• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.88-94
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• 2016

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.

• Journal of the Korean Geotechnical Society
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• v.16 no.6
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• pp.35-41
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• 2000

Residual stress is defined as a minimum stress with a large displacement of specimens and the residual stress after peak shear stress appears with displacement volume but there is no provision to select the residual stress. In the previous study, residual stress was recorded when the change of shear load is small in the condition of the strain more than 15%. But, in this study, hyperbolic function((No Abstract.see full/text), b=experimental constant) of soil test is adapted to joint of rock and the propriety is investigated. In a landslide and landsliding of artificial slope, wedge failure of tunnel with a large displacement, tests are simulated from peak stress to residual stress for safety analysis. But now. direct shear stress and triaxial compressive tests are usually performed to find out characteristics of shear stress about joint. Although these tests get a small displacement, that data of peak stress and residual stress are used for safety analysis. In this study, we tried to determine failure criteria for joints of rock using ring shear test machine. The residual stress following shear behavior was determined by the result of ring shear test and direct shear test. In conclusion, after comparing the results of the two test, we found that cohesion(c) and internal friction angle(ø) of ring shear test are 30% and 22% respectively of those of the direct shear test.

• Proceedings of the KWS Conference
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• 1996.10a
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• pp.139-141
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• 1996

Among various welding parameters, the welding current which is inversely proportional to the tip-to-workpiece distance in GMAW is an essential parameter to monitor the GMAW process of horizontal fillet joints. For the case of weld defect such as overlap in horizontal fillet welding, therefore, the signal processing for process monitoring or automatic seam tracking should be modified by considering the weld pool surface geometry including the corresponding weld defect. In other words, the adequate signal processing algorithm is indispensible to improve the performance of the arc sensor. However, arc sensor algorithm already developed usually focus on weld seam tracing but do not considering the weld qualities. In this paper, various experiments were carried out to investigate the tendencies of the weld defects when weaving motion is added, and the experimental method based on 2$^n$ factorial design was proposed for deriving the mathematical model between the leg length and the various welding conditions. Moreover, a signal processing method based on the artificial neural network(Adaptive Resonance Theory) was proposed far discriminating the current signal of sound weld beads from that of weld beads with overlap. Finally, the algorithm for weld seam tracking combined with the mathematical modeling and the signal processing method was carried out to track the weld line in conjunction with the improvement of the weld qualities. The reliability of the proposed algorithms were evaluated through various experiments, which showed that the proposed algorithms could be effectively used for arc welding automation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.163-168
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• 2009

In this study, we would be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO's hip joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve (MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait. As a results, the maximum hip flexion angles of RGO's gait and PGO's gait were about $16^{\circ}\;and\;57^{\circ}$ respectively. The maximum angle of flexion/extention in hip joint of the patients during RGO's gait are smaller than normal gait, because of the step length of them shoes a little bit. But maximum angle of flexion/extention in hip joint of the patients during PGO's gait are larger than normal gait.

• International Journal of Ocean System Engineering
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• v.3 no.3
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• pp.147-151
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• 2013

This study was to correctly estimate the friction and wear behavior of carbon fiber and PEEK sheet composites, and the validity of using them as alternatives to the metal-based materials used for artificial hip joints. Moreover, this work evaluated the friction coefficient according to the fiber ply orientation, along with the fractured surfaces of the carbon/PEEK composites. The unidirectional composites had higher friction coefficients than those multidirectional composites. This was caused by the debonding between the carbon fiber and the PEEK sheet, which was proportional to the contact area between the sliding surface and the carbon fiber. The friction test results showed that there was no significant differences in relation to the fiber ply orientation. However, in a case where the speed was 2.5 m/s, the friction coefficient was relatively large for configuration I. The friction surface of the specimen was analyzed using an electron microscope. In all cases, the debonding of the fiber and PEEK could be confirmed.

• Geomechanics and Engineering
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• v.18 no.1
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• pp.59-69
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• 2019

Grout injection is mainly used for permeability reduction and/or improvement of the ground by injecting grout material into pores, cracks, and joints in the ground. The oscillatory grout injection method was developed to enhance the grout penetration. In order to verify the level of enhancement of the grout, field grout injection tests, both static and oscillatory tests, were performed at three job sites. The enhancement in the permeability reduction and ground improvement effect was verified by performing a core boring, borehole image processing analysis, phenolphthalein test, scanning electron microscopy analysis, variable heat test, Lugeon test, standard penetration test, and an elastic wave test. The oscillatory grout injection increased the joint filling rate by 80% more and decreased the permeability coefficient by 33-68%, more compared to the static grout injection method. The constrained modulus of the jointed rock mass was increased by 50% more with oscillatory grout injection compared to the static grout injection, indicating that the oscillatory injection was more effective in enhancing the stiffness of the rock mass.

• Composites Research
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• v.22 no.2
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• pp.14-17
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• 2009

Adhesive joints are widely used for structural joining applications in various fields and environmental conditions. Polyurethane adhesive is using for LNG carrier with cryogenic temperature condition. In industrial application of polyurethane adhesive, void of adhesive layer is often discussed regarding its effects on bonding properties. In present study, artificial void were prepared on Polyurethane adhesive layer with various size and location. The single lap shear test was carried out by using prepared specimens under $-170^{\circ}C$. As a result, it was confirm that the void of adhesive layer didn't affect the adhesion properties independent of their size and location.

