• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Korean Society of Steel Construction
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• v.21 no.4
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• pp.403-411
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• 2009

In the present study, nonlinear earthquake analysis was carried out for a steel girder bridge that had been damaged by the 1995 Kobe earthquake. For such analysis, the use of hysteretic models describing flexure-axial and shear-axial interaction was suggested. The models were incorporated into a structural analysis program in terms of the joint elements representing hinge models, and then a simplified analysis scheme using the hinge models was employed for bridge piers. The analytical predictions of the flexure-axial interactive hinge model show a good correlation with those of the detailed fiber element model. In addition, the analytical predictions of the flexure-shear-axial interactive hinge model enable a displacement component to be separately captured. It is thus recognized that the present study can be a useful scheme for the healthy evaluation of the global displacement performance of piers subjected to earthquake excitation.

• Journal of the Korean Data and Information Science Society
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• v.27 no.3
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• pp.711-724
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• 2016

Under variable complex operating environment, various factors can affect the lifetimes of systems. In this research, we study bivariate reliability models having multiple dynamic competing risks. As competing risks, in addition to the natural failure, we consider the increased stress caused by the failure of one component, external shocks, and the level of stress of the working environment at the same time. Considering two reliability models which take into account all of these competing risks, we derive bivariate life distributions. Furthermore, we compare these two models and also compare the distributions of maximum and minimum statistics in the two models.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.768-771
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• 2003

The impulse between launch vehicle and atmosphere can generate a lot of noise and vibration during the process of launching a satellite. Structurally, electronic equipment (KOMPSAT 2, RDU : Remote Drive Unit) of a satellite consists of aluminum case containing PCB (Printed circuit boards). Each PCB has resistors and IC (Integrated circuits). Noise and vibration of wide frequency band are transferred to the inside of fairing, subsequently creating vibration of the electronic equipment of the satellite. In this situation. random vibration can cause malfunctioning of the electronic equipment of the device. Furthermore, when tile frequency of random vibration meets with natural frequency of PCB. fatigue fracture nay occur in the part of solder joint. The launching environment, thus. needs to be carefully considered when designing the electronic equipment of a satellite. In general. the safety of the electronic equipment is supposed to be related to the natural frequency, shapes of mode and dynamic deflection of PCB in the electronic equipment. Structural vibration analysis of PCB and its electronic components can be performed using either FEM(Finite Element Method) or vibration test. In this study. the natural frequency and dynamic deflection of PCB are measured by FEM, aud the safety of the electronic components of PCB is being evaluated according to the results. This study presents a unique method for finite element modeling and analysis of PCB and its electronic components. The results of FEA are verified by vibration test. The method proposed herein may be applicable to various designs from the electronic equipments of a satellite to home electronics.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of the Korean Wood Science and Technology
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• v.39 no.5
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• pp.451-458
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• 2011

Adhesives derived from renewable resources allow wood panel producers to make lower cost alternatives to formaldehyde-based adhesive resins. Among them, adhesive components extracted from industrial by-products or wastes are the most important research fields in the efficient utilization of waste and cost reduction. In our study, the rapeseed flour, which is a by product from the production of biodiesel extracted from rapeseed, was introduced to develop alternative adhesives for the production of wood flooring. The rapeseed flour was hydrolyzed with 1% sodium hydroxide solution and PF prepolymers were prepared with 3-molar ratios, 1.8, 2.1 and 2.4. The linear fracture mechanics was introduced to evaluate the glue bond quality in wood flooring composed of fancy-veneered and plywood, and the formaldehyde emission and adhesive penetration were also investigated. The formaldehyde emissions of wood flooring met the requirement of the standard of $SE_0$ specified in the KS standard. The rapeseed flour adhesive penetrated sufficiently into the vessel elements and lumens in fancy veneer and plywood and gave strong bond quality to the wood flooring. The fracture mechanics was introduced to evaluate the adhesive joint between fancy veneer and plywood. The critical stress intensity factor ($K_{IC}$) of boliva overlayed wood flooring was increased with increasing molar ratio and this was the same tendency in oak overlayed wood flooring. From the results, the formulated adhesives were efficiently used to bond fancy veneer onto the plywood to make wood flooring and showed a potential to be used as a component of environmentally friendly adhesive resin systems for production of flooring.

