• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.2015-2018
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• 2005

In this paper, we are willing to prepare the reasonable optimization, Combinatorial Optimization and Genetic Algorithm. Thus we define position status of end-effect (or terminative link module) using promised form, (G, M(G), A(G), and so on.). For this preparing step, the reorganizing procedure of Link and Joint Module is necessary, like as enumerating the kinematically identical assembly group of several links and joints. Thus, we draw a G, directed graph in a first step. Because, directed graph contains the path information between adjacent Link Module and Joint Module. From the directed graph,G, we can incite the Incidence Matrix, M(G). The incidence matrix, M(G), contains the contact information of the Link (Joint) Module and the type of Link (Joint). At the end of this paper, we generalize the modular information as a matrix form, A(G). From this matrix, we can make a population of assembly status. That is the finial output of this paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• Journal of Korean Society of Steel Construction
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• v.22 no.5
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• pp.455-463
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• 2010

This paper describes the experimental study on the mechanical characteristics of a steel plate-reinforced concrete joint. As an alternative reinforced concrete structure, the SC modular construction method is widely used and studied in the field ofindustrial facility field. However, the structure characteristics of RC and SC joint are not yet studied completely. In this paper, the beam-type construction joint of RC and SC walls was made to simulate the application of SC module to the large RC structure. Also, an out-of-plane loading was applied to the test specimen in order to evaluate flexural strength and structural properties of the beam-type RC-SC joint.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.1
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• pp.37-43
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• 2010

In this paper, we implement that hollow type joint using two more than general motor and design for compact structure embedded electronic parts in the development of 7 degree of freedom manipulator. We propose a method to overcome risk and the limit of operating radius which are point out as a limit of previous industrial robot. and also propose to more efficient and stable manipulator implement method.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.650-657
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• 2013

This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM$^{(R)}$ equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.6
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• pp.531-539
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• 2017

This paper deals with the development of bonded joints for fibre reinforced plastic (FRP) hull structures using moulding-in concept. Focus is placed on bonded in-plane connections between two adjacent panels that could form the boundaries of hull structural module. Traditional construction in FRP hull structures requires the construction of a mould, usually from steel or aluminium. In this construction the FRP materials are laid in the mould, and resin is saturated, and then the structural member is cured. This is expensive since it involves the fabrication of metal hull mould for every different hull type, which is sacrificed after the production of the FRP ship. One way of encouraging greater use of FRP in ship construction is to investigate the possible construction of FRP hull structures in a similar manner to metallic ships, that is in terms of blocks or modules. Such a manner of construction would eliminate the need for expensive hull moulds permitting greater flexibility in the construction of FRP ships. The main issue then would be the design and construction of adequate bonded connections between adjacent panels. To fulfill this object, the simplified and automated way of manufacturing joint edge shapes for bonded joints is developed, and their structural assessment is performed in both experimentally and numerically.

• Journal of the Ergonomics Society of Korea
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• v.29 no.3
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• pp.357-364
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• 2010

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.4
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• pp.1-9
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• 2018

The development of new technology and process in industrial Plant which builds integrated structures, facilities and systems. Has become a key element for strengthening its competitiveness. Although domestic industrial Plant has demonstrated excellence in technology with a persistent increase in order quantity and orders received, the technology gap between countries has narrowed due to global construction trend. Therefore, it is necessary to develop new technology that could help overcome constraints and limitations of the current one to follow the trend in the age of unlimited competition. This study has focused on assembly technology of Pipe-rack joint connection in an effort to strengthen technological competitiveness in industrial Plant. Through an analysis of earlier studies on Pipe-rack and a coMParative analysis of strengths and weaknesses of current assembly technology of it, a new design plan has been made to improve it efficiently. In doing this, standards for design factors of both structural and performance features have been drawn, and value of stress, strain, moment and rotation has been calculated using finite element analysis. As a result, installation technology of modular type Pipe-rack, which has not been developed in Korea and is differentiated from the current one, has been developed. It is considered that the technology reduces work time and saves cost due to simplified joint connection of steel structure, unlike the current one. Moreover, since it is installed without a welding process in the field, industrial accidents would be reduced, which is likely to have economic competitiveness and satisfy.

• The Journal of the Korean bone and joint tumor society
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• v.13 no.2
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• pp.96-104
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• 2007

Purpose: The authors investigated whether 35 flexible nail-rotating hinge composite reconstructions around knee joint minimize junctional osteolysis of host bone. Material and Method: The reconstructive technique was as follows: 1) en bloc tumor resection, 2) filling of the host bone marrow cavity with multiple Ender nails, 3) assembling the Ender nails and an Endo-Link type total knee component with wire and bone cement. Result: Mean follow-up was 53 months (ranged 30~79). At final follow-up, 29 patients retained a mobile joint. Resection of more than 40% of bone showed a positive relationship with junctional hypertrophy (p=0.028). Eight patients showed nail breakage and eight prostheses were removed due to early or late infection. The cumulative prosthetic survival rate was 33% at 6 year. Average functional score according to the MSTS criteria was 26.8. Conclusion: Mid-term evaluations showed that results were fair. The revision process was straightforward. Junctional hypertrophy observed appears to give some clues as to how to minimize osteolysis at the prosthesis-host junction after modular prosthesis fixation.