• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2648-2653
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• 2003

This paper describes the development of a 3-DOF laparoscopic assistant robot system with motor-controlled bending and zooming mechanisms using the voice command motion control and auto-tracking control. The system is designed with two major criteria: safety and adaptability. To satisfy the safety criteria we designed the robot with optimized range of motion. For adaptability, the robot is designed with compact size to minimize interference with the staffs in the operating room. The required external motions were replaced by the bending mechanism within the abdomen using flexible laparoscope. The zooming of the robot is achieved through in and out motion at the port where the laparoscope is inserted. The robot is attachable to the bedside using a conventional laparoscope holder with multiple DOF joints and is compact enough for hand-carry. The voice-controlled command input and auto-tracking control is expected to enhance the overall performance of the system while reducing the control load imposed on the surgeon during a laparoscopic surgery. The proposed system is expected to have sufficient safety features and an easy-to-use interface to enhance the overall performance of current laparoscopy.

• 대한인간공학회지
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• 제21권2호
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• pp.35-46
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• 2002

This study was performed to determine the voluntary range of joint mobility for middle-aged Korean adults. One hundred and eighty-eight subjects(99 males and 89 females) at the age range of 40 to 60 participated for this study. Thirty body movements at various joints were conducted to measure the range of joint mobility. Subjects were grouped by Rohrer's into four based on 25th percentile. The data were analyzed to see the differences of range of joint mobility between sexes and Rohrer's index groups. The results of this study and previous studies were compared to see the differences of range of joint mobility due to the aging. Results of this study indicate that females are generally more flexible than males. Significant differences were found to exist in fourteen movement between sexes and in ten movements, females have larger range of joint mobility than males. There were no significant differences in range of joint mobility may have a tendency to decrease with ages. The results of this study provide important information in dynamic dimensions for middle-aged Korean and can be used to design the various and work places for the middle-aged.

• 한국소음진동공학회논문집
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• 제26권3호
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• pp.298-307
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• 2016

In the building process of FPSOs(floating production, storage and offloading units) is the increasing demand of high performance piping joints that can be installed on its turret system and maintain smooth and long-term flow of ultra-high pressure crude oil, being subjected to external excitations such as wind and wave on the sea. Following such a trend, in this paper, a new-type piping joint of four effective degrees of freedom has been designed, and its dynamic characteristics predicted through mathematical modeling and computer simulations. Moreover, via an example it was shown how the yaw motion in particular can be independently controlled for future durability test despite strong kinetic couplings.

• 한국정밀공학회지
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• 제27권2호
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• pp.137-144
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• 2010

In general, spinal fusion surgery takes pressure off the pain induced nerves, by restoring the alignment of the spine. Therefore spinal fixation system is used to maintain the alignment of spine. In this study, a biomechanical study was performed comparing the SROM(Spinal Range Of Motion) of three types of system such as Rigid, Dynesys, and Fused system to analyze the behavior of spinal fixation system inserted in vertebra. Dynesys system, a flexible posterior stabilization system that provides an alternative to fusion, is designed to preserve inter-segmental kinematics and alleviate loading at the facet joints. In this study, SROM of inter-vertebra with spinal fixation system installed in the virtual vertebra from L4 to S1 is estimated. To compare with spinal fixation system, a simulation was performed by BRG. LifeMOD 2005.5.0 was used to create the human virtual model of spinal fixation system. Through this, each SROM of flexion, extension, lateral bending, and axial rotation of human virtual model was measured. The result demonstrates that the movement of Dynesys system was similar to normal condition through allowing the movement of lumbar.