• Journal of the Korean Home Economics Association
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• v.39 no.10
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• pp.97-109
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• 2001

It is thought that a composition of trousers is related to fabrics with single breadth. Therefore, trousers are designed with pattern using this fabrics with single breadth. However, in the old pattern of trousers, the breadth of 33cm-35cm was not considered in designing patterns. In this context, deciding which pattern design is better is not easy as there are a variety of estimation methods. So in this study, standardization of drafting is pursued by an objective pattern design. For this, a base angle of the trouser closely relating to a form and function was measured and using the height and the base angle, a trouser pattern design was tried. For a measurement of the base angle, 5 subject were selected. They are 25-29 year-old male graduates with fine physical standard. The base angle was measured with symphysis pubis point as a standard when subjects sat with their legs crossed, when they stood with their legs open (not forced artificially) and when they laid down with their legs open. The distance between a knee inside joint and knees was measured three times and the resultant value was used for the pattern design. For a design of trousers, the height was applied and the base angle was fixed. As a pattern drawing, using the height, a base angle and circumference of the hip, a trouser was designed. The production method for the pattern design is as follow: (1) The length formula, is height + $\frac{height}{2}$ (2) The hip girth formula is $\frac{hipgirth}{2}$ - $\frac{hipgirth}{20}$(3) A crotch angle is fixed at $72^{\circ}$. (4) The ratio of outer leg length to leg width is 5 : 8. (5) The component ratio of the upper outer leg length to the pant length is 5 : 8. (6) The ratio of the division point of front right inner leg length and left inner width to upper outer leg length is 5 : 8.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.821-826
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• 2013

When the values of design variables change, mode switching can often occur. If the mode of interest is not tracked, the frequencies and modes for design optimization may be miscalculated owing to modes that differ from the intended ones. Thus, mode tracking must be employed to identify the frequencies and modes of interest whenever the values of design variables change during optimization. Furthermore, reliability-based design optimization (RBDO) must be performed for design problems with design variables containing uncertainty. In this research, we perform RBDO considering the mode tracking of a compressive coil spring, i.e., a component of the joint spring that supports a compressor, with design variables containing uncertainty by using only kriging metamodels based on multiple responses approach (MRA) without existing mode tracking methods. The reliability analyses for RBDO are employed using kriging metamodel-based Monte Carlo simulation.

• Journal of Korean Neurosurgical Society
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• v.48 no.5
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• pp.406-411
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• 2010

Objective : Esophageal/hypopharyngeal injury can be a disastrous complication of anterior cervical surgery. The amount of hypopharyngeal wall exposure within the surgical field has not been studied. The objective of this study is to evaluate the chance of hypopharyngeal wall exposure by measuring the amount of axial rotation of the thyroid cartilage (ARTC) and posterior projection of the hypopharynx (PPH). Methods : The study was prospectively designed using intraoperative ultrasonography. We measured the amount of ARTC in 27 cases. The amount of posterior projection of the hypopharynx (PPH) also was measured on pre-operative CT and compared at three different levels; the superior border of the thyroid cartilage (SBTC), cricoarytenoid joint and tip of inferior horn of the thyroid cartilage (TIHTC). The presence of air density was also checked on the same levels. Results : The angle of ARTC ranged from $-6.9^{\circ}$ to $29.7^{\circ}$, with no statistical difference between the upper and lower cervical group. The amount of PPH was increased caudally. Air densities were observed in 26 cases at the SBTC, but none at the TIHTC. Conclusion : Within the confines of the thyroid cartilage, surgeons are required to pay more attention to the status of hypopharynx/esophagus near the inferior horn of the thyroid cartilage. The hypopharynx/esophagus at the TIHTC is more likely to be exposed than at the upper and middle part of the thyroid cartilage, which may increase the risk of injury by pressure. Surgeons should be aware of the fact that the visceral component at C6-T1 surgeries also rotates as much as when the thyroid cartilage is engaged with a retractor. The esophagus at lower cervical levels warrants more careful retraction because it is not protected by the thyroid cartilage.

• Environmental and Resource Economics Review
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• v.21 no.2
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• pp.211-235
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• 2012

This paper presents an alternative decomposition technique to identify the relative importance of factors associated with changes in $CO_2$ emissions by using directional distance function to model the joint production of desirable and undesirable outputs. The key feature of the proposed approach is the introduction of fossil and non-fossil fuel energy input efficiencies, productivity change and emission intensity change. For the 27 OECD countries as a whole, the empirical results indicate that economic growth is the most important contributor to $CO_2$ emissions increase, while efficiency change is the most important component to $CO_2$ emissions reduction between 1980 and 2007. For more extensive insights, this paper divided 3 groups according to the emission growth rate and find out that high emission countries show relatively low production efficiencies and technical changes contributing $CO_2$ emissions increase. The results also provide that more strict environmental regulations are needed to improve the pollution intensity in these countries.