• 전자공학회논문지SC
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• 제37권1호
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• pp.1-9
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• 2000

본 논문에서는 파라미터 변동 범위가 유한한 로봇 매니퓰레이터에 대한 출력궤환 강인제어기를 고이득 관측기를 사용하여 설계하였다. 적분제어를 포함하는 제안된 제어기는 이득제한에 따른 추종오차를 개선시키도록 하였다. 관절의 속도 측정치를 사용할 때의 문제점을 개선하기 위하여 고이득 관측기를 사용하였다. 미지의 파라미터 변동 범위에 대한 제한을 받지 않도록 제어기를 구성하였으며 전체 폐루프시스템의 상태궤적의 수렴성을 입증하였다. 제안된 방법을 2-링크 로봇 매니퓰레이터의 궤적제어에 적용하고 시뮬레이션을 통하여 성능을 확인하였다.

• 의료법학
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• 제12권2호
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• pp.189-217
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• 2011

According to the current law of national health insurance, the Minister of Health and Welfare can impose a suspension of business or license, and a fine with medical institutions who violate the law. In case that medical institutions raise an action for ity with each penalty, they ask for replacing the suspension of business with a fine during the pendency of the action. But there is a long gap of time between an offense and administrative measures. One violation cause several types of administrative measures (suspension of business or fine, suspension of license etc.) and different government departments impose these penalties. It takes a lot of time to organize their opinions and they are liable to impose penalties after considerable space of time because of overwhelming tasks. Then the medical institutions can sustain a loss by getting unexpected administrative measures after their offense against the law. Thus, this article review whether extinctive prescription apply to the right of imposing fine on the law of national health insurance or not. Meanwhile, we have no regulations imposing a same fine to co-representatives of medical institution who infringe the law of national health insurance. On this point, this study review whether they have equal duty on that or not.

• 대한토목학회논문집
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• 제34권3호
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• pp.739-746
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• 2014

본 연구의 대상은 석고보드와 냉간성형강 스터드로 구성된 벽체용 합성패널이다. 양면의 석고보드 사이에 위치한 스터드는 나사로 연결되어 있고, 이와 같은 연결부의 부분합성거동을 정량화하여 나사접합부의 단위미끄럼을 유발하는 단위길이 당 전단하중($S_{slip}$)을 산정하는 것이 목적이었다. 실험방법은 1962 AISI규준을 기초로 하여 실시하였다. 본 연구에서 산정한 $S_{slip}$값을 이용한 이론적 추정치와 기 발표된 공칭축강도의 실험값과의 비교에서 만족할 만한 결과를 도출하였다. 그러므로 본 연구의 결과는 연구범위와 유사한 냉간성형강 부재의 해석과 설계에 있어 구조 기술자에게 가치가 있는 정보를 제공할 것이다.

• 한국정밀공학회지
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• 제25권12호
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• pp.65-74
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• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• 한국운동역학회지
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• 제13권1호
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• pp.51-62
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• 2003

This study was attempted to kinematical characteristics of the El-grip swing with 1turn to el-grip in elite horizontal bar for the purpose of improving performance. The subjects were three males who were 2002 Busan Asian Games in men's team. The three dimensional motion analysis with DLT method was executed using three video cameras of analyzing the actual competition situation. In point of analyzing the actual competition situation, it is expected that gymnastics and coaches have the effective informations, and the following conclusion had resulted. 1. In case of release, It is impotant to make fast horizontal velocity of CM, high vertical position of CM, large hip and shoulder angle. Also It should be performed release motion of trunk rotation angle(+). 2. During LHR the action should be made at higher position than the CM and the shoulder joint is moving within $127{\pm}16.82$. It is important to make large lunk rotation angle. 3. During Hop, the RHR motion should be done in high position with short time and fast twisting action and to reduce the vertical speed is important.

• Computers and Concrete
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• 제23권5호
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• pp.329-334
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• 2019

Traffic flow capacity of some old road bridges is insufficient due to limited deck width. In such cases bridge deck widening is a common solution. For multi-girder reinforced concrete (RC) bridges it is possible to add steel-concrete composite girders as the new outermost girders. The deck widening may be combined with bridge strengthening thanks to thickening of the existing deck slab. Joint action of the existing and the added parts of such bridge span must be ensured. It refers especially to the horizontal plane at the interface of the existing slab and the added concrete layer as well as to the vertical planes at the external surfaces of the initially outermost girders where the added girders are connected to the existing bridge span. Since the distribution of the added concrete is non-uniform in the span cross-section the structure is particularly sensitive to the added concrete shrinkage. The shrinkage induces shear forces in the aforementioned planes. Widening of a 12 m long RC multi-girder bridge span is numerically analysed to assess the influence of the added concrete shrinkage. The analysis results show that: a) in the vertical plane of the connection of the added and the existing deck slab the longitudinal shear due to the shrinkage of the added concrete is comparable with the effect of live load, b) it is necessary to provide appropriate longitudinal reinforcement in the deck slab over the added girders due to tension induced by the shrinkage of the added concrete.

