• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.6
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• pp.82-89
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• 2010

Ankle-foot orthosis with an artificial pneumatic muscle which is intended for the assistance of plantarfelxion torque was developed. In this study, power pattern of the device in the various pneumatics and the effectiveness of the system were investigated. The pneumatic power was provided by ankle-foot orthosis controlled by user‘s physiological signal, that is, muscular stiffness in soleus muscle. This pneumatic power can assist plantarflexion torque of ankle joint. The subjects performed maximal voluntary isokinetic plantarflexion motion on a biodexdynamometer in different pneumatics, and they completed three conditions: 1) without wearing the orthosis, 2) wearing the orthosis with artificial muscles turned off, 3) wearing the orthosis activated under muscular stiffness control. Through these experiments, we confirmed the effectiveness of the orthosis and muscular stiffness control using the analyzing isokinetic plantarflexion torque. The experimental results showed that isokinetic torques of plantarflexion motion of the ankle joints gradually increased in incremental pneumatic. The effectiveness of the orthosis was -7.26% and the effectiveness of the muscular stiffness control was 17.83% in normalized isokinetic plantarflexion torque. Subjects generated the less isokinetic torques of the ankle joints in wearing the orthosis with artificial muscles turned off, but isokinetic torques were appropriately reinforced in condition of wearing the orthosis activated under muscular stiffness control(17.83%) compared to wearing the orthosis(-7.26%). Therefore, we respect that developed powered orthosis is applied in the elderly that has weak muscular power as the rehabilitation equipment.

• The Journal of Engineering Geology
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• v.22 no.1
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• pp.113-121
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• 2012

The mechanical characteristics of a fault gouge from near Mt. Kumjung in Kumjung-Gu, Busan, were estimated from laboratory tests on different joint models. Fault gouge samples and joint samples in biotite granite were obtained from boreholes in the study area that had penetrated small faults associated with the Dongnae and Yangsan faults. XRD and SEM analyses revealed that for the fault gouge consists of several clay minerals with tabular structure (kaolinite, montmorillonite, illite, sericite), which could cause the considerable reduction of shear strength when wet. The shear strength of the fault gouge was obtained from direct shear tests of the fault gouge itself and from direct shear tests of several natural/artificial joint surfaces coated with fault gouge. The results indicate that the reduction of shear strength is more abrupt for the joint surfaces coated with fault gouge compared with uncoated joint surfaces, and that the friction angle of the fault gouge between joint surfaces is much lower than the internal friction angle of the fault gouge itself. Fault gouges in contact with rock, therefore, could have a stronger negative effect on the stability of structures in rock masses than the fault gouge itself.

• Journal of The Korean Society of Grassland and Forage Science
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• v.3 no.2
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• pp.100-111
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• 1983

The research results reported herein had the objectives to understand and analyze the present problems of saemaeul woodland joint cattle grazing system in Kang Won Do and to take steps of improvement. The study results on actual management conditions, problems analyzed and improvement plan of total 208 joint cattle grazing area which was established 105 area in 1981 and 103 area in 1982 were summarized as follows: 1. the effectiveness of joint cattle grazing projects 1) Average daily weight gain of cattle during joint cattle grazing period was 0.4kg, showing higher daily than the conventional feeding of 0.33kg. 2) Increase of total farm income over the conventional feeding system were \1,031,357,320 during the grazing period from May to October in 1982 by adapting the 208 joint cattle grazing system, of which effectiveness of weight gain was \293,075,300 and labor saving was \543,838,750. 3) According to the results of questionaire investigation from 208 joint cattle grazing area, effectiveness of joint cattle grazing system over the conventional system were (1) labor saving, (2) feed cost saving, (3) reduced diseases, (4) increase of number of feeding, (5) inspiration of joint endeavor, (6) effect of more gain, (7) easiness of feeding and feed cost savings. 2. Problems of joint cattle grazing system. 1) Shortages of grass were a problem at second year of joint cattle grazing period due to the low regrowth rate of wild grass. 2) Proper land for woodland joint cattle grazing is belonging to land of Government ownership and it is very hard to get the permission from office of forestry for cattle grazing purpose. 3) It is also difficult to find a proper time of breeding in grazing area by the difficulty of estrus detection. 4) There are a difficulty to give a proper vaccination and medical examination for the grazing cattle. 3. Improvement plans for woodland joint cattle grazing projects. 1) Obtain sufficient roughages by hoof cultivation and oversowing pasture from the second year of joint cattle grazing period. 2) In order to increase the beef production and to use for a calf production area, Government should arrange that all proper grazing land of Government owned in Kang Won Do convert into woodland joint cattle grazing area. 3) Make a good reproductive record by mixed grazing with a excellent breeding cow in a remote area. And carry out the collective artificial insemination with synchronous puberty induced by injection of puberty stimulation hormone. 4) Make a preventive injection for blackleg, twice medication of fasciola hepatica in a year, and spray and medication of tick insecticide. 4. A policy towards upbringing of woodland joint cattle grazing area. 1) Government should thoroughly investigate about a proper land for woodland joint cattle grazing from all forests. 2) When the area is suitable for the woodland joint cattle grazing, though it is national forest or restricted area, government should make it possible to establish a grazing area. 3) On the proper land foe joint cattle grazing in the remote place, Government should support for the road construction and electric fence equipments by using of national funds. 4) There should be an administrative consideration for well promotion of the project that make woodland joint cattle grazing suitable to the characteristics of Kang Won Do. 5) In order to improve the reproduction record, Government should reform the insufficiency of artificial insemination in the joint cattle grazing area. 6) In order to maintain a proper price of cow, Government should carry out the price plan. 7) When there is any request for grassland formation in the woodland joint cattle grazing area, Government should permit it with preference.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.33-39
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• 2016

