• Structural Engineering and Mechanics
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• 제7권4호
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• pp.413-432
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• 1999

A macro-element model is developed to account for shear deformation and bond slip of reinforcement bars in the beam-column joint region of reinforced concrete structures. The joint region is idealized by two springs in series, one representing shear deformation and the other representing bond slip. The softened truss model theory is adopted to establish the shear force-shear deformation relationship and to determine the shear capacity of the joint. A detailed model for the bond slip of the reinforcing bars at the beam-column interface is presented. The proposed macro-element model of the joint is validated using available experimental data on beam-column connections representing exterior joints in ductile and nonductile frames.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.985-989
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• 1990

This paper presents a fundamental study of a millimeter-sized master-slave robot driven by conduit-guided wires, which is expected to be applied to the delicate surgical operations, the assembling precise and small parts and so on. This system consists of a millimeter-sized slave robot and a master manipulator of which the size is adapted to a human finger. Displacement and torque of the master side can be reduced and transferred to the slave robot by controlling the motor torque against the master torque by feeding back tension signals. The master can feel the tensions by the motor torque. In this paper, the design method and making process of the master-slave system and the dynamical characteristic of displacement and torque control are proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.213-216
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• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• 척추신경추나의학회지
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• 제6권1호
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• pp.63-74
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• 2011

Objectives: The purpose of this study is to investigate the clinical application of Gamisopunghwalhyeal-tang to three patients traumatic knee joint injury. Methods: Patients are hospitalized at Dept. of Oriental Rehabilitation, Bu-Chun Jaseng Oriental Medicine Hospital, diagnosed as traumatic knee joint injury and treated mainly with herbal medicine ; Gamisopunghwalhyeal-tang. This study was measured by VAS(Visual Analogue Scale) score and walking time and Western Ontario and McMaster Universities(WOMAC) index score. Results: After taking Gamisopunghwalhyeal-tang, the patient's pain was controlled and increased time of walking on floor after treatment. VAS & WOMAC score were decreased. Conclusions: As seen in this three cases of traumatic knee joint injury, Gamisopunghwalhyeal-tang has a positive effect to control pain with traumatic knee joint injury.

• 한국산학기술학회논문지
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• 제10권9호
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• pp.2202-2209
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• 2009

모관과 지관의 다양한 접합형상에 대하여 접합궤적을 수학적으로 유도하였다. 이 접합궤적에 용접부의 루트갭 및 절단폭 등을 보정하여 실제적으로 절단궤적을 결정하여 NC 코드를 생성하고 그 경로를 확인하기 위하여 ghost 기능을 구현하였다. 척회전인 C축의 8개 구간별로 A, B축의 Tilting을 사용하여 개선 기능을 구현하였으며, 이는 절단궤적을 따라서 절단하면서 동시에 개선이 가능하도록 6축 CNC 파이프 코스터 전용 CAM 프로그램을 개발하였다.

• 근관절건강학회지
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• 제8권2호
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• pp.278-286
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• 2001

With the aging of society a great deal of interest is being placed on the value of longitudinal data in evaluating physiological losses. We present data on test-one/test-two reliability and reproducibility for measures of training, bone density from a longitudinal study of master athletes. Fifty-two males (mean age at test $1=58.2{\pm}9.8\;years$) and thirty-two females ($54.4{\pm}8.8\;years$) were selected from the study population. Bone mineral density was determined using DEXA (Hologic 1500). The characteristics of the subjects are presented below as $means\;{\pm}\;S.D$. The data was imported into the Statistical Package for the Social Science (SPSS 9.0, Chicago, IL). Paired t-tests were performed between visit 1 and visit 2 in subjects. Pearson correlations were performed. The results of this study indicate the measures of training history, body mass and bone density are reasonably stable and reproducible. We conclude that body composition and bone density parameters are stable and reproducible over time in active older subjects. Physiologic measures in master athletes are fairly stable, and reproducible over time Longitudinal studies investigating age-related changes in master athletes need to be conducted on a time schedule of greater than two years.

• 한국운동역학회지
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• 제31권3호
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• pp.183-188
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• 2021

Objective: The purpose of this study was to develop a stretchable joint motion sensor that is based on silver nano-particle. Through this sensor, it can be utilized as an equipment for rehabilitation and analyze joint movement. Method: In this study, precursor solution was created, after that, nozel printer (Musashi, Image master 350PC) was used to print on a circuit board. Sourcemeter (Keithley, Keithley-2450) was used in order to evaluate changes of electric resistance as the sensor stretches. In addition, the sensor was attached on center of a knee joint to 2 male adults, and performed knee flexion-extension in order to evaluate accurate analysis; 3 infrared cameras (100 Hz, Motion Master 100, Visol Inc., Korea) were also used to analyze three dimensional movement. Descriptive statistics were suggested for comparing each accuracy of measurement variables of joint motions with the sensor and 3D motions. Results: The change of electric resistance of the sensor indicated multiple of 30 times from initial value in 50% of elongation and the value of electric resistance were distinctively classified by following 10%, 20%, 30%, 40% of elongation respectively. Through using the sensor and 3D camera to analyze movement variable, it showed a resistance of 99% in a knee joint extension, whereas, it indicated about 80% in flexion phase. Conclusion: In this research, the stretchable joint motion sensor was created based on silver nanoparticle that has high conductivity. If the sensor stretches, the distance between nanoparticles recede which lead gradual disconnection of an electric circuit and to have increment of electric resistance. Through evaluating angle of knee joints with observation of sensor's electric resistance, it showed similar a result and propensity from 3D motion analysis. However, unstable electric resistance of the stretchable sensor was observed when it stretches to maximum length, or went through numerous joint movements. Therefore, the sensor need complement that requires stability when it comes to measuring motions in any condition.

• 한국산학기술학회논문지
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• 제10권11호
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• pp.3066-3073
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• 2009

3축 파이프 형상절단기에서 다양한 접합형상에 대하여 모관과 지관의 접합궤적을 수학적으로 유도하였다. 그 접합궤적에 절단폭 등의 공구 보정하여 실제로 가공할 절단궤적을 결정하여 이 공구궤적에 해당하는 CL-data를 생성하고, 또한 공구 궤적을 확인하기 위하여 ghost 기능을 구현하였다. 생성된 CL data를 PLC의 위치결정제어 모듈에 로딩하여 동시 3축($\alpha$, X, $\beta$축)의 이송을 제어하여 경로를 따라서 형상절단과 동시에 개선을 할 수 있도록 동시3축 파이프 형상절단 시스템을 개발하였다.

• 척추신경추나의학회지
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• 제8권2호
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• pp.123-130
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• 2013

Objectives : The purpose of this clinical case is to evaluate the efficacy of Harpagophytum radix. Pharmacopuncture on Degenerative diseases of knee joint. Methods : We used Korean Medicine treatment and Harpagophytum radix. pharmacopuncture, for this patients. This case is measured and assessed by Neumerical Rating Scale(NRS), Korea Western Ontario MacMaster Universities Osteoarthritis Index(KWOMAC) and Physical examination of knee joint. Results : The NRS decreased from 8 to 5(Left knee joint) & 5 to 4(Right knee joint) and KWOMAC total points decreased from 77 to 41. Also Physical examination of knee joint improved. Conclusions : Harpagophytum radix. pharmacopuncture with Korean Medicine treatment is proved to be helpful to the pain relief and function recovery of knee joint.