• Special Issue of the Society of Naval Architects of Korea
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• 2017.10a
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• pp.8-13
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• 2017

The rolled carbon steel plate has anisotropic property in Z-direction(thickness direction). This is induced by cooling rate difference of Z-direction and sulfur which make non-metallic inclusion(MnS) at center line of thickness direction. Z-directional mechanical properties of normal steel plate are not generally specified and it is defined for Z-Quality steel only through tensile test in Z-direction. If Z-quality steel is not applied for cruciform joint, the lamella tearing will be occurred by tensile stress after welding & during operation of the structure. In this research, one equation estimating Z-directional(orthogonal to plate) stress was developed to prevent lamella tearing by welding. This equation deals with plate thickness & joint configuration(eccentricity, angle and curvature). Analyses were done by strain boundary method using sectional FE modeling and FE 3D models are also used for some cases. Designers can predict the possibility of lamella tearing by adequately applying the result and can appropriately minimize the application of Z-quality steel by revising welding design to some extent.

• ETRI Journal
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• v.38 no.2
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• pp.337-346
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• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• Proceedings of the Korean Society for Rock Mechanics Conference
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• 2000.09a
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• pp.163-170
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• 2000

The distinct element method has been effectively applied to the analysis of stability and behavior of jointed rock masses. In this paper the modelling characteristics of different types of distinct element model were investigated. Arch tunnel examples were chosen to compare the calculation results of two computer codes, NURBM and CBLOCK, where the former is based on implicit algorithm, and the other on explicit one. CBLOCK calculations show that joint properties are very important parameters in the stability analysis and that the joint stiffness ratio associated with joint configuration could be used as an indicator, whereas NURBM differ from that. Some other disagreements were also identified.

• Tunnel and Underground Space
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• v.10 no.3
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• pp.410-417
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• 2000

The distinct element method has been effectively applied to the analysis of stability and behavior of jointed rock masses. In this paper the modelling characteristics of different types of distinct element model were investigated. Arch tunnel examples were chosen to compare the calculation results of two computer codes, NURBM and CBLOCK, where the former is based on implicit algorithm, and the other on explicit one. CBLOCK calculations show that joint properties are very important parameters in the stability analysis and that the joint stiffness ratio associated with joint configuration could be used as an indicator, whereas NURBM differ from that. Some other disagreements were also identified.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.540-546
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• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.399-402
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• 2002

In this study, we constructed a four-channel impedance measurement system including a two-channel goniometer to analyze human arm movement. Impedances and joint angles were simultaneously measured for wrist and elbow movements. As the impedance changes resulting from wrist and elbow movements depended heavily on electrode placement, we determined the optimal electrode configurations for those movements by searching for high correlation coefficients, large impedance changes, and minimum interferences in ten subjects (age: 29+6). Our optimal electrode configurations showed very strong relationships between the wrist joint angle and forearm impedance (correlation coefficient = 0.95+0.04), and between the elbow joint angle and upper arm impedance (correlation coefficient = -0.98+0.02). Although the measured impedances changes of the wrist (1.1+1.5 ohm) and elbow (-5.0+2.9 ohm) varied among individuals, the reproducibilities of wrist and elbow impedance changes of five subjects were 5.8+1.8 % and 4.6+1.4 % for the optimal electrode pairs, respectively. We propose that this optimal electrode configuration would be useful for future studies involving the measurement of accurate arm movements by impedance method.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.23 no.2
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• pp.335-344
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• 1993

The purpose of this study was to clarify the spatial relationship of temporomandibular joint and to an aid in the diagnosis of temporomandibular disorder. For this study, three-dimensional images of normal temporomandibular joints were reconstructed by computer image analysis system and three-dimensional reconstructive program integrated in computed tomography. The obtained results were as follows: 1. Two-dimensional computed tomograms had the better resolution than three dimensional computed tomograms in the evaluation of bone structure and the disk of TMJ. 2. Direct sagittal computed tomograms and coronal computed tomograms had the better resolution in the evaluation of the disk of TMJ. 3. The positional relationship of the disk could be visualized, but the configuration of the disk could not be clearly visualized on three-dimensional reconstructive CT images. 4. Three-dimensional reconstructive CT images had the smoother margin than three-dimensional images reconstructed by computer image analysis system, but the images of the latter had the better perspective. 5. Three-dimensional reconstructive images had the better spatial relationship of the TMJ articulation, and the joint spaces were more clearly visualized on dissection images.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Archives of Reconstructive Microsurgery
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• v.14 no.2
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• pp.144-151
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• 2005

Purpose: Disaster as traffic accident, industrial disaster, high voltage electrical bum and flame burn of extremity have a destructive effect because of the involvement of deep structure. Generally, such injury may result in decreased function or loss of limb. In this study the successful use of the combined scapular/parascapular flap as microsurgical transfer to cover extensive defect of electrical and flame bum is reported. Material and Method: Between January 2000 and June 2001, the combined scapular and parascapular flap was used for the coverage of soft tissue defect for 7 patients were admitted to our department with high voltage electrical bum and flame burn. The recipient site were the wrist joint in 2 cases, the forearm in 1 case, the ankle joint in 1 case, the foot dorsum in 1 case, the heel in 1 case. Result: Flap survival was complete in all patients. The result of flap coverage for these deep wound was successful. Conclusion: The advantages of scapular/parascapular combined flap were coverage of the large defect, easy shaping of the flap to fit the required three dimensional configuration around the joint, non hair bearing skin of uniform thickness, minimal donor site morbidity.