• Steel and Composite Structures
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• 제34권1호
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• pp.35-51
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• 2020

Integral abutment bridges (IABs) are those bridges without expansion joints. A single row of steel H-piles (SHPs) is commonly used at the thin and stub abutments of IABs to form a flexible support system at the bridge ends to accommodate thermal-induced displacement of the bridge. Consequently, as the IAB expands and contracts due to temperature variations, the SHPs supporting the abutments are subjected to cyclic lateral (longitudinal) displacements, which may eventually lead to low-cycle fatigue (LCF) failure of the piles. In this paper, the potential of using finite element (FE) modeling techniques to estimate the LCF life of SHPs commonly used in IABs is investigated. For this purpose, first, experimental tests are conducted on several SHP specimens to determine their LCF life under thermal-induced cyclic flexural strains. In the experimental tests, the specimens are subjected to longitudinal displacements (or flexural strain cycles) with various amplitudes in the absence and presence of a typical axial load. Next, nonlinear FE models of the tested SHP specimens are developed using the computer program ANSYS to investigate the possibility of using such numerical models to predict the LCF life of SHPs commonly used in IABs. The comparison of FE analysis results with the experimental test results revealed that the FE analysis results are in close agreement with the experimental test results. Thus, FE modeling techniques similar to that used in this research study may be used to predict the LCF life of SHP commonly used in IABs.

• Structural Engineering and Mechanics
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• 제59권2호
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• pp.209-226
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• 2016

Integral bridges are typically designed with flexible foundations that include one row of piles. The construction of integral bridges solves difficulties due to the maintenance of expansion joints and bearings during serviceability. It causes integral bridges to become more economic comparing with conventional bridges. Research has been focused not only to enhance the seismic performance of newly designed bridges, but also to develop retrofit strategies for existing ones. The local performance of the pile to abutment connection will have a major effect on the performance of the structure and the embedment length of pile inside the abutment has a key role to provide shear and flexural resistance of pile-abutment connections. In this paper, a simple method was developed to estimate the initial value of embedment length of the pile for retrofitting of specimens. Four specimens of pile-abutment connections were constructed with different embedment lengths of pile inside the abutment to evaluate their performances. The results of the experimentation in conjunction with numerical and analytical studies showed that retrofitting pile-abutment connections with CFRP wraps increased the strength of the connection up to 86%. Also, designed connections with the proposed method had sufficient resistance against lateral load.

• 대한의용생체공학회:의공학회지
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• 제24권6호
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• pp.543-548
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• 2003

Injuries of wrist in upper extremity is common onset in industrialized world. The development of joint arthroplasty and mechanical joint is area of research for biomechanical engineer and surgeon for a decade. Therefore. the knowledge of characteristic of joint motion is essential to develop the artificial wrist joint. In this study. the joint motions of wrist required for activities of daily living (ADLs). including personal hygiene and care. and general home activity were measured using flexible electrogoniometer. Total of 25 different daily activities were separated into four groups and tested on 15 subjects who did not show any abnormality of their joint functions. The maximum functional range of motion required for ADLs were obtained and standardized for analysis and comparison. Also. a least functional range of motion for ADLs were investigated. Results revealed that any significant differences were not found in least functional range of motion between left and right wrist to perform ADLs. However. a significant difference was found in different ADLs. Therefore. least range of motion obtained in this study can be used as basic data to design artificial joint and set a goal for surgeon to achieve appropriate treatment from patients.

• 로봇학회논문지
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• 제17권3호
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• 마이크로전자및패키징학회지
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• 제26권3호
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• pp.43-49
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• 2019

본 연구에서는 그래핀 산화(graphene oxide, GO) 분말 복합 Sn-3.0Ag-0.5Cu(in wt.%) 솔더페이스트를 이용한 플렉시블 기판과 SOP(small outline package) 사이의 솔더 접합부의 굽힘 신뢰성 향상에 관한 새로운 접근을 제안하였다. 솔더페이스트에 GO의 첨가는 녹는점에 약간의 영향을 미치었으나 그 차이는 미미한 것으로 나타났다. 한편, GO의 첨가는 리플로우 공정 동안 솔더 접합부의 금속간화합물(intermetallic compound, IMC) 성장과 두께를 억제 할 수 있음을 확인하였다. 더욱이 접합부의 신뢰성에 미치는 영향을 살펴보고자 반복 굽힘 시험을 진행하였으며 GO 분말의 첨가로 솔더 접합부의 반복 굽힘 신뢰성 향상 시킬 수 있었다. 0.2 wt.%의 GO가 첨가된 솔더 접합부의 경우 GO가 첨가되지 않은 경우에 비하여 굽힘 수명은 20% 가량 증가하는 것으로 나타났다. GO가 첨가된 경우 솔더 접합부의 인장 강도와 연성이 증가하게 나타났는데 이러한 GO 첨가에 의한 기계적 특성 향상이 솔더 접합부의 반복 굽힘 신뢰성 향상에 기여한 것으로 추측된다.

