• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1227-1233
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• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• 한국운동역학회지
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• 제16권4호
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• pp.153-164
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• 2006

This thesis is focused on kinematical and kinematical analysis of each types(Type #1 : use both swing of arm and reaction of knee, Type #2 : Use only swing of arm, not reaction of knee, type #3 : Neither use of swing of arm nor reaction of knee) of vertical jumps according to gender of High School Students. The subjects of this study is High School Student's male and female, 5 each, for analyzation of actions 3D image analyzing and GRF machines were used. To identify the differences of analyzed variables, an independent T-test on gender, an One-way ANOVA on types were used. Summery of the results are stated below. first of all, female students showed differences on Hip Joint angle and Joint Velocity from male students on Kimentic Variable. So training on hip joint force of flection and extension of female students is needed. Both male and female students showed relatively bigger result of arm's Angular Momentum than thigh's Angular Momentum on Type #1. This is regarded of faster Joint Velocity of Arm. Bigger result of female students of arm's contribution on Type #1 than male students can be said as Female student's weaker hip joint's angular muscle force than male student's, so the dependency of arm is heavier than male students. In Kinetic variable, GRF showed bigger result on male students than female students. So female students need to enhance joint's torque to increase GRF than male students. On vertical Impulse, high numeric data of last two reaction of tiptoe of vertical GRF and antero-posterior GRF helped increasing impulse by extending action time of force.

• Composites Research
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• 제25권6호
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• pp.186-190
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• 2012

복합재료가 기계부품 및 항공기 구조물에 폭 넓게 적용됨에 따라, 복합재료 구조물에서 가장 취약한 복합재료 체결부의 설계는 매우 중요한 연구 분야로 대두되고 있다. 본 논문에서는 다양한 원공공차를 가지는 복합재료 볼트 조인트와 핀 조인트의 강도를 상호 비교하였다. 실험결과로부터 조인트의 원공공차가 $880{\mu}m$일 때 원공공차가 $0{\mu}m$ 보다 첫 번째 파손하중의 볼트 조인트는 24.2 %, 핀 조인트는 51.3 %의 강도저하가 발생되었다. 또한, 이에 대한 유한 요소 해석을 수행하여 파손지수를 계산하고 실험값과 상호 비교하였다.

• Structural Engineering and Mechanics
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• 제57권1호
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• pp.141-159
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• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• 한국지진공학회논문집
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• 제24권4호
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• pp.189-196
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• 2020

In this study, two full-scale gravity load-designed reinforced concrete corner beam-column joints were tested by being subjected to uniand bi-directional cyclic lateral loading. The test variable was loading type: uni- or bi-directional loading. To investigate the effect of the loading type on the cyclic behavior of joint specimens, damage progression, force-deformation relation, contribution of joint deformation to total drift, joint stress-strain response, and cumulative energy dissipation were investigated. The test data suggest that bidirectional loading can amplify damage accumulation in the joint region.

• International Journal of Korean Welding Society
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• 제3권2호
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• pp.24-28
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• 2003

This study was aimed to evaluate the quality of flash welded joints and optimize the welding process for flash butt welding of 780MPa grade high strength steel. And then the relationship between the welding process variables and the joint quality would be established. The effect of process variables between flashing and upsetting process was elucidated. Microstructure observation of the joint indicated that the decarburized band was mainly changed with upsetting process. Width of HAZ was also related to the upsetting conditions rather than the flashing conditions. Generally maximum hardness at HAZ was correlated with Ceq of steel and the empirical relationship was obtained to estimate the HAZ properties. Tensile elongation at the joint was usually decreased with increasing the initial clamping distance. Investigation of fracture surface after tensile and bending tests reveal that the origin of cracking at the joint was oxide inclusions composed of $SiO_2$, MnO, $Al_2O_3$, and/or FeO. The amount of inclusions was dependent on the composition ratio of Mn/Si in steel. If this ratio was above 4, the amount of inclusions was low and then the resistance to cracking at the joint was enough to maintain the joint performance. It was obtained that the flashing process influenced the conditions for the energy input to establish uniform or non­uniform molten layer, while the upsetting conditions influenced the joint strength. Heat input variable during flashing process was also discussed with the joint properties.

