• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• KIPS Transactions on Software and Data Engineering
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• v.10 no.5
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• pp.187-194
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• 2021

A person's behavioral recognition is the recognition of what a person does according to joint movements. To this end, we utilize computer vision tasks that are utilized in image processing. Human behavior recognition is a safety accident response service that combines deep learning and CCTV, and can be applied within the safety management site. Existing studies are relatively lacking in behavioral recognition studies through human joint keypoint extraction by utilizing deep learning. There were also problems that were difficult to manage workers continuously and systematically at safety management sites. In this paper, to address these problems, we propose a method to recognize risk behavior using only joint keypoints and joint motion information. AlphaPose, one of the pose estimation methods, was used to extract joint keypoints in the body part. The extracted joint keypoints were sequentially entered into the Long Short-Term Memory (LSTM) model to be learned with continuous data. After checking the behavioral recognition accuracy, it was confirmed that the accuracy of the "Lying Down" behavioral recognition results was high.

• International Journal of Korean Welding Society
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• v.4 no.1
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• pp.30-37
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• 2004

There have been continuous efforts on automating welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, a vision system is constructed and using this, the 3 dimensional geometry of the bead is measured on-line. For the application as in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• Journal of the Korean Society of Safety
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• v.28 no.2
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• pp.55-59
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• 2013

The analytical model was constituted to evaluate the flexural strength of UHPFRC(ultra high performance fiber reinforced concrete) member. The analytical approach was attemped to study the effect of the joint and the result compared with the experimental study to verify the analytical model. The calculated value tends to underestimate about 23%~25% in comparison with the experimental result of the jointed test member because the bond stress between precast UHPFRC and cast-in-place UHPFRC surface is not considered in the analytical model. But in the case of the continuous test member, the analytical model provides reasonable results for the flexural strength of UHPFRC member.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.1 no.2
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• pp.31-38
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• 2003

This study was to compared the effectiveness of piroxicam gel phonophoresis with conventional ultrasound therapy in knee osteoarthritis. Eighteen patients with a means age of $55.7{\pm}5$ years were randomly assigned to phonophoresis or ultrasound groups. Continuous ultrasonic waves of 1 MHz frequency and $1\;W/cm^2\;SATA_i$ were applied for 5 minutes to the target knee joint. This study indicated their pain level by marking on a visual analog scale(VAS) at the start of treatment and at the end of 3day. Osteoarthritis VAS scores, pain on rest state, non weight bearing range of motion, 20 meters walking, and walking step by the patients were evaluated before and after therapy. Both therapeutic modalities were found to be effective and generally well tolerated after 3 therapy sessions. But piroxicam phonophoresis was not superior to conventional ultrasound in patients with knee osteoarthritis.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.2
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• pp.139-145
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• 2002

In this paper, we proposed an intelligent digital redesign method for a class of fuzzy-model-based controllers, effective fur stabilization of continuous-time nonlinear systems. The TS fuzzy model is used to expend the results of the digital redesign technique to nonlinear systems. The proposed method utilized the recently developed LMI technique to obtain a digitally redesigned fuzzy-model-based controller. The intelligent digital redesign problem is converted to equivalent problem, and the LMI method is used to find the digitally redesigned fuzzy-model-based controller. The stabilization conditions of TS fuzzy model are derived for stabilization in the sense of Laypunov stability. In order to demonstrates the effectiveness and feasibility of the proposed controller design methodology, we applied this method to the single link flexible-joint robot arm.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.117-122
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• 2003

Cheongdam Bridge in Seoul Metropolitan Subway Line No.7 recently constructed has 180 meters (2@90m) of expansion length of structure (distance between fixed points). Track type is all ballasted track and rail expansion joint is installed at every movable point. However, there is no expansion joint at the transition area between ballasted track ,end deck. By this reason, the rail buckling has been occurred every year and there is actually an abnormal behavior in expansion. In this study, based on the modeling of the Cheongdam Bridge, the element of interacting relationship between track and structure which is influential to track displacement in long-span bridge was analyzed and, finally, the methodology to ensure the continuous-welded rail in Cheongdam Bridge was suggested.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.684-691
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• 2010

Rail is one of major track components for train service, it should be provided in the condition of flat and smooth driving aspect. Therefore, it is inevitable that there would be the field welding to integrate on CWR(Continuous Welded Rail) removing rail joint in these days. It is high chance to be some rail surface irregularity due to the limitation on the status of work condition If a high speed train runs on the rail surface irregularity in the welding part, big impact load comes to pass on that, so track irregularity cycle is reduced, therefore track maintenance cost can be increased. this paper has analyzed wheel load variation according to removing the rail surface irregularity using portable grinding machine in the high speed line. The result measured before and after in the field is decreased about 9.26% on the wheel load variation.

• Journal of Power System Engineering
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• v.5 no.4
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• pp.38-43
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• 2001

This paper describes the effect of dynamic characteristics in tube line by external vibration conveying fluid with the power steering system. By the experimental analysis we found out that the factor of system vibration is the fluid-structure interaction of tube line. In fluid-filled tube system we study on the influence that the natural frequency of system and the frequency of wave motion produce upon through experiment. Experiments are modal test, frequency response function in continuous system, and vibrating tests when the system is driving with bolted clamping joint condition. From the results of the experimental studies, we obtained that the natural frequencies of system are very important than the wave induced vibrations. And we found that the tendency of system vibration level was decreased by bolting force, bolting condition and clamping distance.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.41-46
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• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.