• The Korean Journal of Nuclear Medicine Technology
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• v.27 no.1
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• pp.23-28
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• 2023

Carbon materials are widely used in many areas of our lives. A fiber having a carbon content of 90% or more obtained by heating an organic fiber precursor is referred to as a "carbon fiber". Carbon fibers are currently used in the medical market to manufacture radiation transmission device parts, artificial joints, and medical aids, as many developments have been made to utilize carbon fibers' characteristics such as light weight, radiation permeability, biocompatibility, high strength, high heat resistance, thermal conductivity, and electrical conductivity. In order to maintain body temperature and increase immunity in long-lasting nuclear medical examination and treatment through the idea of convergence of carbon materials and radiation technology, the quality of medical services can be improved by utilizing carbon materials. We should be aware of the domestic carbon-based medical device industry and make efforts to contribute to the development of medical devices. As a radiation expert, we should try to use our skills and experience to find items that can be fused with medical devices to develop various nuclear medical examination fields and radiographic examination fields that can be widely applied. We should actively engage in future technology development and carbon material research to strengthen the global competitiveness of the domestic medical device industry and improve the quality of medical services.

• Journal of the Korean Geophysical Society
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• v.6 no.3
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• pp.139-153
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• 2003

Subsurface information is one of the most important factors in the archaeological excavation. To obtain the information on the underground, geophysical prospecting is becoming a popular method. This study is on the small rocky islands located 200m away from the shoreline of Gampo, Gyeongju city, Korea. According to the historical records and field surveys, it was revealed as the tomb of King Munmu of Shilla Dynasty. However, the questions and debates, such as whether it is really the tomb of King Moonmu or not, and whether it is a buried place or not, are still remains, in addition to the incompletion of precise surveying and scientific studies. The scope of this study contains the researches on the above problems and debates using the geophysical and geological methods and techniques. The rocky islands around the submerged Tomb of King Moonmu is composed of granite, and sag exists inside of the islands. Sea water enters through the east groove by wave and is drained to the west slot by hydraulic gradient, since west slot is 15cm lower than the east. Sag inside of the islands is believed to be extended and widened from pre-existed sinkage by applying tools like chisel in the joints and cracks. It is concluded that the submerged megalith inside of sag was from the rock block which was developed by joints. Geophysical surveys reveal that there is no artificial structure or stone/china/steel chest, under the m egalith and rocky island. Researches show that the tomb of King Moonmu was constructed in the small rocky island artificially. However, the evidences show that planners and constructors of the tomb made every possible effort to preserve the natural environment and condition. It is strongly believed that the megalith was sort of alter to sprinkle bone-ash rather than buried place.

• The Journal of Korean Academy of Prosthodontics
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• v.18 no.1
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• pp.15-35
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• 1980

The purpose of this study was to investigate stresses in the various components of fixed partial dentures restoring the posterior teeth of the lower jaw, and to measure quantitatively the effects of certain modifications in structural design on the stresses in the restorations using two-dimensional photoelasticity. Two-dimensional photoelastic methods were used in this study. Several models of fixed partial dentures were constructed. Shoulder less margins and anatomic occlusal reduction were incorporated in Model 1. Rounded shoulders and flat occlusal reduction were incorporated in Model 2, while Model 3 was a cantilever fixed partial denture. Other similar fixed partial dentures were constructed with V and U notches deliverately included in the region of the fixed joints for comparative reasons. The birefringent materials used in this study were PSM-1 and PSM-5 in standard sheets. PSM-1 was used for constructing the substructure, and PSM-5 was used in making the components of the fixed partial dentures. The two materials were used in the construction of composite photoelastic models. Improved artificial stone was used to represent dental cement in luting the composite photoelastic models. Static loading procedures were used at preplanned sites to represent occlusal loads in the mouth. 35 mm color and B/W film were used to record isochromatics in accordance with photoelastic procedures. Data reduction was performed using the grid method, which helped in, the mathematical integration procedure (Shear difference method) to separate the principal stresses. The results were as follows. 1. Fixed partial dentures do not function in bending as a symmetrical beam. Alternate areas of tension and compression were demonstrated when multiple contact loading was used. 2. The weakest part in posterior fixed partial dentures is the fixed joint. 3. (1) Models I and modified Model I were loaded on the pontic using a 50 pound vertical static load. The shear stress near the posterior fixed joint in Model 1 (U notches) was+129.4 p.s.i., and at the same fixed joint in modified Model 1 (V notches) was+239.4 p.s.i. The concentration of stress in fixed joint was reduced by 50% when U notches replaced the V notches. (2) Modified Model 2 was loaded using a multiple contact loader at a total load of 125 pounds. The difference between the principal stresses (${\sigma}_1-{\sigma}_2$), shear stress, at the V notches was+600 p.s.i., and at the U notches was+3l7 p.s.i. The shear stress was reduced by 50% when U notches replaced the V notches. V-grooves at the fixed joints should be avoided, and should be replaced by regular shaped U-grooves. 4. Cantilever fixed partial dentures had much higher stresses at the fixed joint than fixed partial dentures that were attached at both ends.