• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Clinics in Shoulder and Elbow
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• v.2 no.2
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• pp.133-137
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• 1999

Purpose: There are so many different methods with the their own advantages and disadvantages for acute AC dislocation and distal unstable clavicle fracture. We evaluated the usefulness of temporary Bosworth's coracoclavicular fixations using the cannulated screw and reviewed our clinical results. Materials and Methods: We evaluated 34 cases of temporary coracoclavicular fixations with cannulated screw and washer for acute AC dislocation(25cases in the Type V, Ⅲ) and distal unstable clavicle fracture(9cases in the Type ⅡB, Ⅱ+Ⅲ). All cases were fixed by the same techniques, guided cannulated screw under C-arm after the repair of the CC ligament within 1 week. Bases on the regular check, screws were removed at the 6-12 weeks under local anesthesia. The final clinical and radiological results(average 14 months follow-up) were rated with the UCLA scale. Results : All shoulders were gained nearly full ROM passively at the 3-4 weeks. The overall satisfactory resuIts(excellent or good) were achieved 88%(22/25) in the acute AC dislocation and all in the distal unstable clavicle fracture. There were no definite complications except three initial fixations loosening. Conclusion: Temporary Bosworth's coracoclavicular fixation using the cannulated screw with guided pin was simple precedure and provided enough initial stability for acute AC dislocation and distal unstable clavicle fracture.

• Journal of Internet Computing and Services
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• v.20 no.6
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• pp.29-36
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• 2019

When dealing with outdoor images in a variety of computer vision applications, the presence of shadow degrades performance. In order to understand the information occluded by shadow, it is essential to remove the shadow. To solve this problem, in many studies, involves a two-step process of shadow detection and removal. However, the field of shadow detection based on CNN has greatly improved, but the field of shadow removal has been difficult because it needs to be restored after removing the shadow. In this paper, it is assumed that shadow is detected, and shadow-less image is generated by using original image and shadow mask. In previous methods, based on CGAN, the image created by the generator was learned from only the aspect of the image patch in the adversarial learning through the discriminator. In the contrast, we propose a novel method using a discriminator that judges both the whole image and the local patch at the same time. We not only use the residual generator to produce high quality images, but we also use joint loss, which combines reconstruction loss and GAN loss for training stability. To evaluate our approach, we used an ISTD datasets consisting of a single image. The images generated by our approach show sharp and restored detailed information compared to previous methods.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.05a
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• pp.109-110
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• 2018

Preloading Strut applied during installation of the wall jack, but additionally serves to minimize the displacement of soil pressure acting upon dissolution due to the difficulty. In this study, we developed an index of support for the release of stress to facilitate the dismantling of the strut uninstall. The refractive support the axial force acting on the strut are supportable, is refracted at minimum load, disassembly should be easy. In order to find the optimal shape and structural stability of the refractive support We have performed the numerical analysis and performance test to determine the final model. We carried out model tests and UTM test in order to understand the refractive performance and durability of the refractive support for optimal model. Results of the test UTM is refracted all shot 5 times within a target hit number, it was found that there is no problem of the refractive performance. Further, the results of model experiments, it was found that to ensure sufficient durability more than the performance target value of the pin joint support structure.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.131-142
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• 2005

This study was investigated the stability of the AK amputee gait through analysing the variability on kinematic variables between the sound leg and the prosthetic limb. The one male, AK amputee who could walk for himself with his prosthetic limb was participated in this study. Six cameras of the MCU 240 and the QTM(Qualisys Track Manager) software were used for data collecting in this study. The relative angle of both segments was the difference between the absolute angle of the distal segment and the absolute angle of the proximal segment. The coupling angles between the prosthetic limb and the sound leg were caculated on the thigh Flexion/Extension in relative to the shank Flexion/Extension and the shank Flexion/Extension n relative to the foot Flexion/Extension. In order to evaluate the variability of segment and joint angle, C.V. was used, and to evaluate the variability for coupling angles, the Relative motion calculated by vector coding method of the continuous methods was used. As stated, the gait pattern of the prosthetic limb was almost similar gait pattern of the sound leg, but the prosthetic limb showed that the gait pattern of the sound leg and the prosthetic limb were not stable against the sound leg.

• Magazine of the Korean Society of Agricultural Engineers
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• v.41 no.6
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• pp.64-74
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• 1999

The frequency of earthquake occurrence tends to increase in Korea. Therefore, the stability of pipeline, such as watersupply pipe, gas pipe, and oil pipe etc. across fault zones in Gyoung-sang landmass is very important, expecially , in metropolitan area. There were some examples of the construction of buried pipeline across fault zones in Korea. the interactiion between the buried pipeline across fault zones and the ground is considered. As well, in the interfaces of them, the direct shear numerical analysis model including elasto-plastic joint element is assumed that the retained dilatancy theory in them, otherwise. Also, the other elements are modeled the ground is nonlinear elastic coutinuaus beam, respectively. In this study, the maximum shear force point exist inside retaine zone(anchored zone) during shwar (as fault sliding), and the distribution of pipeline's behavior is all alike them of pipeline buried in ladnsliding grounds. Since the pipeline is not continuous beam but jointed by steel-pipe segments , practically, on acting of a large bending moment or a shear force, then, those are may be unstable. The reaearch on this point may be new approach.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• The Journal of Advanced Prosthodontics
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• v.1 no.2
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• pp.102-106
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• 2009

STATEMENT OF PROBLEM. Screw loosening has been a common complication and still reported frequently. PURPOSE. The purpose of this study was to evaluate abrasion of the implant fixture and TiN coated abutment screw after repeated delivery and removal with universal measuring microscope. MATERIAL AND METHODS. Implant systems used for this study were Osstem and 3i. Seven pairs of implant fixtures, abutments and abutment screws for each system were selected and all the fixtures were perpendicularly mounted in liquid unsaturated poly-esther with dental surveyor. After 20 times of repeated closing and opening test, the evaluation for the change of inner surface of implant and TiN-coated abutment screw, and weight loss were measured. Mann-Whitney test with SPSS statistical software for Window was applied to analyze the measurement of weight loss. RESULTS. TiN-coated abutment screws of Osstem and 3i showed lesser loss of weight than non-coated those of Osstem and 3i (P < .05, Mann-Whitney test). CONCLUSION. Conclusively, TiN coating of abutment screw showed better resistance to abrasion than titanium abutment screw. It was concluded that TiN coating of abutment screw would reduce the loss of preload with good abrasion resistance and low coefficient of friction, and help to maintain screw joint stability.

• The Journal of Korean Academy of Prosthodontics
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• v.45 no.3
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• pp.329-338
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• 2007

Purpose. The aim of this study is to evaluate the effect of TiN coating of abutment screw on the unscrewing torque. Material and methods. Titanium and Gold-Tite abutment screws were classified into two groups, Group A and C respectively, as control groups. Titanium abutment screws with TiN coatings were also classified into two groups, Group B and D, as experimental ones. Group A and B were tightened to 20 Ncm input torque, and Group C and D were tightened to 32 Ncm torque. Detorque values were measured with digital torque gauge during repeated closing and opening experiment. Results. Abutment screws with TiN coating (Group B and D) showed statistically significant higher mean detorque values than those of Group A and C. Discussion. Physical properties of TiN coating, such as low friction coefficient, high hardness and wear resistance, might contribute to higher detorque values. Conclusion. It is suggested that TiN coating of abutment screw help to reduce the risk of screw loosening and improve the stability of screw joint.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.