• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• Proceedings of the SAREK Conference
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• 2007.11a
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• pp.528-533
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• 2007

A finned tube type heat transfer module has been proposed for a multi-burner water tube boiler. Fins change their geometry along the streamwise direction to maximize the performance, which makes it difficult to apply conventional bulk analysis. The design program has been improved by updating data for every row of tubes along the flow. A numerical simulation has been also performed to evaluate the effect of inlet conditions and validated with experiment. The heat transfer of the first row has been underpredicted by the conventional Zhukauskas correlation, where the acceleration of the flow due to the blockage is not fully inflected. The fin tip temperature is also underpredicted by Bessel solution, because of the interaction with neighboring fins.

• Archives of Plastic Surgery
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• v.38 no.5
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• pp.642-648
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• 2011

Purpose: The recent advances in microsurgical techniques and their refinement over the past decade have greatly expanded the indications for digital replantations and have enabled us to salvage severed fingers more often. Many studies have reported greater than 80% viability rates in replantation surgery with functional results. However, replantation of multi-level amputations still remain a challenging problem and the decision of whether or not to replant an amputated part is difficult even for an experienced reconstructive surgeon because the ultimate functional result is unpredictable. Methods: Between January of 2002 and May of 2008, we treated 10 multi-level amputated digits of 7 patients. After brachial plexus block, meticulous replantation procedure was performed under microscopic magnification. Postoperatively, hand elevation, heat lamp, drug therapy and hyperbaric oxygen therapy were applied with careful observation of digital circulation. Early rehabilitation protocol was performed for functional improvement. Results: Among the 19 amputated segments of 10 digits, 16 segments survived completely without any complications. Overall survival rate was 84%. Complete necrosis of one finger tip segment and partial necrosis of two distal amputated segments developed and subsequent surgical interventions such as groin flap, local advancement flap and skin graft were performed. The overall result was functionally and aesthetically satisfactory. Conclusion: We experienced successful replantations of multi-level amputated digits. When we encounter a multi-level amputation, the key question is whether or not it is a contraindication to replantation. Despite the demand for skillful microsurgical technique and longer operative time, the authors' results prove it is worth attempting replantations in multi-level amputation because of the superiority in aesthetic and functional results.

• Structural Engineering and Mechanics
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• v.63 no.3
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• pp.329-345
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• 2017

This paper devoted to study dynamic interaction between crack and inclusion or void by developing the eXtended Finite Element Methods (XFEM). A novel XFEM approximation is presented for these structures containing multi discontinuities (void, inclusion, and crack). The level set methods are used so that elements that include a crack segment, the boundary of a void, or the boundary of an inclusion are not required to conform to discontinuous edges. The investigation covers the effects of a single circular or elliptical void / stiff inclusion, and multi stiff inclusions on the crack propagation path under dynamic loads. Both the void and the inclusion have a significant effect on the dynamic crack propagation path. The crack initially curves towards into the void, then, the crack moves round the void and propagates away the void. If a large void lies in front of crack tip, the crack may propagate into the void. If an enough small void lies in front of crack tip, the void may have a slight or no influence on the crack propagation path. For a stiff inclusion, the crack initially propagates away the inclusion, then, after the crack moves round the inclusion, it starts to propagate along its original path. As ${\delta}$ (the ratio of the elastic modulus of the inclusion to that of the matrix) increases, a larger curvature of the crack path deflection can be observed. However, as ${\delta}$ increases from 2 to 10, the curvature has an evident increase. By comparison, the curvature has a slight increase, as ${\delta}$ increases from 10 to 1000.

• The korean journal of orthodontics
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• v.25 no.1 s.48
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• pp.73-85
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• 1995

Multi-Vertical Loop Arch Wire(MVLAW) is a kind of appliance for uprighting the mesially inclined posterior teeth axes simultaneously. In this study MVLAW was classified as 3 types by modifing the vertical loop design and named type A, B and C. Each MVLAW was fabricated from .017'x.025' TMA wire and preactivated at the distal end of the open vertical loop with 10 degree tip-back bend(type B has an electric welding stop at the distal end of each loop and type C has no electric welding stop). Type A MVLAW was preactivated at the apex of each open vertical loop with 10 degree tip-back bend(the electric welding stop of type A is positionod at the mesial side of each loop). The aim of the present study was to identify when and which MVLAW is more effective to correct the buccal segment axes simultaneously. The Photoelastic overview of the upper and lower right quadrant showed that stress concentrations were observed in its photoelastic model. The obtained results were as follows : 1. Higher level compression can be seen clearly at the distal curvature of the lower 1st and 2nd molar when A type MVLAW was applied without short class m elastic, but mild compression cannot be seen at the distal curvature of lower anterior teeth using the class m elastic. 2. Higher concentration was presented at the mesial curvature from the lower 1st premolar to the 2nd molar than the anterior teeth when B type MVLAW without short class III elastic was applied, but using the short class III elastic, higher concentration of compression was presented in the anterior teeth area. 3. Areas of higher compression and tension were not observed at the mesial and distal curvature of the entire 1ower teeth except lower central and lateral incisors in C type MVLAW without short class III elastic, but using the short class III elastic, higher concentration was seen at the mesial curvature of the lower 1st premolar and 1ower anterior teeth.

