• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.134-137
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• 2002

This paper presents a robot manipulator kinematic motion control scheme based on velocity feedback loop. The desired joint velocity is obtained by the feature-based visual servoing and is used in the joint velocity control loop system for trajectory control of the robot manipulator. The asymptotic stability of the closed loop system is shown by the Lyapunov method. Effectiveness of the proposed method is shown by simulation and experimental results on a robot manipulator with two degree of freedom.

• Journal of the Korea institute for structural maintenance and inspection
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• v.10 no.5
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• pp.187-193
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• 2006

A new jointing method using steel cramps with a unique configuration was developed for the field joint of precast deck slabs of highway bridges. In this jointing method, the looped distribution bars are connected by the cramps to the main reinforcements. Therefore, the joint can transfer the bending moment and shearing force through the interlocking effect caused by the cramps, and it is both excellent in installation on-site and economical compared with the loop joint currently in use. In order to confirm the bending and shear capacities and to clarify the failure mechanism of the joint, a series of static loading tests were carried out. From the results of these experimental studies, it was clarified that the cramp joint has enough load carrying capacity being equivalent to the loop joint.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.1
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• pp.19-29
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• 2015

As the half-depth precast concrete decks are increasingly applied to the construction sites, researches on connection details have been increased. For design of concrete bridge deck with half-depth precast panels, it is required to provide appropriate details of transverse loop joints between panels. In this paper, the structural performance of precast decks was evaluated to investigate continuity of the proposed loop joint details. From the results, the validity of the joints for the continuity of deck was observed in the aspect of flexural strength and crack control. The ultimate strength increased 1.52 times as the reinforcement spacing in the joint was reduced. In terms of crack control, direct crack width calculation for the loop joint showed appropriate results comparing with measured crack width.

• Proceedings of the Korea Concrete Institute Conference
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• 2005.11a
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• pp.303-306
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• 2005

For checking influence of load-position and system of stress-transmission in precast concrete bridge deck system, the test composite bridge was made a experiment by the wheel load machine. The result of experiment was the loop joint system of the precast decks has a difference which was the transmission system of longitudinal stress, comparing with general RC bridge deck system. The loop joint system has a behavior independently.

• Nuclear Engineering and Technology
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• v.54 no.10
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• pp.3703-3716
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• 2022

Target alignment technology is one of the most critical technologies in laser fusion experiments and is an important technology related to the success of laser fusion experiments. In this study, by combining the open-loop and closed-loop errors of the target alignment, the Kalman state observer is used to estimate the position of the target, which improves the observation precision of the target alignment. Then the optimized result is used to guide the alignment of the target. This method can greatly optimize the target alignment error and reduce uncertainty. With the improvement of the target alignment precision, it will greatly improve the reliability and repeatability of the experiments' results, thereby improving the success rate of the experiments.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.237-254
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• 2005

The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.167-172
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• 2007

The frequency-domain small-loop electromagnetic (EM) instruments are increasingly used for shallow environmental and geotechnical surveys because of their portability and speed. However, it is well known that the data quality is generally so poor that quantitative interpretation of the data is not justified in many cases. We present an inversion method that allows the correction for the calibration errors and also constructs multidimensional resistivity models. The key point in this method is that the data are collected at least at two different heights. The forward modeling used in the inversion is based on an efficient 3-D finite-difference method, and its solution was checked against 2-D finite-element solution. The synthetic and real data examples demonstrate that the joint inversion recovers reliable resistivity models from multi-frequency data severely contaminated by the calibration errors.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.385-393
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• 1999

An open loop vibrational control for an underactuated mechanical system with amplitude and frequently modulation is investigated. Since there is no direct external input to an unactuated joint, the dynamic coupling between the actuated and unactuated joints is utilized for controlling the unactuated joint. Feedback linearization has been performed to incorporate fully the known nonlinearities of the underactuated system considered. The actuated joints are firstly positioned to their desired locations, and the periodic oscillatory inputs are applied to the actuated joints to move the remaining unactuated joints to their target positions. The amplitudes and frequencies of the vibrations introduced are determined through averaging analysis. A systematic way of obtaining an averaged system for the underactuated system via a coordinate transformation is developed. A control design example of 2R planer manipulator with a free joint with no brake is provided.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.302-307
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• 2006

The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

• Journal of Veterinary Clinics
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• v.21 no.4
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• pp.406-408
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• 2004

A nine-month-old male Jindo with non weight-bearing on the right forelimb in flexed position, pain and edema of the elbow, and resist elbow extension was brought to the Veterinary Teaching Hospital, Chungbuk National University. Elbow radiographs showed loss of humeroradial joint space and lateral displacement of the radius and ulna. Closed reduction was reported the best therapy in most cases of luxation of the elbow but conservative reduction was impossible. Open reduction of the luxated elbow was performed and ruptured collateral ligaments were identified. Displaced elbow was required bloody surgical operation and gentle reduction to restore elbow joint. Internal reduction of choice for elbow luxation with rupture of collateral ligament in the dog was a double locking-loop suture pattern. To ensure secure grasping of parallel bundles of ligament fibers to transverse bites of each suture were placed superficial to the longitudinal bites. All ligaments were repaired with 3-metric (size 2 USP) monofilament polypropylene suture. No complications have been noted during a five-month follow up.