• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• Structural Engineering and Mechanics
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• 제81권2호
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• pp.117-129
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• 2022

This research evaluated the different types of deck to pier connections effects (one or two elastomeric bearing lines and rigid) on a concrete bridges. Three-dimensional bridge models behavior with different deck to pier connections and different distances of two bearing lines were studied under the service load. Also, the detailed connection system with two elastomeric bearing lines was modeled to evaluate the effect of changing distance between two-lines. Results indicated that the proper location of elastomeric bearings has a major impact on the transferring forces to the substructure. Double elastomeric bearing lines have a behavior between one line and rigid connections. Transferring bending moment to the substructure in two-lines is more than the corresponding value of the one line. Moreover, an increase in the distance of two-lines lead to a significant increase in the rotational stiffness of the connection, and an analytical solution was investigated for their relation. In fact, the semi-rigidity effect of this connection and its change due to the distance of bearings should be considered in the design process.

• International Journal of Advanced Culture Technology
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• 제12권2호
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• pp.43-50
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• 2024

Foreign scholars pointed out that the root of the Korean economic crash was A Study on Corporate Social Responsibility and Moral Management due to the government's excessive regulations, the harmful effects of government finance, and the high-cost political structure. Despite the need to ease the rigidity of governmental finance and various regulations and operate the financial system through autonomous market mechanisms, it was argued that various bribes, express fees, and collusive lobbying funds were inevitably generated due to discretionary acts of bureaucrats with licenses and permits, complicated administrative procedures and systems, and regulatory changes in government policies. In fact, in developing countries, corruption was a necessary evil for economic development and was seen as a lubricant in economic management. The purpose of this study is to study the social responsibility and corporate ethics of chaebol. First: consider the problems of large corporations. Second, We will consider the direction and policy of corporate ethics. This paper sheds light on the ethical management of the Korean chaebol, considering that corporate ethics and transparency for the social responsibility of chaebols are important

• 문화기술의 융합
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• 제7권1호
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• pp.49-57
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• 2021

본 연구는 자연환경 속에서 스스로 성장하는 나무의 시스템을 통하여, 건축물에 있어서도 스스로 에너지를 생산할 수 있는 방법을 모색하고자 한 것으로, 나무의 구조, 순환 및 환경반응 시스템으로 구분하여 실 사례와 문헌중심으로 살펴본 것이다. 1) 나무의 구조는 지상계와 뿌리조직으로 나뉘며, 가압된 세포막들로 강성을 유지한다. 지상계인 줄기와 크라운에 의한 풍력의 저항은 건축물의 내진구조원리에, 측면 뿌리의 판형 버트레스는 수평트러스 및 현수교에 적용될 수 있다. 또한 다세포의 블록들은 공기막 구조의 원리에 해당된다. 2) 나무의 순환시스템에 있어서, 나뭇잎의 미세한 기공을 통한 증산작용은 많은 양의 열 방출로 효과적인 냉각 수단이 될 수 있어, 건축물의 냉방에 직접 도입할 수 있다. 또한 증산 작용은 물의 양수와 급수, 태양 그늘을 이용한 창문의 자동 개폐 등에도 적용될 수 있다. 3) 나무의 잎과 꽃에서 읽어낼 수 있는 환경변화에 따른 반응 시스템은 새로운 감지기술과 재료의 사용을 통하여 건축물의 지붕 및 외피디자인에 적용될 수 있다.

• 한국운동역학회지
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• 제21권4호
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• pp.459-466
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• 2011

The purpose of this study was to analyze of obstacle gait using spatio-temporal and foot pressure variables in children with autism. Fifteen children with autism and fifteen age-matched controls participated in the study. Spatio-temporal and foot pressure variables was investigated using GAITRite pressure sensor system. Each footprint was divided into 12 equal trapezoids and after that the hindfoot, midfoot and forefoot analysis was developed. Independent t-test was applied to compare the gait variables between the groups. The results showed that the autism group were significantly decreased in velocity, cadence, cycle and swing time compared to the control group. The autism group were significantly increased in step width and toe out angle compared to the control group. The autism group were significantly increased at midfoot and forefoot of lateral part of footprint and forefoot of medial part of footprint in the peak time compared to the control group. The autism group were significantly increased at midfoot and hindfoot in $P^*t$, at midfoot in active area, and at hindfoot in peak pressure compared to the control group. In conclusion, the children with autism showed abnormal obstacle gait characteristics due to muscle hypotonia, muscle rigidity, akinesia, bradykinesia and postural control impairments.

