• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.4
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• pp.91-99
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• 2018

Mechanical Properties of Rock Slope as a safe and effective interpretation should be thoroughly investigated. Clinometer, however, this new measurement due to the restrictions of the research for the joint orientation is needed. In this study, characteristics of the joint orientation can be used to analyze the joint orientation of developing a joint survey system that can be applied to the field. The system is developed and Analysis software to hardware. Hardware is composed to measure the joint orientation of measuring module, measuring the transfer of data transfer module. From the software is measuring module from the data to analyze the orientation of the joint development, and drone joint orientation survey system named. Can not be measured by the investigation, including regional development approach is a system that has been difficult if the Field Application of the lab test results of the joint orientation and effectively.

• Journal of Korea Society of Industrial Information Systems
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• v.14 no.4
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• pp.16-29
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• 2009

This paper investigates the kinematic and dynamic analysis of a spherical three degree of freedom parallel joint module, which is used in the exercise equipment for balance and leg-strength improvement of aged people. The joint module has three dyads which consist of two links and three revolute joints, and their all joints intersect at the global point located at the module's center. The paper shows the explicit mathematical procedure for deriving the closed form solutions in the inverse and forward position analysis of this parallel joint module. In velocity and acceleration analysis, we derived relations for joint velocities and accelerations of dyads and rotational velocity and acceleration of the top plate. For applying this module to rehabilitation exercise, we determined the dynamic model of the Korean males in their 50s and examined the model's results by dynamic model simulation.

• Tunnel and Underground Space
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• v.28 no.3
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• pp.193-208
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• 2018

In order to interpret rock slope safely and effectively, the mechanical properties of the rock must be carefully investigated. However, due to the limitations of clinometer usage, a new measure of measurement is required to complement these limitations. In this study, a measuring device was developed to analyze the characteristics of joint orientation, and to apply the orientation of joint to the field. The developed measuring equipment is divided into analysis software and hardware. The hardware was composed of a measuring module that measures the joint orientation of rock and a transport module that transmits the measurement data. The software was developed to analyze the orientation of the joint from the data obtained from the measuring module and is named Drone Joint Orientation Survey Measurement. The developed measuring equipment was well field capable if it could not be measured by the inspector, such as in areas where access was difficult, and was capable of effectively analyzing the lab test results for the orientation of the joint.

• Journal of The Korea Institute of Healthcare Architecture
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• v.12 no.2
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• pp.59-67
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• 2006

The purpose of this study is to present the research data to improve the quality of triangular ward in general hospital in Korea. Drawing documents analysis were used to examine the condition of ward. This study in focused on patient room and atrium according to connection type of triangular ward, allocation of NS, module and direction of patient room. The results of this study is as follows; Triangular ward has two joint pattern(conner and conner, side and side). Conner and conner joint pattern is good at planning of lighting than side and side joint pattern. Triangular ward can has different module system in each side. Allocation of NS is important factor which is focused on patient relationship or ward control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.369-370
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2719-2724
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• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• Transactions of Materials Processing
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• v.20 no.3
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• pp.206-213
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• 2011

A flexible die, which is composed of a number of punches with adjusted heights to form a three-dimensional curved surface, is a crucial part of a flexible forming technology. In this study, the punch and control system of the flexible die were designed. The flexible die is divided into three modules, namely, punch, control and joint, and the corresponding modules were developed. The punch module materializes a three-dimensional forming surface by the control module, which is composed of an AC servo motor set and a linear guide. The joint module is necessary for the sequential motion between the servo motor set and the punch module. A sequential motion algorithm for the AC servo motor set, that uses the data of the punch relative heights, was also proposed. Finally, a flexible stretch forming test was carried out using the presently designed flexible die.

• The Journal of Engineering Geology
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• v.12 no.3
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• pp.345-360
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• 2002

This study was for analysing the sedimentary rock slope stability and providing the reinforcement method that can heighten stability. The study area consists of Cretaceous basalt or basaltic tuff belonging to Hak-Bong Basalt Formation in Ha-Yang Group. Nature of geological structure confirmed in this area ars bedding, joint and fault. Majority of geological structure that affect most relationship rock slope stability is bedding. It is shown that dip direction is 120~160/15~25. In other structure, joint sets are shown that dip direction of set 1 is 310~330/65~85 and set 2 is 230~250/70~85. Joint set 3 shows above 85$^{\circ}$ high angle on NE trend although do not show clear. Stability analysis about rock slope used kinematic analysis, limit equilibrium method and FLAC by numerical analysis method. FLAC is continuum model that use Fintie Defferentce Method, but could use Interfaces Module and get discrete model's analysis effect such as UDEC.

• Journal of Navigation and Port Research
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• v.36 no.3
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• pp.197-204
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• 2012

The behavior of floating structures constructed with precast concrete modules is dependent of the behavior of joints between the concrete modules. To accurately predict the floating structure response under the ultimate loading, knowledge of joint behavior is essential. This study aims to investigate the structural behavior of concrete module joints under various configuration of joint and confining stress levels. The shear behavior, shear capacity and crack patterns of shear keys in concrete module have been studied. Test results indicated that the shear capacity of joints increased as shear key inclination increased. In addition, shear capacity of concrete module joint increased with the increase of confining stress levels. The test results were compared with the AASHTO design recommendations. The AASHTO design recommendations underestimated the shear strength of test specimens.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.