• 척추신경추나의학회지
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• 제13권1호
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• pp.45-53
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• 2018

Objectives: This report aimed to provide an introduction to the analysis of the Biolinkage System. Methods: During diagnosis, the Biolinkage System was first classified into Type I & Type II according to the Patric's Test and the Pelvic Twist Analysis; the two types were then sub-classified into Step I, II, III according to the Thompson's sacrum test, Patrick's test, Scapular Fixation Test, and Pelvic Twist Analysis. During treatment, the sacrum-axis-temporomandibular joints were used in Step I, the hip joint-fourth cervical or scapular-occiput were used in Step II, and lastly the thoracic cage is used in Step III. Conclusions: The Biolinkage System is useful in the examination of somatic dysfunction.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.465-470
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• 2001

This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.

• 한국기계가공학회지
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• 제11권6호
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• pp.115-122
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• 2012

The purpose of this study is to optimize the design of the jack-up platform for 5MW offshore wind turbine system. Considering all the environmental loads such as currents, waves, winds and so on, the members of structures have been designed and optimized based on the AISC and API-RP-2A to be within the allowable stress even in the most critical and severe condition. In addition to the above strength check of structural members, the joint punching shear check and the hydrostatic collapse check are also performed where they are required for the design. The design life of the jack-up platform is 50 years for the static strength check and the fatigue design life is 100 years including to the DFF(Design Fatigue Factor) of 2.0 to have enough stability and workability for the design optimization.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국생산제조학회지
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• 제5권4호
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

• 한국공간구조학회논문집
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• 제13권2호
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• pp.75-82
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• 2013

For each cable component in a cable dome structure, pre-tension is needed for stability of whole the structure. The summation of these pre-tension at each joint should be zero to achieve the self equilibrium structure. The first step in cable dome structure analysis is to find the ratio of pre-tension in each member which can produce a stable and structure on self-equilibrium. In this paper, a new method based on the basic principle of closed force polygon for equilibrium system is proposed for the determination of self-equilibrium mode of cable dome structure. A single layer cable dome and two multi layer type domes have been analyzed. The ratios of cable members are determined by the presented method, and check the validation of the results by numerical calculation.

• 전기학회논문지
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• 제60권11호
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• pp.2139-2146
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• 2011

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.380-382
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• 1993

In this paper, we derive a simple robust nonlinear control scheme for n-link robot manipulators subject to parameter uncertainty. By using the theory of variable structure system(VSS) and taking advantage of the important property of the robot dynamics, the stability of the derived control scheme is proved. This scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the nonlinear compensation controller. So the amount of on-line calculations is largely reduced, and as a result, this scheme can be implemented much more efficiently.

• Korean Journal of Mathematics
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• 제27권1호
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• pp.119-129
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• 2019

Balance function is one of the joint factors to determine fall in risk theory. It helps to moderate the progression and riskiness of falls for detecting balance and fall risk factors. Nevertheless, the objective measures for balance function require expensive equipment with the assessment of any expertise. We establish the existence and uniqueness of a multi-order fractional differential equations based on ${\psi}$-Hilfer operator on time scales with balance function. This class describes the dynamic of time scales derivative. Our tool is based on the Schauder fixed point theorem. Here, sufficient conditions for Ulam-stability are given.