• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.875-876
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• 2011

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.142-149
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• 1995

This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.

• Journal of Korea Technology Innovation Society
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• v.3 no.2
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• pp.94-110
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• 2000

This article prospects the patterns of technological innovation in the steel industry and suggests the directions of technological innovation in Korean steel industry. Technological innovation patterns can be analysed through technological trends, innovation-inducing mechanism, and innovators' relationships. In the technological trends, direct coupling of manufacturing processes, lasting growth of mini-mill, and the importance of technological integration are prospected. In the innovation-inducing mechanism, while production system will be specialized, the development of new steel materials and environment-friendly technological innovation will be accelerated. In the innovators' relationships, steel industry faces more complex competition and new forms of inter-firm cooperation including M&A, joint venture, and joint R&D. In order to cope with such changes in the technological innovation patterns, Korean steel industry need to establish core competence based on technological innovation through a great leap in R&D investment, the production of high value-added products, the development of new generation steel technologies, strategic joint R&D, comprehensive technological cooperation, and government's active support.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.581-589
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• 2019

Guided missiles assembled with the bolted joint are subjected to various shock loading conditions while flying in the air and operating on the ground or platform. Especially, It is important to analyze the effect of the shock load on the structure because it affects the structure for a short duration time while its acceleration magnitude is quite large. In this study, mechanical shock tests on the structure with the bolted joint have been carried out to measure the acceleration changes of the structure against external shock loads by electrical exciter. Variation of dynamic characteristics of a structure with fastening methods and fastening forces has been investigated through Shock Response Spectrum analysis.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.48 no.3
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• pp.155-158
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• 2022

Objectives: The aim of this study was to observe the relationship between impacted mandibular third molars and development of temporomandibular joint (TMJ) disorders. Knowledge of the factors that have an adverse effect on the TMJ is necessary for proper diagnosis, treatment, and prognosis of TMJ disorders. Materials and Methods: The study was performed on 80 patients aged between 20 and 60 years with impacted mandibular third molars, over a period of two months. The patients were examined clinically and radiologically to determine the type of impaction and detect the associated TMJ symptoms or disorders. Results: In the 80 patients, 63.8% (51/80) of TMJ disorders were found in the horizontal group, 46.3% (37/80) in the mesioangular group, 42.5% (34/80) in the distoangular group, and 30.0% (24/80) in the vertical group of impacted mandibular third molars. Conclusion: The study concluded that type of impacted mandibular third molar is factor in the development of temporomandibular disorders.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.10
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• pp.1082-1090
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• 2008

In this paper, a general solution for the vibrational energy and intensity distribution through a compliant and dissipative joint between plate structures is derived on the basis of energy flow analysis (EFA). The joints are modeled by four sets of springs and dashpots to show their compliancy and dissipation in all four degrees of freedom. First, for the EFA, the power transmission and reflection coefficients for the joint on coupled plate structures connected at arbitrary angles were derived by the wave transmission approach. In numerical applications, EFA is performed using the derived coefficients for coupled plate structures under various joint properties, excitation frequencies, coupling angles, and internal loss factors. Numerical results of the vibrational energy distribution showed that the developed compliant and dissipative joint model successfully predicted the joint characteristics of practical structures vibrating in the medium-to-high frequency ranges. Moreover, the intensity distribution of a compliant and dissipative joint is described.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Research in Community and Public Health Nursing
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• v.28 no.1
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• pp.55-68
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• 2017

Purpose: The purpose of this study is to develop and evaluate a joint health self-management program for knee osteoarthritis elders in communities. Methods: This program was developed based on the IMB (information-motivationbehavioral skills) model. The program methods include education, setting and achieving goals, sharing experiences, telephone counseling, and self-monitoring. The topics of the program include joint assessment, exercise, massage, joint protection, medication, depression management, diet, and healthcare approach. The research was conducted following the principles of the nonequivalent control group pretest-posttest design. Participants were 26 subjects in the experimental group, and 27 subjects in the control group. The experimental group participated in the self-management program, and the control group received general education. Results: Both post-test scores of personal motivation, social motivation, behavior skill, self-management behavior, joint pain, joint stiffness, physical function disability, right knee extension, left knee extension, and depression were significantly different between the experimental group and the control group. Conclusion: The results of the study can be used to develop and standardize a systematic joint health self-management program. Further research is highly recommended to develop a strategy to continuously facilitate self-management of osteoarthritis patients' procedures.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.11
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• pp.1879-1884
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• 2007

In the electric power industry, it is important that the supply of energy must be guaranteed. Many power utilities control and supervise the transmission line to avoid power failures. In case of underground tunnel, some troubles are reported in cable joint. To stabilize the power, it is needed to monitor the cable joint. Many researches of cable joint monitoring have been going on by partial discharge measurement and temperature measurement using optical cable. These methods need much cost to install and maintain, so it is only used in critical transmission line. In this research, we use wireless sensor technology, because of its low cost and easy installation. We develop the temperature monitoring system for cable joint. Temperature sensor is installed on the surface of cable joint and sends data to server through router node using wireless network. Generally Ad hoc routing is searched in wireless network. However, in this research, we design the static linear routing mechanism, which is suitable for electric power line monitoring and analyze the life time of the sensor node by measuring the amount of the battery consumption.