• ETRI Journal
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• 제44권2호
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• pp.286-299
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• 2022

Human activity recognition in real time is a challenging task. Recently, a plethora of studies has been proposed using deep learning architectures. The implementation of these architectures requires the high computing power of the machine and a massive database. However, handcrafted features-based machine learning models need less computing power and very accurate where features are effectively extracted. In this study, we propose a handcrafted model based on three-dimensional sequential skeleton data. The human body skeleton movement over a frame is computed through joint positions in a frame. The joints of these skeletal frames are projected into two-dimensional space, forming a "movement polygon." These polygons are further transformed into a one-dimensional space by computing amplitudes at different angles from the centroid of polygons. The feature vector is formed by the sampling of these amplitudes at different angles. The performance of the algorithm is evaluated using a support vector machine on four public datasets: MSR Action3D, Berkeley MHAD, TST Fall Detection, and NTU-RGB+D, and the highest accuracies achieved on these datasets are 94.13%, 93.34%, 95.7%, and 86.8%, respectively. These accuracies are compared with similar state-of-the-art and show superior performance.

• 한국엔터테인먼트산업학회논문지
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• 제13권1호
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• pp.199-206
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• 2019

연구목적은 동작관찰훈련이 뇌졸중 환자의 인지기능 향상에 영향을 미치는가를 알아보고자 하였다. 연구방법으로는 2018년 4월 23일부터 5월 18일까지 경인지역 병원에 입원 중인 재활환자 7명을 대상으로 MMSE-K와 LICA를 사용하여 평가를 진행하였고, 동작관찰프로그램으로는 상지 ROM 댄스, 풀 오버형 옷정리, 운동화 끈 묶기, 수건 개기, 양말 개기, 종이접기, 넥타이 매는 법 총 7가지 과제를 적용하였다. 통계프로그램으로는 SPSS version 20을 사용하였으며 기술통계, Wilcoxon signed ranks을 사용하여 값을 구하였다. 동작관찰훈련을 적용한 결과 MMSE-K 점수는 3.29±1.38의 변화량을 보여 p값 0.001로 유의한 값을 보였고, LICA 점수는 기억력에서 12.16±6.73으로 가장 유의한 값이 나왔다. 결론은 동작관찰훈련이 뇌졸중 환자의 인지기능 영역 중 기억력에서 가장 많은 영향을 미쳤으며, 다른 영역에서도 점수 향상은 있었으나 통계적으로 유의하지는 않았다. 앞으로 동작관찰훈련이 많이 사용되어 추후에는 뇌손상 부위별로 어느 영역에서 효과가 있는지에 대한 후속 연구가 이루어지길 바란다.

• Steel and Composite Structures
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• 제18권4호
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• pp.971-983
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• 2015

To promote greater acceptance and use of composite RCS systems, a two-bay two-story frame specimen with improved composite RCS joint details was tested in the laboratory under reversed cyclic loading. The test revealed superior seismic performance with stable load versus story drift response and excellent deformation capacity for an inter-story drift ratio up to 1/25. It was found that the failure process of the frame meets the strong-column weak-beam criterion. Furthermore, cracking inter-story drift ratio and ultimate inter-story drift ratio both satisfy the limitation prescribed by the design code. Additionally, inter-story drift ratios at yielding and peak load stage provide reference data for Performance-Based Seismic Design (PBSD) approaches for composite RCS frames. An advantage over conventional reinforced concrete and steel moment frame systems is that the displacement ductility coefficient of the RCS frame system is much larger. To conclude, the test results prove that composite RCS frame systems perform satisfactorily under simulated earthquake action, which further validates the reliability of this innovative system. Based on the test result, some suggestions are presented for the design of composite RCS frame systems.

• Steel and Composite Structures
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• 제36권4호
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• pp.427-446
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• 2020

This paper carries out the progressive collapse analysis of stainless steel composite beam-to-column joint sub-models and moment-resisting frames under column removal scenarios. The static flexural response of composite joint sub-models with damaged columns was initially explored via finite element methods, which was validated by independent experimental results and discussed in terms of moment-rotation relationships, plastic hinge behaviour and catenary actions. Simplified finite element methods were then proposed and applied to the frame analysis which aimed to elaborate the progressive collapse response at the frame level. Nonlinear static and dynamic analysis were employed to evaluate the dynamic increase factor (DIF) for stainless steel composite frames. The results suggest that the catenary action effect plays an important role in preventing the damaged structure from dramatic collapse. The beam-to-column joints could be critical components that influence the capacity of composite frames and dominate the determination of dynamic increase factor. The current design guidance is non-conservative to provide proper DIF for stainless steel composite frames, and thus new DIF curves are expected to be proposed.