• 동굴
• /
• 제65호
• /
• pp.1-10
• /
• 2004

Joint reflects the structure of the earth. And in many cases joints controls the developments of stream directions. In this studying area three joint sets are represented. One is concentrated to the north and the other is deviated $50^{circ}-60^{circ}$ from north to east and west. It is uncertain that the master joint set is a fault line, but the presence of the structural line is evident from the joint strike frequency. The Spearman's $\Upsilon$ between joint patterns and the stream directions is about 0.73.

• Journal of Acupuncture Research
• /
• 제29권6호
• /
• pp.111-117
• /
• 2012

Objectives : This study was done for reporting effect of moxibustion therapy on the degenerative arthritis of knee joint with osteochondroma. Methods : Two patient with degenerative arthritis of knee joint with osteochondroma was treated by moxibustion therapy. We applied moxibustion therapy three times a day for 12 days(three days per week). To investigate effectiveness of treatment we used visual analogue scale, Korean Western Ontario and McMaster Universities. Results : 1. The moxibustion therapy deceased knee joint pain. 2. As a result of evaluation by visual analogue scale, Korean Western Ontario and McMaster Universities the score marked lower than before treatment and after treatment. Conclusion : Moxibustion therapy decreased knee joint pain that patient have degenerative arthritis of knee joint with osteochondroma.

• 제어로봇시스템학회논문지
• /
• 제6권9호
• /
• pp.796-802
• /
• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• Journal of Welding and Joining
• /
• 제33권6호
• /
• pp.49-54
• /
• 2015

Welding process is of importance to assemble products or structures, but also the process is structural weakness due to stress concentration in welding joint. The fatigue design of welded joint requires time & labor consuming fatigue test because the fatigue life is various according to the depth of joint, joint type and load type etc. In fatigue design codes, they guide to classify welding joints with their shape( BS7608, IIW Documents) and provide fatigue assessment information. In terms of numerical method for fatigue analysis, it is also difficult to decide the stress peak in joint because of mesh sensitivity which means that stress value is varies with element type or size on stress concentration zone. Hot-spot method is used generally, but Battelle of United States proposed Master S-N Curve based on structural stresses converted by mechanical equilibrium theory. In this research, we extracted master S-N curve from Battelle's fatigue test DB including test data of various welding joints to apply on Non-Load-Carrying cruciform Joint. Comparing fatigue results between the case of using normal stress and case of structural stress cor the cruciform Joint, The suggested Battelle method showed successive results.

• 한국소음진동공학회논문집
• /
• 제23권1호
• /
• pp.41-48
• /
• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2012년도 추계학술대회 논문집
• /
• pp.421-427
• /
• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 환경영향평가
• /
• 제18권6호
• /
• pp.411-417
• /
• 2009

Lately the master plan for the Four Major Rivers Restoration Project has been released by the Ministry of Land and Maritime Affairs and relevant ministries. According to the master plan compared with the interim report made on 15 December 2008, the number of weirs for irrigation has increased from 5 to 16, the amount of dredging has increased from 220 million cubic metres to 570 million cubic metres, and the total cost estimated has increased from 14 trillion won to 22 trillion won. A critical review of the master plan by some research group will be summarized focused upon budget, objectives, securing water resource, dredging, and flood control etc. After various experts' forums and field surveys, it is concluded that the government should implement a joint-research program on assessing the impact of the project together with experts and citizens' groups as co-partners, in order to truly save or restore the four major rivers.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.218-221
• /
• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Transactions on Control, Automation and Systems Engineering
• /
• 제4권1호
• /
• pp.38-42
• /
• 2002

Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

• 대한기계학회논문집A
• /
• 제37권12호
• /
• pp.1521-1527
• /
• 2013

본 논문에서는 마스터 조정자인 인간의 근육강도과 관절변위를 측정하여 슬레이브장치가 외부환경에 맞는 작업능력을 발휘할 수 있는 마스터/슬레이브 원격조정시스템을 제안한다. 외골격형 기구부와 경량의 관성센서를 사용하여 마스터 착용자의 편리성을 높였으며 인간의 근육과 동일한 운동특성을 가진 공압인공근육으로 슬레이브 기구장치를 구성하여 운동의 모사능력을 향상시켰다. 실험을 통해서 단순히 마스터의 위치정보만 전달하는 원격조정에 비해서 제안된 마스터는 인간 조정자가 근력의 세기를 조절함으로써 슬레이브에 작용하는 가반하중의 변화에 관계없이 균일한 제어성능을 가질 수 있었다.