• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.258-263
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• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• Magazine of the Korea Concrete Institute
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• v.10 no.5
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• pp.159-165
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• 1998

중트럭 통행으로 인한 철근콘크리트 교량바닥판의 열화는 교량구조물을 유지보수하는데 있어 심각한 문제 중 하나이며, 프리캐스트 바닥판을 이용한 교량바닥판의 시공 및 교체 방법이 실용적이며 효과적인 방법으로 인식되고 있다. 본 연구에서는 횡방향 ddusruf부에 종방향 프리스트레싱을 도입한 프리캐스트 바닥판의 모델을 제작하여 바닥판간 횡방향 연결부의 강성 평가 및 연결부의 피로 거동을 파악하기 위해서 피로실험을 수행하여 피로하중하에서의 휨강성의 변화, 균열발생 및 파괴하중 등을 측정하였다. 실험결과를 통해서 피로하중하에서 프리스트레스 프리캐스트 부재의 프리스트레스 효과를 평가하였으며, 현장타설에 의해서 시공되는 일반 RC 부재에 비해서 우수한 구조적 거동을 보여주는 적정량의 종방향 프리스트레스 크기를 결정하였다.

• Journal of Biomedical Engineering Research
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• v.31 no.3
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• pp.217-226
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• 2010

The lower limb orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of muscular activities of lower limbs was developed in this study. Compared to other knee extension assistive devices being developed by other researchers, our device is designed especially for the elderly people and intended only for slight assistance so that the subjects can keep their muscular strength. For the effectiveness of system, muscular activities of major muscles in lower limbs during sit-to-stand (STS) and squat motion were measured and analyzed. Subjects were performed the STS and squat motion with and without lower limb orthosis. We made comparison muscular activities between with and without lower limb orthosis. Lower limb orthosis was controlled using muscular stiffness force feedback that is controlled by muscular activities of the measured muscle from force sensor. For analysis of muscular activities, electromyography of the subjects was measured during STS and squat motion, and these were measured using MP 150(BIOPAC Systems, Inc.). Muscles of interest were rectus femoris(RF), vastus lateralis(VL), vastus medialis(VM) and vastus intermedius(VI) muscles in lower limbs of the right side. A biodex dynamometer was used to measure the maximal concentric isokinetic strength of the knee extensors of wearing and not wearing orthosis on right side. The test were performed using the concentric isokinetic mode of test with the velocity set at 60°/s for muscles around the knee joints. The experimental result showed that muscular activities in lower limbs wearing orthosis using muscular stiffness force of a vastus medialis muscle was reduced and knee extension torque of an knee joint wearing lower limb orthosis was increased. With this, we confirmed the effectiveness of the developed lower limb orthosis.

• Journal of the Korea Concrete Institute
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• v.23 no.5
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• pp.683-692
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• 2011

In piloti-type low-rise RC residential buildings, severe damages have been usually concentrated at piloti stories under the earthquake. In this study, a piloti story was retrofitted by installation of buckling-restrained braces (BRB's) to increase strength and stiffness of piloti story and by application of fiber reinforced polymer (FRP) sheet on columns to avoid the brittle shear and axial failure of columns. To verify this retrofit performance, reversed cyclic lateral load tests were performed on 1:5 scale bare and retrofitted frames. The test results showed that yield strength (43.2 kN) appeared to be significantly larger than design value (30 kN) due to the increase of strength in the compression side, but the stiffness value (11.6 kN/mm) turned out to be approximately one-half of the design value (24.2 kN/mm). The reasons for this difference in stiffness were due to slippage at joint between the frame and the BRB's, displacement and rotation at footing. The energy absorption capacity of the retrofitted frame was 7.5 times larger than that of the bare frame. The change of the number of load cells under the footing from 2 to 1 reduced lateral stiffness from 11.6 kN/mm to 6 kN/mm, which was only three times larger than that of the bare frame (2.1 kN/mm).

• Journal of the Korean Geotechnical Society
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• v.21 no.4
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• pp.71-81
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• 2005

Surface wave techniques were initially based on 2-D plane waves and were later improved to the techniques based the 3-D based cylindrical waves. However, body-wave interference, near-field effect and limited technology in surface wave measurements restricted the use of 3-D cylindrical waves to the 1-D evaluation of subgrade stiffness. In this study, by the numerical simulation of SASW measurements, the dispersion properties of surface waves including vertical, horizontal Rayleigh waves and Love waves were thoroughly investigated in the 3-D domain, and a new filter criteria to minimize the near-field effect was established, which led to CAP (common-array-profiling)-SASW technique. The CAP-SASW technique enabled the evaluation of subgrade stiffness fur a specific subgrade segment, not for a whole section of measurement array. Therefore, a contour plot of subgrade stiffness with a ground-truth quality can be obtained by the CAP-SASW technique. The procedure proposed in this study was verified by comparing the shear-wave velocity profiles with the shear-wave velocity profiles of downhole testing at two geotechnical sites.