• Interaction and multiscale mechanics
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• 제5권3호
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• pp.267-284
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• 2012

In most of the design offices, analysis of the frame is carried out without considering the effect of the rigidity of mat. The analysis of the superstructure without modelling the foundation properly and conversely analysing the foundation system without considering the stiffness of the superstructure may mislead the estimation of the forces. This paper examines the parameters, which affect the interaction and they are grouped into relative stiffness factors ${\kappa}_{rs}$ and ${\kappa}_{sb}$. An interaction analysis is performed for the five storeyed space frame of 3 bays ${\times}$ 5 bays, using ANSYS finite element code. The soil was treated as an isotropic, homogenous and elastic half space medium and the following conclusions were drawn from the analyses. The differential settlement is reduced due to interaction and the performance of the mat depends on ${\kappa}_{sb}$ values. The moments $M_x$ and $M_y$ in the corner column at all the storey levels are higher in the case of the interaction analysis than in the conventional analysis. The axial forces in the peripheral columns increased and to that extent, the inner column axial loads are reduced. In the beam, more variation is seen in the support moments than in the span moments.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.630-639
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• 2004

The Stewart platform manipulator is a closed-kinematics chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. However, this is a complex and nonlinear system, so the control performance of the system is not so good. In this paper, a new robust motion control algorithm is proposed. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is the design of a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer provides the robust routine called sliding mode control with sliding perturbation observe. (SMCSPO). The optimal gains of SMCSPO, which is determined by nominal eigenvalues, are easily obtained by genetic algorithm. The proposed fitness function that evaluates the gain optimization is to put sliding function. The control performance of the proposed algorithm is evaluated by the simulation and experiment to apply to the Stewart platform. The results showed high accuracy and good performance.

• STI Policy Review
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• 제7권1호
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• pp.1-16
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• 2016

Technology supply has been the main thrust of the Korean government's science & technology policy, focusing on the development and acquisition of new technology in line with the catching-up strategy of economic growth and industrial development. However, new social or societal problems have become major government policy issues, heralding new innovation policy aimed to address them. Such new policy initiatives for social problem-solving present a niche where the existing system of government innovation policy process is challenged, including such processes as goal-setting, planning, implementation, project management, and evaluation. The rigidity of the existing institution of government innovation policy, however, still shapes the content and progression of innovation policy for social problem-solving. This study reviews Korean innovation policy for social problem-solving as a policy niche, and aims to clarify its challenges and opportunities. It uses a system transition framework to explain the emergence and evolution of the innovation policy niche in Korea. The main research question is to what extent and in what aspect the existing innovation policy regime shaped innovation policy for social problem-solving. The study examines the inertia of the current paradigm of innovation policies and R&D programs, and sheds light on the search for a distinctive identity for innovation policies that tackles social problems.

• 대한두개안면성형외과학회지
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• 제19권2호
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• pp.114-119
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• 2018

Background: The ideal absorbable plating system should provide sufficient rigidity and then be absorbed within a timely manner. The Resorb-X has been recently developed as a plating system with a mixture ratio of 50:50 poly(D, L-lactide). Methods: We present seven of 121 patients who experienced delayed degradation with this absorbable plate. One hundred twenty-one patients with facial bone fracture underwent surgical treatment from March 2011 to March 2015, and rigid fixation was achieved with the Resorb-X. Results: Of 121 patients, seven (5.8%) developed complications at the surgical sites. Six of 102 cases underwent fixation of the infraorbital rim and one of 73 underwent fixation of the frontozygomatic buttress; the other sites of fixation did not develop delayed degradation. Foreign body granuloma developed at the earliest by postoperative 20 months and at the latest by postoperative 28 months (average, 23.5 months). Conclusion: We observed that the use of absorbable plates in incision sites or areas with thin skin can increase the possibility of delayed degradation. When performing surgery in these areas, the normal skin above the fixed location should be covered sufficiently.

• 한국기계가공학회지
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• 제19권4호
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• pp.71-78
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• 2020

The rotary feed axes of a 5-axis machine tool can increase the freedom of the tool posture, while reducing feed speed and rigidity. In addition, as a ball-end mill is inevitably used during machining by rotational feed, the step-over length is reduced compared to the flat-end mill, thereby reducing the material removal rate. Therefore, this study attempts to improve the material removal rate, feed speed, and machining stability using the corner radius flat-end mill and a fixed controlled machining method for the rotary feed axes during roughing. In addition, the tapered ball-end mill and simultaneously controlled machining method for the rotary feed axes were used for finishing to improve the propeller's 5-axis machining efficiency by enhancing the surface quality. In order to create the tool path effectively and easily, we propose a specific approach for using the propeller's geometric properties and evaluate the effectiveness of the proposed method by comparing it with the method of the dedicated module.