• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.6
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• pp.702-707
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• 2018

In case of Lighting occurs in Domestic combined distribution line, normally the voltage for the neutral line increase dramatically. General connection for underground cable is bundled common earth type so the lightning over voltage increase at the concentric-neutral line is not big enough to give impact on cable sheath. But in case of Non bundled common earth type it is necessary to analyze the phenomena on cable sheath caused by lightening overvoltage. Especially pole and cable joint are the core factor to consider. In this paper concrete pole and cable joint were evaluated in case of Non bundled common earth type combined distribution Line. EMTP simulation model has been designed and several case study were made. Also several experimental test were made to verify the simulation result.

• Tunnel and Underground Space
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• v.26 no.3
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• pp.201-211
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• 2016

A method for estimating rock joint size distribution using contained traces length distribution from 3D cylindrical window survey was suggested. To reduce the numerical error, an improved technique was applied. The accuracy was verified by referring to Monte-Carlo simulation and it was found that the error can be decreased with suitable gamma values.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1515-1517
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• 2008

The purposes of this study were to measure the ranges of motion in knee joint and during continuous passive motion(CPM) treatment and to computationally calculate joint angles at the knee joint dependent on the CPM machine design and its application. Four CPM machines and eleven candidates were recruited for this study. Experimental and numerical studies have been peformed to calculate the range-of-motion of CPM machines. From the experimental measurements, the average range of motions at the knee joint for the CPM machine #1, #2, #3, and #4 were lower than the manufactures suggested values due to improper alignments of the hip and knee joints to the CPM machines. Different design of CPM machine generated different outcomes of the ROM at the knee joints during CPM. The experiments and kinematic simulation in this study could be used to provide useful guidance in the treatment of CPM after joint surgery.

• Journal of Welding and Joining
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• v.17 no.6
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• pp.78-83
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• 1999

Solder joint is the weakest part which connects in mechanically and electronically between package body and PCB(Printed Circuit Board). Recently, the reliability of solder joint become the most critical issue in surface mounted technology. The solder joint interconnection between plastic package and PCB is susceptible to shear stress during thermal storage due to the mismatch in coefficient of thermal expansion between plastic package and PCB. A general computational approach to determine the effect of solder joint shape on the fatigue life presented. The thermal fatigue life was estimated from the engelmaier equation which was obtained from the temperature cycling loading($-65^{\circ}C$ to $150^{\circ}C$). As result of the simulation, TSOP structure has the shortest thermal fatigue life and the same structure Copper lead has 2.5 times as much fatigue life as Alloy 42 lead. In BGA structure, fatigue life time extended 80 times when underfill material exists.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.113-116
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• 2000

This paper analyzes the singularity of an anthropomorphic robot associated with joint and operational stiffness generation from muscle stiffness. The singularity analysis is made simply based on the signs of the actual and the desired coupling joint stiffness. First, the relationships of the muscle stiffness and the actual joint stiffness, and the operational stiffness and the desired joint stiffness are examined. Second, according to the sign restriction on the actual coupling joint stiffness, the operational space is divided into the semi-singular(SS), the regular(R), and the semi-regular(SR) regions. Third, from the sign comparison of tile actual and the desired coupling joint stiffness, the sufficient condition for the semi-singularity in operational stiffness generation is derived. The limitation on the allowable operational stiffness when a task point belongs to SS, R, and SR regions is also discussed. Simulation results are given.

• Transactions of Materials Processing
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• v.23 no.4
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• pp.211-220
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• 2014

The outer race of a constant velocity (CV) joint having six inner ball grooves has traditionally been manufactured by multi-stage warm forging, which includes forward extrusion, upsetting, backward extrusions, necking, ironing and sizing, and machining. In the current study, a multi-stage cold forging process is examined and an assessment for replacing and modifying the conventional multi-stage warm forging is made. The proposed procedure is simplified to the backward extrusion of the conventional process, and the sizing and necking are combined into a single sizing-necking step. Thus, the forging surface of the six ball grooves can be obtained without additional machining. To verify the suitability of the proposed process, a 3-dimensional numerical simulation on each operation was performed. The forging loads were also predicted. In addition, a structural integrity evaluation for the tools was carried out. Based on the results, it is shown that the dimensional requirements of the outer race can be well met.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.371-376
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• 2005

Relative contributions of lower extremity joints on the support moment were investigated in this study. Three-dimensional gait analyses were performed in normal walking and in unexpected step-down walking. For both gait studies, inverse dynamics were performed to obtain each joint moment of the lower extremity, which was applied to the forward dynamics simulation to determine the contributions on the support moment at different phases of walking. The forward dynamic simulation results showed that, in normal walking, the ankle plantar flexors contributed significantly during single-limb-support. However, the ankle plantar flexors, knee extensors and hip extensors worked together during double-limb-support. In unexpected step-down walking, the important contributors on the support of the body during single-limb-support were not only ankle plantar flexors but also knee extensors. This study, analyzing the relative contributions of the lower limb joint moments for the body support, would be helpful to understand different unexpected walking conditions and compensatory mechanisms for various pathological gaits.