This study investigated the dynamic instability of a ceramic-on-ceramic artificial hip joint system through complex eigenvalue analysis. We examined the mode-coupling mechanism through eigenvalue sensitivity analysis with the variation of system parameters. In addition, we constructed a finite element model including the negative slope of friction curve for investigating the negative-slope mechanism in the hip squeak problem. The numerical results show that the torsion-dominant mode becomes unstable due to the presence of the negative slope while the axial load is the important factor influencing the negative-slope type instability.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.21 no.2
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• pp.63-71
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• 2015

Background: The purpose of the study, using the ICF Tool in the process of rehabilitation of artificial joint replacement surgery of the hip joint, goal setting and understanding of the problem, through the process of creating intervention strategies, useful clinical practical course for rehabilitation I try to present the data. Methods: Fracture was the left total hip replacement (THR) surgery due to women of 76 years old. I proceed in order screening, evaluation, diagnosis, prognosis, treatment planning and intervention, re-screening. Needs of the patient was walking short distances for using the toilet. In order to improve was carried out arbitration, after you have created a list of issues that limit the ability to walk short distances. Results: It was revealed improved results in self-paced walk test (SPWT) and Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) was used to examine whether the goals. In addition, MMT VAS, DGI, and TUG is a detailed goal was improved. Conclusions: It can be shown objectively the results of interventions performed for the purpose of solving the problem which is grasped through clinical Practical course for short-range walking ability enhance patient THR. I considered practical clinical course using the ICF Tool would be useful.

• The Journal of the Korean bone and joint tumor society
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• v.1 no.2
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• pp.226-232
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• 1995

Survival rate of osteosarcoma has been improved recently due to the neoadjuvant and adjuvant chemotherapy. Limb-salvaging operation(LSO) has replaced the amputation technique without' lowering the survival rate. And there occurred a lot of patients who are suffering from the high cost of artificial implants and forced to choose amputation due to economic problem. In LSO, usually relatively high cost artifical implant is needed. When a patient and not afford such an expensive implant he had to choose an inexpensive way, amputation. Authors tried bone lengthening by adopting Ilizarov technique after wide resection of tumor in two patients. Bone transportation was successful in one patient and less successful in the other. One case in CDF(continuosly disease free since the surgical procedure) state at follow-up 3 year 4 months after knee joint fusion. And the other was given lobectomy for lung metastasis at postop. 1 year and 9 months, and given osteosynthesis for infected nonunion at the docking site. Bone transportation was thought to be a good method for the bony coverage of dead space caused by wide resection. Bone transportation technique was economical as well as biological We present two osteosarcoma patient who treated with Ilizarov bone transportation.

• Magazine of the Korea Concrete Institute
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• v.5 no.1
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• pp.115-127
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• 1993

본 연구의 목적은 프리캐스트 콘크리트(P.C) 대형판 아파트 구조물에 대한 우리나라 내진설계기준안 및 지침을 수립하기 위해 필요로 하는 정보를 취득하는데 있다. 이것은 실제 지진과 유사한 진동을 발생시키는 진동대를 사용하여 P.C대형판 구조물의 거동을 분석관찰함으로써 달성되었다. 여기에 사용된 시험체중의 하나는 습식접합 1/3 축소 3층 입체 P.C모델이었다. 지진파를 일으키기 위해 4mx4m 크기의 진동대가 사용되었다. 또한 선택한 입력지진가속도파는 Taft N21E 성분기록지진파로서 최대지진가속도(PGA)는 원하는 지진세기수준에 따라 조정되었고 시간축으로는 동적상사성법칙에 따라 축소되었다. 이 P.C모델의 진동대 실험을 통해 얻은 결과를 근거로 하여, 근거로 하여 다음과 같은 결론을 도출하였다. (1)이 시험체에 관한한, 지진안전계수는 7-8정도로 나타났으며, (2)이 P.C모델이 감쇠계수는 대체로, 철근콘크리트구조물 감쇠계수의 두배에 해당하는 값인 8%정도이며, (3) 이 모델은 접합부의 벌어짐과 미끄러짐에 의한 에너지소산을 통해서 2-3정도의 전체적인 변위연성비를 보여주었다.

• Proceedings of the KIEE Conference
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• 1999.11d
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• pp.1102-1104
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• 1999

It is very essential to find out defects and remove them in the insulation at the early stage because the defects in the insulation induce PD which deteriorates the material, resulting in the breakdown. In the real application of high voltage, the interface of the different insulation is the weakest place for both electrical and mechanical aspects. In this paper, characteristics of PD caused by the artificial defects, such as metallic particles, voids and moist fibers, at the interfaces of the cable joint (PJB) were investigated using the specially designed electrode system.

• Tunnel and Underground Space
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• v.16 no.5 s.64
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• pp.368-376
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• 2006

After heavy rainfall, It was occurred massive plane failure along bedding plane of shale in the center of rock slope. It was observed filling material and trace of underground water leakage around of the slope. We tried to find the cause for slope failure, and the result of examination showed that primary factors of the failure were low shear strength of clay filling material and water pressure formed within tension crack existed in the top of the slope. In this research, in order to examine the features of shear strength of filled rock joint, shear test of filled rock joint was conducted using of artificial filling material such as sand and clay..Also we made an investigation into the characteristics of shear strength with different thickness of filling materials.