• Journal of the Korean Geotechnical Society
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• v.16 no.6
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• pp.161-172
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• 2000

자연암석절리 및 인공 절리에 대하여 일정수직응력제어, 일정 수직하중제어 그리고 무한 강성제어가 가능한 암석 절리면 전단기 시험기를 개발하였다. 이 시험기는 전단변위에 의한 첩촉면적의 변화량을 계산하여 하중변화량을 조절하여 일정수직응력상태를 유지한다. 수직하중에 따른 시험기 강성에 의한 변화향이 제어 프로그램 내에서 제어되어 순수한 시편의 변위량을 출력하도록 하였다. 전단하중에 따른 시험기 강성에 의한 변위량은 상, 하부 전단상자의 상대변위 측정으로 최소화하였다. 전단거동 중의 자유도는 전당방향에 대하여 수평이도, 연직이동, 피칭, 롤링이 가능하도록 하였다. 자연절리면을 모사한 석고시편에 대하여 일정 수직응력 제어, 일정수직하중제어 그리고 무한 강성제어 조건으로 시험하여 제어상태 검증 및 비교를 하였다. 또한 경사각이 16.7˚와 22.6˚인 톱니형 시편에 대하여 시험한 결과 경사각 16.7˚와 22.6˚는 JRC로 10과 15를 나타내었으며, 첨두팽창각이 첨두전단강도에서 발생되며, Barton의 모델과 잘 일치함을 보였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04a
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• pp.608-614
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• 1995

공작기계 등과 같이 복잡한 대형 구조물의 구조해석에 있어서 결합부요소의 강성과 질량특성을 모델링하는 일반적 인 방법이 없는 실정이므로 어려움이많다. 본 연구에서는 공작기계에서 흔히 쓰이는 Slide-way contact joint 결 합부를 등가의 강성행렬 요소(Generalized stiffness matrix element)로 모델링하는 방법을 제안하였다.. 기존의 유 한용소 해석법 프로그램을 이용하여 결합부 유한요소 모델의 유연도계수(Flexibility influence coefficients)를 계산하고 Guyan의 정축약이론을 이용하여 등가의 강성행렬요소로 축약시키는 방법이다. 제안된 방법을 대형 평면연 삭기 구조해석에 적용하고, 그 결과를 강결합 모델의 결과 및 Yoshimura의 등가스프링결합부 모델을 사용한 경우의 결과와 비교하므로써 본 연구에서 제안한 결합부 모델링 방법의 유용성을 확인하였다.

• Journal of Bio-Environment Control
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• v.31 no.4
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• pp.438-443
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• 2022

In this study, the lateral loading test was performed to analyze structural performance of multi-span plastic greenhouse through full-scale experiment and numerical analysis. In order to analyze the lateral stiffness and stress, we installed 9 displacement sensors and 19 strain gauge sensors on the specimen, respectively, and load of l mm per minute was applied until the specimen failure. In the comparison between the full-scale experiment and the structural analysis results of a multi-span greenhouse with venlo-type roof according to bracing installation, there was a large difference in the lateral stiffness of the structure. By installing a brace system, the lateral stiffness measured near the side elevation of the specimen increased by up 44%. As the bracing joint used in the field did not secure sufficient rigidity, the external force could not be transmitted to the entire structure properly. Therefore, it is necessary to establish a bracing construction method and design standards in order for a greenhouse to which bracing applied to have sufficient performance.

• Journal of Korean Foot and Ankle Society
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• v.10 no.2
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• pp.223-229
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• 2006

Purpose: The purpose of this study was to analyze the results of the treatment of hallux valgus with metatarsal double osteotomy and longitudinal pin fixation. Materials and Methods: We reviewed 19 patients (21 feet) who had been treated by metatarsal double osteotomy and longitudinal pin fixation for the moderate or severe hallux valgus with increased distal metatarsal articular angle (DMAA), between 1999 and 2004. They were followed prospectively for a minimum of 20 months. Functional outcomes were measured via Hallux metatarsophalangeal-Interphalangeal (HMI) scale and Mayo clinic forefoot scoring system (FFSS). Radiographically, we assessed pre, postoperative and at the last follow-up, the hallux valgus angle (HVA), 1st and 2nd intermetararsal angle (IMA), DMAA. Results: The average preoperative HVA, IMA, DMAA measured $36.76^{\circ}$, $13.62^{\circ}$, $26.00^{\circ}$, respectively. At the last follow-up, HVA, IMA, DMAA measured $9.57^{\circ}$, $7.14^{\circ}$, $9.33^{\circ}$. The correction of HVA, IMA, DMAA were $27.19^{\circ}$, $6.48^{\circ}$, $6.67^{\circ}$. At the last follow-up, there were no recurrences and complications, except two patients complained of unsatisfactory stiffness in the 1st metatarsophalangeal joint and subjectively rated their results as fair. The others rated that as excellent or good. At the last follow-up, statistically, the mean HMI scale and FFSS improved significantly from pre-operative score. Conclusions: In the treatment of moderate or severe hallux valgus with increased DMAA by metatarsal double osteotomy and longitudinal pin fixation, we had good functional and radiological results without recurrences and significant complications. But the stiffness in the 1st metatarsophalangeal joint warrants further study.