• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.

• Clinics in Shoulder and Elbow
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• v.8 no.2
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• pp.88-96
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• 2005

Purpose: To compare and analyze the outcome of primary clavicular lateral end resection method and conventional acromioclavicular (AC) joint reduction method in type III AC dislocation patients over 45 years. Materials and Methods: This study was performed on selected 24 cases of type III AC dislocation patients, over 45 years of age, operated at our hospital from 1998 to 2002. Group I consist of 12 patients who underwent primary clavicular lateral end resection methods (average age: 54.3 years$(45{\sim}72)$). Group II consist of 7 patients using Bosworth methods and 5 patients using Phemister methods (average age: 54.4 years$(45{\sim}71)$). Clinical outcome was evaluated by Weaver and Dunn method. Radiological results were compared by measuring coracoclavicular distance between normal and injured side. Results: As clinical outcome, good was 10 cases(83%); fair 2(17%) in Group I, and good 6(50%); fair 3(25%); poor 3(25%) in Group II. In contrast, the difference of coracoclavicular distance was not statistically significant between two groups before or after surgery, and last follow up. At the last follow up, there was no special correlation between the difference of coracoclavicular distance and clinical outcome. Conclusion: We considered that primary clavicular lateral end resection may be effective for prevention of arthrosis in AC joint in type III AC dislocation patients over 45 years.

• Steel and Composite Structures
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• v.27 no.6
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• pp.727-745
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• 2018

The design criteria and the corresponding performance levels characterize the response of extended stiffened end-plate beam-to-column joints. In order to guarantee a ductile behavior, hierarchy criteria should be adopted to enforce the plastic deformations in the ductile components of the joint. However, the effectiveness of thesecriteria can be impaired if the actual resistance of the end-plate material largely differs from the design value due to the potential activation of brittle failure modes of the bolt rows (e.g., occurrence of failure mode 3 in the place of mode 1 per bolt row). Also the number and the position of bolt rows directly affect the joint response. The presence of a bolt row in the center of the connection does not improve the strength of the joint under both gravity, wind and seismic loading, but it can modify the damage pattern of ductile connections, reducing the gap opening between the end-plate and the column face. On the other hand, the presence of a central bolt row can influence the capacity of the joint to resist the catenary actions developing under a column loss scenario, thus improving the joint robustness. Aiming at investigating the influence of these features on both the cyclic behavior and the response under column loss, a wide range of finite element analyses (FEAs) were performed and the main results are described and discussed in this paper.

• Journal of Advanced Marine Engineering and Technology
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• v.41 no.1
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• pp.1-7
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• 2017

When implementing butt joint welding of two plates, it is useful to attach end-tabs made of a metal with high heat conductivity (e.g., copper) at the front and back sides of the welded plates to prevent the bead from rolling down and prevent defects that may occur at the tips of the weld zone. In this study, the fin shape, which is known to have good heat discharging characteristics by natural convection, has been applied to enhance the cooling performance of the end-tab. From both experiment and numerical analysis, it was confirmed that end-tabs with fin-shaped holes have better heat discharging performance than end-tabs without holes. Through thermal and fluid flow analysis, the cooling rates of end-tabs with different hole shapes were estimated in order to figure out characteristics of shape factor that are important for the heat discharging performance. As a result, we found that the structure including vertical fins with optimal fin gap was the best-performing shape.

• Journal of the Korea Concrete Institute
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• v.20 no.3
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• pp.271-282
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• 2008

Specific joint devices composed of end-plates and through bolts are under development to assemble steel beams to PC columns efficiently by dry construction method for the PCS structural system, of which major structural components are precast concrete columns and steel beams. Seismic performance of the joint devices had been evaluated by experimental tests in the previous studies and it was showed that all the performance requirements regarding to strength deterioration, stiffness degradation and energy dissipation capacity were satisfied to the criteria of ACI requirements, but the initial stiffness was not. In order to find out possible causes of the insufficient rigidity of the joint devices and provide the proper measures to improve the performance of the joint accordingly, numerical analyses were carried out by using ABAQUS. Parameters, such as thickness of neoprene pad, conditions of surface between PC column and end-plate, magnitude of pretension forces of through bolts, stiffness of end-plate were taken into consideration. As the result, it was found that the rigidity of the PCS system was negatively affected by the magnitude of initial gaps between PC columns and end-plates, and insufficient stiffness of neoprene fillers and end plates. In order to improve the initial stiffness performance of the joints, measures such as increase of the magnitude of pretension forces on through bolts and increase of the stiffness of end-plate by reducing the bolt pitch and providing adequate stiffeners are recommended.