• 에너지공학
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• 제25권4호
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• pp.103-109
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• 2016

폴리에틸렌(Polyethylene) 배관은 가요성이 좋고 부식이 되지 않는 등의 장점으로 가스배관 뿐만 아니라 원자력 발전소의 배수관, 석유화학 및 정유사 공정배관 등으로 그 사용범위가 점차 확대되고 있다. 그러나 폴리에틸렌 배관의 연결부를 직접적으로 검사할 수 있는 검사방법이 개발되지 않아서 사용범위를 확대하는데 제한을 받고 있다. 폴리에틸렌 배관의 연결방법은 전기융착 방법과 버트융착 방법으로 구분할 수 있는데 이 중에서 가장 많이 사용하는 방법은 버트융착이다. 버트융착은 배관과 배관을 열판에 맞닿게 하고 일정한 온도 및 압력을 가한 후 열판을 제거하고 용융된 배관의 말단부를 서로 연결하는 방법으로서 별도의 연결구가 필요하지 않아 가장 많이 사용하고 있는 연결방법이다. 버트융착 시에 열판으로부터 열이 용융된 후 압력을 가하면 용융부는 비드를 형성하는 부분과 연결부를 형성하는 부분으로 분리되고 냉각과정을 거쳐 버트융착부가 된다. 본 연구는 연결부를 형성하는 부분에서 열판으로부터 열이 전파되어 용융된 거리를 측정하고 이 결과를 연결부에 대한 건전성 평가 방법 중의 하나로 제시하고자 한다. 외경 225mm, 두께 20.5mm의 중밀도 폴리에틸렌 가스용 1호관의 초음파 속도를 측정한 결과 2,200m/s 였다. 열용융 거리를 측정하기 위하여 열판으로부터 열이 전파되어 폴리에틸렌을 가열하는 시간을 0%~130%까지 변화시켜 시험편을 제작하였다. 또한 정상적인 가열시간(100%의 가열)을 제공하고 스크레핑 처리를 하지 않은 시험편과 토양을 삽입한 시험편 그리고 자갈을 삽입한 시험편과 비닐류를 삽입한 시험편을 제작하였다. 총 20개의 시험편에 대한 열용융 거리를 측정하기 위하여 3.5MHz 및 5.0MHz 센서를 이용하였으며 1개의 시험편에 대하여 총 3곳에서 초음파 탐상을 실시하였다. 열용융 신호를 명확하게 구분하기 위하여 모든 탐상 결과에 대하여 동일한 post image processing을 수행하였고 이미지 레벨, contrast, sharpen 및 threshold를 적용하였으며 결과 탐상은 가장 직관적으로 파악할 수 있는 gray scale로 표현하였다. 탐상 결과 가열시간이 짧은 시험편일수록 융착이 이루어지지 않아 멀티플 에코가 반사되는 영역이 증가하였으며 이 부분을 최대한 배제할 수 있는 위치에서 데이터를 획득하였다. 정상적인 가열시간의 80%인 168초의 시간을 가한 시험편부터 열용융 거리에 대한 반사신호가 뚜렷이 구분되었으며 이 시험편부터 거리 측정을 실시하였다. 가열시간이 정상가열시간의 7%인 15초의 가열시간을 가한 시험편부터 더 낮은 가열시간을 가한 시험편의 경우 융착이 이루어지지 않아서 3곳 모두 데이터 영상을 획득할 수 없었다. 위 실험 결과로 위상배열초음파를 통해 폴리에틸렌 배관 버트융착부에서 열이 용융되어 전파된 거리 측정이 가능함을 확인하였으며 또한 열이 용융되어 전파된 거리 측정을 통해 정상적인 융착과 불완전 융착을 구분할 수 있음을 확인할 수 있었다.