• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 봄 학술발표회 논문집
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• pp.471-477
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• 1999

A new stress, load and displacement controlled direct shear apparatus has recently been developed at the Hyundai Institute of Construction Technology This direct shear apparatus is capable of testing of rock joint under constant normal stiffness, constant normal stress or constant normal load boundary conditions. This paper describes this direct shear apparatus and illustrates results of shear tests at constant normal stress condition, constant normal load condition and constant normal stiffness condition with dental stones which have a same joint roughness and unconfined compressive strength.

• 대한핵의학회:학술대회논문집
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• 대한핵의학회 1999년도 제38차 춘계학술대회
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• pp.196-199
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• 1999

Radiation synovetomy with various radiopharmaceuticals has been used to alleviate pain and swelling of rheumatoid arthritis and related joint diseases for more than 40 years. It is an attractive alternative to the surgical synovectomy for the management of the various joint diseases. Recently, the development of new radiopharmaceuticals labeled with $^{90}Y,\;^{32}P,\;^{186}Re,\;^{188}Re,\;^{153}Sm,\;^{165}Dy$ and $^{166}Ho$, for the effective management of synovial inflammation and related arthritic problems are gaining attention. In this article the general concepts and the clinical application of radiation synovectomy are reviewed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.672-675
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• 2000

There are many sources of errors in the parallel device. This study investigates the effect of a clearance error at a U-joint on the position and orientation errors of the platform of a new parallel device, cubic parallel manipulator. In this study, the limits of errors can be estimated for given conditions.

• Journal of the Optical Society of Korea
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• 제18권5호
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• pp.472-476
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• 2014

The Joint Transform Correlator (JTC) has been the most suitable technique for real time optical pattern recognition and target tracking applications. This paper proposes a new application of the JTC system for an analysis of the blurring effect of the optical images caused by a defocused lens. We present the relation between the correlation peak, optical transfer function (OTF), and the amount of blurring caused by focusing error. Moreover, we show a possibility of calibrating the blurred image by simply measuring the correlation peak.

• Structural Engineering and Mechanics
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• 제21권6호
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• pp.677-698
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• 2005

In engineering practice, tubular connections are usually assumed pinned or rigid. Recent research showed that tubular joints may exhibit non-rigid behavior under axial or bending loads. This paper is concerned with establishing a new classification for tubular joints and investigating the effect of joint rigidity on the global behavior of CHS (Circular Hollow Section) lattice girders. Parametric formulae for predicting tubular joint rigidities are proposed, which are based on the finite element analyses through systematic variation of the main geometric parameters. Comparison with test results proves the reliability of these formulae. By considering the deformation patterns of respective parts of Vierendeel lattice girders, the boundary between rigid and semirigid tubular connections is built in terms of joint bending rigidity. In order to include characteristics of joint rigidity in the global structural analysis, a type of semirigid element which can effectively reflect the interaction of two braces in K joints is introduced and validated. The numerical example of a Warren lattice girder with different joint models shows the great effect of tubular joint rigidities on the internal forces, deformation and secondary stresses.

• 로봇학회논문지
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• 제3권4호
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• pp.315-322
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• 2008

A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

• Journal of Electrical Engineering and Technology
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• 제10권4호
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• pp.1765-1772
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• 2015

The integrity of the gas insulated switchgear (GIS) is vital to the safety of an entire power grid. However, there are some limitations on the techniques of detecting and diagnosing partial discharge (PD) induced by insulation defects in GIS. This paper proposes a joint electro-chemical detection method to resolve the problems of incomplete PD data source and also investigates a new unique fault diagnosis method to enhance the reliability of data processing. By employing ultra-high frequency method for online monitoring and the chemical method for detecting SF6 decomposition offline, the acquired data can form a more complete interpretation of PD signals. By utilizing DS evidence theory, the diagnostic results with tests on the four typical defects show the validity of the new fault diagnosis system. With higher accuracy and lower computation cost, the present research provides a promising way to make a more accurate decision in practical application.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.666-671
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• 1993

A new robust control law is proposed for uncertain rigid robots and two composite robust control laws for flexible-joint manipulators which contain uncertainties. The uncertainty, is nonlinear and (possibly fast) time-varying. Therefore, the uncertain factors such as imperfect modeling, function, payload change, and external disturbances are all addressed. Based only on the possible bound of the uncertainty, a robust controller is constructed for the rigid counterpart of the flexible-joint robot Some feedback control terms are then added to the robust control law to stabilize the elastic vibrations at the joints. To show that the proposed composite robust control laws are indeed applicable to flexible-joint robots, a singular perturbation approach and the stability study based on Lyapunov function are proposed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제1권1호
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• pp.29-34
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• 2001

This paper is devoted to investigating direct adaptive neural control of nonlinear systems with uncertain or unknown dynamic models. In the direct adaptive neural networks control area, theoretical issues of the existing backpropagation-based adaptive neural networks control schemes. The major contribution is proposing the variable index control approach, which is of great significance in the control field, and applying it to derive new stable robust adaptive neural network control schemes. This new schemes possess inherent robustness to system model uncertainty, which is not required to satisfy any matching condition. To demonstrate the feasibility of the proposed leaning algorithms and direct adaptive neural networks control schemes, intensive computer simulations were conducted based on the flexible joint robot systems and functions.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
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• pp.325-326
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• 2012

Because steel frame has own characteristics as easy to work and structural safety, it is being increased application by the trend of construction industry has been more higher and larger in today. However, steel frame works have potential problem, so fundamental solution is needed for preventing serious accidents. Recently, self-supported steel joint for enhancing safety is developed in Korea, but this system has some limitations as convenience of work, retainment of consistent productivity. For complementing this limitations, we developed the new system named Automated wire control machine. This study is performed productivity of steel frame work by new system. The basis data for analysing productivity is collected from field test.