• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2007년 추계학술발표대회 개요집
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• pp.155-157
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• 2007

The Friction spot dissimilar welding of galvanized steel/Al6061-T6 was performed to investigate the mechanical characteristics of the joints. The presence of thin film of aluminum oxide on the surface and melting of zinc in the coating, made substandard joint characteristics for dissimilar Friction spot joining(FSJ) performed with out removing the coating. Where as, for dissimilar FSJ of galvanized steel/Al6061-T6 after removing the coating, superior agitation and welding quality has been obtained for a configuration of galvanized steel as the upper plate and Al6061-T6 as lower plate. The results from tensile tests and microscopic examination for various combinations of the welding parameters have been presented.

• Journal of Electrical Engineering and Technology
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• 제8권2호
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.41-47
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• 2000

A better tracking performance can be achieved, if visual sensors such as CCD cameras are used in controling a robot manipulator, than when only relative sensors such as encoders are used. However, for precise visual servoing of a robot manipulator, an expensive vision system which has fast sampling rate must be used. Moreover, even if a fast vision system is implemented for visual servoing, one cannot get a reliable performance without use of robust and stable inner joint servo-loop. In this paper, we propose a dynamic control scheme for robot manipulators with eye-in-hand camera configuration, where a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to be robust to parameter uncertainty, disturbances, low sampling rate, etc.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1999년도 춘계학술대회 논문집
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• pp.669-672
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• 1999

In this paper, we studied the properties of small-size disk-type ultrasonic motor using travelling wave for the application to the precise control robotic joint motor and fabricated it. The diameter of the ultrasonic motor fabricated was 13mm. Also, the piezoelectric vibrator was constructed by piezoelectric ceramic and elastic material. The piezoelectric ceramic was composed to PZ-PT-PMN which was shown the high electromechanical stability under high vibration level and stainless steel was used as the elastic material in which configuration was disk-type. To conform the capability of application to robotic motor, we measured the change of rotational speed according to applied voltage and applied frequency. As the results, the small-size disk-type ultrasonic motor was able to fabricate, and the revolution speed was 350 (rpm) when input voltage was 55 (Vrms) and applied frequency 160.4 IkHz] under pre-load.

• Journal of information and communication convergence engineering
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• 제3권1호
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Earthquakes and Structures
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• 제13권6호
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• pp.599-611
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• 2017

This paper improves seismic fragility of a typical steel-concrete composite bridge with the deck-to-pier connection joint configuration at the concrete crossbeam (CCB). Based on the quasi-static test on a typical steel-concrete composite bridge model under the SEQBRI project, the damage states for both of the critical components, the CCB and the pier, are identified. The finite element model is developed, and calibrated using the experimental data to model the damage states of the CCB and the bridge pier as observed from the experiment of the test specimen. Then the component fragility curves for both of the CCB and the pier are derived and combined to develop the system fragility curves of the bridge. The uncertainty associated with the mean system fragility has been discussed and quantified. The study reveals that the CCB is more vulnerable than the pier for certain damage states and the typical steel-concrete composite bridge with CCB exhibits desirable seismic performance.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2018년도 하계학술대회
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• pp.175-177
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• 2018

This paper proposes an algorithm to speed up block structure partition of quad tree plus binary tree (QTBT) in Joint Exploration Test Model (JEM) encoder. The proposed fast encoding of QTBT block partition employs three spatially neighbor coded blocks, such as left, top-left, and top of current block, to early terminate QTBT block structure pruning. The propose algorithm is organized based on statistical similarity of those spatially neighboring blocks, such as block depths and coded block types, which are coded with overlapped block motion compensation (OBMC) and adaptive multi transform (AMT). The experimental results demonstrate about 30% encoding time reduction with 1.3% BD-rate loss on average compared to the anchor JEM-7.1 software under random access configuration.

