• Maxillofacial Plastic and Reconstructive Surgery
• /
• 제37권
• /
• pp.17.1-17.5
• /
• 2015

Arthroscopy is useful to detect early changes in the temporomandibular joint (TMJ). Despite great advances in arthroscopy, many arthroscopic surgeries have now been replaced by arthrocentesis. We propose a simple diagnostic and therapeutic method having operative rigid ultra-thin arthroscopy with 16 gauge needle size combined with arthrocentesis.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.741-746
• /
• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 대한족부족관절학회지
• /
• 제4권2호
• /
• pp.61-66
• /
• 2000

Purpose: To evaluate the clinical validity of percutaneous screw fixation in Maisonneuve fracture. Material and Methods: Out of 5 Maisonneuve fracture patients hospitalized in the department of orthopedic surgery of Seigang hospital from February 1995 to May 1998, 4 patients were treated with percutaneous screw fixation and 1 patient was treated with percutaneous screw fixation and repair of deltoid ligament altogether. The results were evaluated on the clinical and radiological finding. Results: In all cases, the range of motion of ankle joint was normal, the complication such as postoperative pain and post-traumatic arthritis were not found. Widening of medial clear space or talar shift were not found in the follow up X-ray and tibiofibular distance, compared with normal ankle joint was same on follow up CT. Conclusion: Percutaneous screw fixation is simple, less invasive and more effective method in the treatment of Maisonneuve fracture.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
• /
• pp.255-257
• /
• 2005

This paper deals with the design and the realization of a small humanoid robot, which is called SERO_VI. The design concept and the mechanical structure including kinematics for the robot are presented. The humanoid robot consisted of 25 DOF with legs 12 DOF, arms 8 DOF, waists 3 DOF and heads 2 DOF for the purpose of vision system. The controller structure was also suggested such as modular joint actuators, DSP interface and their communication method. Simple experiment was done and its validness was investigated in order to verify the kinematic result.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.479-484
• /
• 1992

The resolved motion rate control (RMRC) is converting to Joint space trajectory from given Cartesian space trajectory. The RMRC requires the inverse of Jacobian matrix. Since the Jacobian matrix of the redundant robot is generally not square, the pseudo-inverse must be introduced. However the pseudo-inverse is not easy to be implemented on a digital computer in real time as well as mathematically complex. In this paper, a simple fuzzy resolved motion rate control (FRMRC) that can replace the RMRC using pseudo-inverse of Jacobian is proposed. The proposed FRMRC with appropriate fuzzy rules, membership functions and reasoning method can solve the mapping problem between the spaces without complexity. The mapped Joint space trajectory is sufficiently accurate so that it can be directly used to control redundant manipulators. Simulation results verify the efficiency of the proposed idea.

• 한국지구물리탐사학회:학술대회논문집
• /
• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
• /
• pp.60-65
• /
• 2003

A new algorithm was developed to interpret joint orientations from a pair of images of the rock slope to overcome the limitation of photographing direction as in the parallel stereophotogrammetric system and to maximize the range of image measurement. This algorithm can be regarded as a modified multistage convergent photographing system. To determine camera parameters in the perspective projection equation that are the major elements in the photogrammetric technique, a new concept was developed by using three ground control points and single ground guide point. This method could be considered to be very simple when compared with other existing methods which use a number of ground control points and complicated analysis processes.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 2003년도 봄 학술발표회 논문집
• /
• pp.902-907
• /
• 2003

Substantial experimental and theoretical work exists on the bond characteristics of FRP-concrete adhesive joints. Analytic solutions based on fracture mechanics are most commonly accepted for theoretical work on joint. The solutions may be derived for the simple form of the shear strees-slip curve. And it is difficult to determine the model parameters consisting the curve. In this study, the bilinear curve with softening branch is introduced. The model parameters are determined by the method described by the companion paper with comparison of test results. There are many uncertainties in the test results of CFRP sheet adhesive joints, so that test results used for the construction of the regression problem should be reasonably selected.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
• /
• pp.263-268
• /
• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• 대한기계학회논문집
• /
• 제6권4호
• /
• pp.315-322
• /
• 1982

The slab analogy method was introduced in the 1920's for the first time as a new experimental stress analysis method. Notwithstanding its theoretical propriety, this method has not been recognized as efficient one because of its difficulty in practical measurement of the slab curvature. In this paper, aiming at experimental determination of two-dimensional stress intensity factors(S. I. F) of arbitrarily shaped cracks which had been regarded as almost impossible by conventional method, the slab analogy was reevaluated. Measuring of slab curvature was replaced by three simple measuring factors to overcome vital slab-analogy's shortcoming by joint use of the shadow-moire method. A determination formula was also derived from the theory of fracture mechanics. By this newly exploited method, it was found that the slab analogy still has its great advantage in determination of S.I.F. of arbitrarily shaped cracks with considerable accuracy compared with existent experimental methods.

• 제어로봇시스템학회논문지
• /
• 제16권3호
• /
• pp.305-312
• /
• 2010

The aim of this study is to find an analytic solution to the problem of determining the optimal capacity of a batch-storage network to meet demand for finished products in a system undergoing joint random variations of operating time and batch material loss. The superstructure of the plant considered here consists of a network of serially and/or parallel interlinked batch processes and storage units. The production processes transform a set of feedstock materials into another set of products with constant conversion factors. The final product demand flow is susceptible to joint random variations in the cycle time and batch size. The production processes have also joint random variations in cycle time and product quantity. The spoiled materials are treated through regeneration or waste disposal processes. The objective function of the optimization is minimizing the total cost, which is composed of setup and inventory holding costs as well as the capital costs of constructing processes and storage units. A novel production and inventory analysis the PSW (Periodic Square Wave) model, provides a judicious graphical method to find the upper and lower bounds of random flows. The advantage of this model is that it provides a set of simple analytic solutions while also maintaining a realistic description of the random material flows between processes and storage units; as a consequence of these analytic solutions, the computation burden is significantly reduced. The proposed method has the potential to rapidly provide very useful data on which to base investment decisions during the early plant design stage. It should be of particular use when these decisions must be made in a highly uncertain business environment.