 우수한 탄성에 의해 동일 케이블의 다양한 size에 적용이 가능하다.

• Journal of Korean Institute of Industrial Engineers
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• v.24 no.3
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• pp.447-455
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• 1998

It is important to identify and evaluate poor working postures properly to prevent work-related musculoskeletal disorders. The purpose of this study is to develope a new upper body micropostural classification scheme for analyzing postural stress in industry. Most of the existing postural classification schemes were based either on the literature, or on simple biomechanical principles, or on a subjective ranking system. The scheme suggested in this study was based on perceived joint discomfort measured through experiment, in which nineteen subjects participated and the magnitude estimation method was employed to obtain subjects' joint discomfort. Also, the criteria for evaluating postural stress of working postures were presented for practitioners of health and safety to be able to redesign working methods and workplaces, which was based on maximum holding time by Miedema and other people. It is expected that the scheme developed in this study could be used as a valuable tool when evaluating working postures.

• Archives of Plastic Surgery
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• v.45 no.1
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• pp.74-79
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• 2018

The aim of this study was to present a case series of the orthognathic treatment of facial asymmetry due to temporomandibular joint (TMJ) ankylosis and to characterize the current treatment modalities through a literature review. Four patients who presented with facial asymmetry due to TMJ ankylosis between 2010 and 2014 were included in this study. TMJ ankylosis was surgically treated before bimaxillary surgery with advancement genioplasty in some of the cases. In 2 cases, 3-dimensional (3D) models were used for diagnosis and treatment planning, as 3D models are very important tools for planning surgical maneuvers. Aesthetically pleasant facial symmetry and a good facial profile were obtained in all the cases.

• Journal of the Korean Arthroscopy Society
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• v.13 no.3
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• pp.235-241
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• 2009

The development of good quality small-diametered arthroscopes and refined arthroscopic techniques has contributed to the improvement of the subtalar arthroscopy. The therapeutic indications are synovectomy, removal of loose bodies, debridement and drilling of osteochondritis dissecans, excision of subtalar impingement lesions and osteophytes, lysis of adhesions for post-traumatic arthrofibrosis, removal of a symptomatic os trigonum, calcaneal fracture assessment and reduction, and arthroscopic arthrodesis of the subtalar joint. The subtalar arthroscopy can be done in supine position using thigh holder or in lateral decubitus position. The arthroscope generally used is a 2.7-mm 30 degrees short arthroscope. Noninvasive distraction with a strap around the hindfoot can be helpful. Usually anterolateral, middle and posterolateral portals are utilized for inspection and instrumentation within the joint. Twoportal posterior subtalar arthroscopy in prone position can be performed as well with 4.0-mm 30 degrees arthroscope, depending on the type and location of the subtalar pathology. The subtalar arthroscopy is a technically demanding procedure, which requires proper instrumentation and careful operative technique. Possible complications are nerve damage and persistent wound drainage.

• Steel and Composite Structures
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• v.42 no.3
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• pp.363-373
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• 2022

This paper presents an experimental and a numerical investigation of a H-beam - composite box column joint fabricated with two new inner diaphragms and a continuous inner diaphragm. The main objective of the current research project is to investigate the structural performance of the newly developed inner diaphragms under a cyclic loading protocol. Hysteretic behaviour of the composite joints is analysed to investigate the structural performance of the new and continuous inner diaphragms. This paper compares the result of the finite element (FE) models with the new and continuous inner diaphragms against their counterpart experimental results. To produce a design criterion for the newly developed inner diaphragms, yielding or failure area of the inner diaphragms under tensile stress is analysed from the FE results.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.401-402
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• 2023

The shear connection of the vertical construction joint of a slurry wall by the concrete shear key has excellent structural performance and is economical and eco-friendly. However, technology for forming concrete shear keys in the underground is still underdeveloped. This paper proposes the development of the construction technology required to form a concrete shear key at the vertical construction joint of the slurry wall.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.