• 대한치과보철학회지
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• 제49권4호
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• pp.346-353
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• 2011

연구 목적: 임플란트 식립 후 변연골 흡수에 따라 임플란트 주위 연조직이 재구성되며, 이에 따라 치료의 예후 및 심미성 등에 영향을 주게 된다. 그러므로 임플란트 경부 주위 골조직 보존을 위한 임플란트 경부에 다양한 디자인이 연구되고 있다. 본 고찰의 목적은 초기 변연골 흡수의 원인과 이에 따른 임플란트 주위의 연조직 변화에 대해 고찰하고, 어떠한 임플란트 경부 디자인이 임플란트 주위 조직의 보존에 유리한 지 알아보고자 한다. 연구 재료 및 방법: Pubmed database에서 임플란트 초기 변연골 흡수의 원인과 관련된 논문과 임플란트 경부의 여러 디자인에 관한 논문을 검색하여 분석하였다. 임플란트 경부 디자인은 one piece implant, two piece implant, internal hex abutment, external hex abutment, taper joint connection, butt joint connection, scalloped design abutment, platform switching concept에 관해 검토하였다. 결과: 초기의 임플란트 주위 조직 보존에 대하여 one piece implant가 two piece implant보다 유리한 것으로 여러 임상적, 실험적 연구가 있다. Two piece implant에서는 internal hex abutment가 external hex abutment보다, taper joint connection가 butt joint connection보다 유리할 것으로 보여진다. Scalloped design abutment에 대해서는 논쟁의 여지가 있어 더 많은 연구가 필요할 것으로 판단된다. Platform switching concept은 그 원인이 명확히 밝혀지지는 않았으나 임상적, 실험적으로 초기 임플란트 주위 조직 보존에 대해 유리한 것으로 판단된다. 결론: 임플란트 경부의 디자인마다 각각의 장단점이 있고 추가적인 연구가 더 필요한 제한이 있지만 현재까지의 선행 연구들을 분석 종합해 보면 초기 임플란트 주위 조직 보존을 고려한다면 가능한 경우 one piece implant가 유리할 것으로 판단되며, 보철적인 문제나 다른 이유로 인하여 two piece implant를 고려할 경우 platform switching concept, internal connection abutment, taper joint connection을 이용하는 것이 임플란트 주위 조직 보존에 좀더 유리할 것으로 사료된다.

• 한국CDE학회논문집
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• 제17권6호
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• pp.443-455
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• 2012

The configuration of a musculoskeletal (MS) system is closely related to the individual motions of the human body. Many researches have been focused on evaluating the associations between the MS configuration and the individual motion using patient-specific MS models, but it still remains a challenging issue to accurately predict the motion by differed configurations of the MS system. The main objective of this paper is to predict the changes of a patient-specific gait by altering the geometric parameters of the hip joint using function-based morphing method (FBM). FBM is suitable for motion analysis since this method provide a robust way to morph a MS model while preserving the biomechanical functions of the bones. Computed-muscle control technique is used to calculate the muscle excitations to reproduce the targeted motion within a digital MS model without the motion-captured data. We applied this approach to a patient who has an abnormal gait pattern. Results showed that the femoral neck length and the angle significantly affect to the motion especially for the hip abduction angle during gait, and that this approach is suitable for gait prediction.

• 대한기계학회논문집
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• 제15권6호
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• pp.2015-2025
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• 1991

본 연구에서는 무거운 부하중량(payload)을 운반하는 평행구동기구(parallel drive mechanism)를 가진 2 자유도 수직 로봇 조작기의 마지막 링크를 고속화 및 작업 영역의 확대를 위해 경량의 길이가 긴 링크로 구성하고, 동적 해석 및 제어를 위해 이 를 수직면상에서 회전하는 첨단질량을 가진 Euler-Bernoulli 외팔보로 모델링하였다. Hamilton의 원리를 적용하여 계의 지배방정식을 구하였으며 이를 조작기의 최종 자세 (configuration)에 대한 교란변수들(periturbed variables)을 도입하여 이산시간계 상 태방정식으로 표시하였다. 계의 상태방정식에 대해 디지탈 최적제어 및 최적관측기 이론을 적용하여, 유연한 조작기의 위치 및 진동제어를 병해하여 수행하는 제어기를 설계하였으며, 제어기의 효율성 및 적용성을 검토하기 위하여 수치해석 및 실험을 행 하였고 이들 결과를 비교, 검토하였다.