• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.9
• /
• pp.49-56
• /
• 2004

With the wide application of fiber-reinforced composite material in aero-structures and mechanical parts, the design of composite joint have become a very important research area because they are often the weakest areas in composite structures. In this paper, the linear finite element analyses in which the pin of the composite joint was assumed to be the frictionless rigid body were performed and predict the strength of the mechanically fastened composite joint using the failure area index method. By the failure area index method, the strength of the mechanically fastened composite joint which has the specimen of different shape, hole size and stacking sequence could be predicted within 12.2%.

• Journal of Oral Medicine and Pain
• /
• v.44 no.3
• /
• pp.127-132
• /
• 2019

Septic arthritis of the temporomandibular joint (TMJ) is an uncommon disease caused by microbial pathogens through hematogenous infection, local spread, or iatrogenic infection. As the symptoms have an insidious onset, the early stage of septic arthritis is often confused with other diseases. A 49-year-old man was referred for increasing preauricular pain, swelling, and restricted mouth opening. He had been initially diagnosed as having a conventional temporomandibular joint disorder and trigeminal neuralgia and had been treated for the same. Imaging studies including panoramic view, lateral tomography, computed tomography with contrast enhancement, and magnetic resonance imaging were performed. Erosive bone change with displacement of the involved condyle, diffuse swelling of adjacent soft tissue, and fluid collection in the joint space were noted. Needle aspiration of the joint space and bacterial culture confirmed the diagnosis of septic arthritis of the TMJ and he was treated with antibiotic therapy and surgical drainage. Clinicians should always consider the diagnosis of septic arthritis of the TMJ in patients with preauricular pain or swelling.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.6
• /
• pp.540-546
• /
• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.123-128
• /
• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• Journal of electromagnetic engineering and science
• /
• v.15 no.4
• /
• pp.199-205
• /
• 2015

An electromagnetic band gap (EBG) metamaterial construction is presented. A construction of a multipath mitigating ground plane, based on the EBG metamaterial is described. A method of the ground plane application and installation, which provides the multipath mitigating without spoiling antenna element phase center stability, is suggested and explained. A designed construction of GNSS antenna module, which contains the multipath mitigating ground plane, made from the presented EBG metamaterial and installed in the described way is shown and parameters of the antenna module are provided.

• Journal of Industrial Technology
• /
• v.15
• /
• pp.63-70
• /
• 1995

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to the operational space dynamic formulation which maps the joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.6
• /
• pp.573-579
• /
• 2008

This paper introduces a new approach to develop a fast gait for quadruped robot using GP(genetic programming). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Several recent approaches have focused on using GA(genetic algorithm) to generate gait automatically and shown significant improvement over previous results. Most of current GA based approaches used pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ERS-7 in Webots environment.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.6
• /
• pp.347-353
• /
• 2022

In this paper, we propose a method that performs a text-video retrieval model by replacing video properties using captions. In general, the exisiting embedding-based models consist of both joint embedding space construction and the CNN-based video encoding process, which requires a lot of computation in the training as well as the inference process. To overcome this problem, we introduce a video-captioning module to replace the visual property of video with captions generated by the video-captioning module. To be specific, we adopt the caption generator that converts candidate videos into captions in the inference process, thereby enabling direct comparison between the text given as a query and candidate videos without joint embedding space. Through the experiment, the proposed model successfully reduces the amount of computation and inference time by skipping the visual processing process and joint embedding space construction on two benchmark dataset, MSR-VTT and VATEX.

• The Korean Journal of Pain
• /
• v.21 no.1
• /
• pp.57-61
• /
• 2008

Background: Shoulder joint injection is currently performed under fluoroscopic or computed tomography scan guidance. We performed this study to determine if an ultrasound guided shoulder joint injection through rotator cuff interval would have clinical usefulness. Methods: A total of 17 volunteers [12 women, 5 men; mean age 28 yr (23-32 yr)] received shoulder joint injection under multilinear ultrasound (5-10 MHz). Volunteers were positioned supinely on a table with their arm in a neutral position. The anterior shoulder region of the patient was sterilized using povidone iodine. A 24 gauge needle was introduced and directly visualized in real time as it passed obliquely from the skin surface to the inferior space of the biceps tendon. If there was little or no resistance to the injection, a contrast media (omnipaque) was injected and checked fluoroscopically. Results: Ultrasound guided shoulder joint injection through rotator cuff interval was successful in all cases. The average time taken for the procedure was $27.5{\pm}16.5sec$. The vertical distance from skin to the inferior space of the biceps tendon was $1.6{\pm}0.4cm$ and the distance of needle from the skin to the inferior space of biceps tendon was $2.8{\pm}0.6cm$. The procedure was well tolerated by all volunteers. Conclusions: Ultrasound guided shoulder joint injection through rotator cuff interval is an effective, rapid, and easy-to-perform injection technique. Ultrasound guided injection enables exact needle placement and avoids the use of both ionizing radiation and iodinated contrast material.

• The Korean Journal of Pain
• /
• v.31 no.2
• /
• pp.87-92
• /
• 2018

Background: An epidural steroid injection (ESI) is a commonly administered procedure in pain clinics. An unintentional lumbar facet joint injection during interlaminar ESI was reported in a previous study, but there has not been much research on the characteristics of an unintentional lumbar facet joint injection. This study illustrated the imaging features of an unintentional lumbar facet joint injection during an interlaminar ESI and analyzed characteristics of patients who underwent this injection. Methods: From December 2015 to May 2017, we performed 662 lumbar ESIs and we identified 24 cases (21 patients) that underwent a lumbar facet joint injection. We gathered data contrast pattern, needle approach levels and directions, injected facet joint levels and directions, presence of lumbar spine disease as seen on magnetic resonance images (MRI), and histories of lumbar spine surgeries. Results: The contrast pattern in the facet joint has a sigmoid or ovoid contrast pattern confined to the vicinity of the facet joint. The incidence of unintentional lumbar facet joint injection was 3.6%. The mean age was 68.47 years. Among these 21 patients, 14 (66.7%) were injected in the facet joint ipsilaterally to the needle approach. Among the 20 patients who received MRI, all (100%) had central stenosis and 15 patients (75%) had severe stenosis. Conclusions: When the operator performs an interlaminar ESI on patients with central spinal stenosis, the contrast pattern on the fluoroscopy during interlaminar ESI should be carefully examined to distinguish between the epidural space and facet joint.