• Journal of Korean Society of Steel Construction
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• v.24 no.4
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• pp.461-468
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• 2012

P.E.B (Pre-Engineering Building) system means an economical system, which designs and uses optimal section proportion of tapered members according to the magnitude of bending moment. However, it is hard to adjust the friction type bolted joint in the joint of tapered member in the P.E.B system. End-plate connection is mainly used in this system due to that difficulty. Because P.E.B system has end-plate vertical defacts by heat welding deformation, a gap between end-plates and rafter or rib can be observed. In this study, an examination of construction stability was throughly performed and analyzed by the investigation of permissible internal force of bolts in end-plate connections under the bending moment using the end-plate's initial connection-defect (gap).

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.200-205
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• 1989

The performance of conventional robot arms is inhibited by trade-off between speed and accuracy. Because these systems measure only joint angles, in spite of slow speed, they must rely on a stiff structure in order to attain positioning accuracy. Lightweight links would allow faster motion, but their flexibility would also produce positioning errors. This research is involved with the development and evaluation of an End-point Control System whose major goal is to compensate for link deflections and thus mitigate the speed versus accuracy conflict in conventional manipulator.

• Steel and Composite Structures
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• v.48 no.5
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• pp.547-564
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• 2023

This study investigates the effect of bolt preloading on the rotational stiffness of stainless steel end-plate connections. An experimental programme incorporating 11 full-scale joint specimens are carried out comparing the behaviours of fully pre-tensioned (PT) and snug-tightened (ST) flush/extended end-plate connections, made of austenitic or lean duplex stainless steels. It is observed from the tests that the presence of bolt preloading leads to a significant increase in the rotational stiffness. A parallel finite element analysis (FEA) validated against the test results demonstrates that the geometric imperfection of end-plate has a strong influence on the moment-rotation response of preloaded end-plate connections, which is crucial to explain the observed "two-stage" behaviour of these connections. Based on the data obtained from the tests and FE parametric study, the performance of the Eurocode 3 predictive model is evaluated, which exhibits a significant deviation in predicting the rotational stiffness of stainless steel end-plate connections. A modified bi-linear model, which incorporates three key properties, is therefore proposed to enable a better prediction. Finally, the effect of bolt preloading is demonstrated at the system (structure) level considering the serviceability of semi-continuous stainless steel beams with end-plate connections.

• Physical Therapy Korea
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• v.2 no.2
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• pp.108-118
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• 1995

The techniques of joint mobilization and traction are used to improve joint mobility or to decrease pain by restoring accessory movements to the shoulder joints and thus allowing full, nonrestriced, pain-free range of motion. In the glenohumeral joint, the humeral head would be the convex surface, while the glenoid fossa would be the concave surface. The medial end of the clavicle is concave anterioposteriorly and convex superioinferiorly, the articular surface of the sternum is reciprocally curved. The acromioclavicular joint is a plane synovial joint between a small convex facet on lateral end of the clavicle and a small concave facet on the acromion of the scapula. The relationship between the shape of articulating joint surface and the direction of gliding is defined by the Convex-Concave Rule. If the concave joint surface is moving on a stationary convex surface, gliding occur in the same direction as the rolling motion. If the convex surface is moving on a stationary concave surface, gliding will occur in an opposite direction to rolling. Hypomobile shoulder joints are treated be using a gliding technique.

• ETRI Journal
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• v.36 no.3
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• pp.367-373
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• 2014

With high bandwidth, low interference, and low power consumption, optical network-on-chip (ONoC) has emerged as a highly efficient interconnection for the future generation of multicore system on chips. In this paper, we propose a new path-setup method for ONoC to mitigate contentions, such as packets, by recycling the setup packet halfway to the destination. A new, strictly non-blocking $6{\times}6$ optical router is designed to support the new method. The simulation results show the new path-setup method increases the throughput by 52.03%, 41.94%, and 36.47% under uniform, hotspot-I, and hotspot-II traffic patterns, respectively. The end-to-end delay performance is also improved.