• Journal of Welding and Joining
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• v.8 no.1
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• pp.23-30
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• 1990

The robotic welding has been adapted positively in many welding shops forthe purpose of improving the welding efficiency and liberating operators from the severe working atmosphere. But for a large-size structure with thick plates like ship-building and every kind of plants manufacturing, the application of the arc welding robots is not established yet. The reason is assumed that the conventional arc welding robots are not adaptive for multi-pass welding of thick plates whose grooves are not so accurate. As one solution to this problem, a guidance system which uses the welding arc itself as a sensor is largely used. In this study the velocity controller which changes the tip to workpiece distance for regulating the weld proposed. The proportional and integral gain of velocity controller were determined by using the computer simulation of the control system, and the simulation results compared with the experimental ones. It was revealed that the developed control system using the arc sensor principle has a good capability of tracking the weld joint, although some more studies will be needed to refine the model of arc current.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.71-71
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• 2010

SBD (Strain-based design) of pipe lines have gained world-wide attention in recent years. The present research aims to evaluate the fracture characteristics of API (America Petroleum Institute) SBD X100 girth weldment that typically applied for cold climate and deep water offshore, with the focus on the influence of heat input changing with 6kJ/cm and 10kJ/cm from GMAW (Gas Metal Arc Welding). At a low heat input at 6kJ/cm, the weld metal had Multi-phase matrix (Acicular ferrite + Banite + Martensite) that could fill up both fracture toughness and strength as reported previously. Also, the weld metal exhibited 859MPa YS (Yield strength), 108J impact toughness at $-40^{\circ}C$ and 0.52mm CTOD (Crack Tip Open Displacement) at $-10^{\circ}C$. These results can be satisfied with the requirement of API SBD X100 girth weldment and Alaska pipe line project.

• Journal of ILASS-Korea
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• v.16 no.3
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• pp.146-151
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• 2011

LPG(Liquified Petroleum Gas) fuel for vehicles has lots of advantages such as low emission level, cheaper fuel cost and enough infrastructure. Therefore it arouses interest as an alternative engine to reduce emission of diesel engines. Especially MPI(Multi Point Injection) type LPLi(Liquid Phase LPG injection) system could have overcome the disadvantages of mixer types such as low engine performance, decreased charging efficiency and cold starting difficulty. However ice formation on the nozzle tip and intake port due to the freezing of moisture around the components is often observed in LPLi systems. This icing phenomenon is the direct cause of unstable engine combustion, resulting in engine emissions. Therefore in this research, a spray visualization test for LPG injection was carried out to obtain the basic information of an LPLi injector, then the effects of butane and propane mixing rates on ice formation at the intake port and nozzle tip was investigated. As a result, the icing characteristics of them showed contrary results according to the mixing rates.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.4
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• pp.38-45
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• 1998

It is a tedious and excessive time consuming process to model the local area of crack tip part of structures in calculation of stress intensity factors by FEM. So, in this paper, the hybrid method of FEM and BEM approach was formulated to overcome this type of problems. The multi-domained BEM was adopted to simplify the modelling process of complex geometry and singularity characteristics of crack tip part and the ordinary FEM modelling was used in the rest part. The example calculations shows very good results compared with analytic solutions and other numerical method.

• Journal of Welding and Joining
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• v.27 no.6
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• pp.25-30
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• 2009

SBD (Strain-based design) of pipe lines have gained world-wide attention in recent years. The present research aims to evaluate the fracture characteristics of API (America Petroleum Institute) SBD X100 girth weldment that typically applied for cold climate and deep water offshore, with the focus on the influence of heat input changing with 6kJ/cm and 10kJ/cm from GMAW (Gas Metal Arc Welding). At a low heat input at 6kJ/cm, the weld metal had Multi-phase matrix (Acicular ferrite + Banite + Martensite) that could fill up both fracture toughness and strength as reported previously. Also, the weld metal exhibited 859MPa YS (Yield strength), 108J impact toughness at $-40^{\circ}C$ and 0.52mm CTOD (Crack Tip Open Displacement) at $-10^{\circ}C$. These results can be satisfied with the requirement of API SBD X100 girth weldment and Alaska pipe line project.