• 한국응용과학기술학회지
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• 제37권4호
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• pp.839-847
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• 2020

본 연구는 외발 착지 시 신체적 특성 요인들인 발목 유연성, 성별, Q-angle이 발목 관절 상해 요인들에 미치는 영향을 분석하는데 목적이 있었다. 이를 위해 오른발을 주발로 사용하고 체육을 전공하는 20대 남성 16명(나이: 20.19±1.78 years, 체중: 69.54±10.12 kg, 신장: 173.22±4.43 cm), 여성 16명(나이: 21.05±1.53 years, 체중: 61.75±6.97 kg, 신장: 159.34±4.56 cm)을 연구대상자로 선정하였다. 외발 착지 시 신체적 특성 요인들이 발목 관절 상해에 미치는 영향을 확인하기 위하여 첫째, 발목 상해 경험에 따른 하지 관절 움직임과 관절 모멘트의 독립 t-test를 실시하였다(α = .05). 둘째, t-test를 통하여 유의한 차이를 나타낸 변인을 종속변인으로 설정하고 발목 유연성, 성별의 차이, Q-angle을 독립변인으로 지정하여 선형다중회귀분석(Multiple Linear Regression)을 사용하였다(α = .05). 본 연구결과 발목 관절 상해를 경험한 그룹은 상해를 경험하지 않은 그룹과는 다르게 발목 관절의 내전, 무릎 관절의 내측 회전을 통한 착지 전략과 기술을 사용하는 것으로 나타났다. 또한 이러한 움직임은 발목 관절의 신전 모멘트를 증가시키고, 엉덩 관절의 신전 모멘트는 감소시키는 것으로 확인되었다. 특히 발목의 배측굴곡 유연성은 발목과 무릎의 착지전략에 영향을 미치며, 성별의 차이는 발목의 신전 모멘트에 영향을 미치는 것을 알 수 있었다. 따라서 외발 착지 시 신체적 특성 요인들이 발목 관절 상해에 영향을 미치는 요인들임을 확인 할 수 있었다.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 대한족부족관절학회지
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• 제15권4호
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• pp.187-194
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• 2011

Ankle injuries may involve the distal tibiofibular syndesmosis and can be associated with a variable degree of trauma to the soft tissue and osseous structures that play an important role in ankle joint stability. Ankle syndesmotic injury may occur solely as a soft tissue injury or in association with variable ankle fractures. Ankle syndesmotic injury does not necessarily lead to ankle instability; however, the coexistence of deltoid ligament injury critically destabilizes the ankle joint. The prevalence of these injuries may be higher than previously reported. The diagnosis of syndesmotic injury as not always easy because isolated ankle sprains may be missed in the absence of a frank diastasis and syndesmotic instability may be unnoticed in the presence of bimalleolar ankle fractures. Controversies arise at almost every phase of treatment includings : type of fixation(screw size, type of implant), number of cortices required for fixation and of need for hardware removal. Regardless of controversies, the most important goal should be restore and maintain the normal tibiofibular relationship to allow for healing of the ligamentous structures of the syndesmosis.

• Journal of the Korean Statistical Society
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• 제33권2호
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• pp.245-254
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• 2004

This paper derives a distribution function of the terminal value and running maximum of two-dimensional Brownian motion {X($\tau$) = (X$_1$($\tau$), X$_2$ ($\tau$))', $\tau$ 〉0}. One random variable of the joint distribution is the terminal time value, X$_1$ (T). The other random variable is the maximum of the Brownian motion {X$_2$($\tau$), $\tau$〉} between time s and time t. With this distribution function, this paper also derives an explicit pricing formula for an outside barrier option whose monitoring period starts at an arbitrary date and ends at another arbitrary date before maturity.