• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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• pp.247-253
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• 2015

Dielectric breakdown accidents have been mainly occurred in the vicinity of service entrance section in underground power transmission systems. One cause among them is due to the excessive component value of sheath located around service entrance of cable. In this paper, as one of the alternative to prevent these accidents, the change of cross bond grounding system and the location change of IJ(Insulation Joint) are suggested. Also, to evaluate effectiveness of this changing system, circulating current and induced voltage of sheath were analyzed in steady and transient state. By comparison of the analytical results for the several possible changing systems, a grounding system and location of IJ which has the smallest sheath component values is proposed. In this paper, analysis to evaluate the proposed system is carried out by EMTP/ATPDraw. It can be used as a valuable operational material to prevent accident of the service entrance section in underground power transmission system.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• World Technopolis Review
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• v.6 no.2
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• pp.148-158
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• 2017

Sejong City, which has been chosen as a new administrative capital of South Korea, has completed the first phase of its development plan with the construction of the facilities needed to accommodate central administrative organizations and the required accompanying population. Now, it is undergoing the second phase of development with a focus on strengthening the region's innovation capacity to catalyze endogenous development. The strategy for phase II is to establish a regional innovation system including building necessary infrastructure and attracting innovation agents such as universities, businesses, and research institutes. The first step for this is developing a research complex, tentatively named Tech Valley, that includes universities, research institutes, and businesses, and building infrastructure comprising a science complex, a knowledge industry center, and support facilities. Phase II of the city's development initiative includes the establishment of a joint university campus, which is to serve as a center to promote cooperation among industry actors, universities, and research institutes. The concept of a joint campus has been drawn from a need to enhance capacity for innovation and specialization in the region's industries and to maximize synergy among participating universities through the sharing of research equipment, facilities, and programs. The joint campus is expected to play a key role in creating an innovation system in the region by enhancing research capacity for strategic industries, cultivating highly skilled human resources, and leading industry-academia-research cooperation. In order to ensure the sustainable development of the new city, there is a growing need to have a main player in place that could lead the region's economic development. The joint campus will propel industrial specialization and serve as a catalyst to attract competent universities to the region. This paper will examine the concept, major functions, and the establishment and operation of the joint campus.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.58-69
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• 1998

A contrp; suste, fpr SCARA robot is designed for implememting a robust dynamic control algorithm. this study forcuses on the use of DSPs in the design of joint controllers and interfaces in between the host cotroller and four joint controllers and in between the joint controllers and four servo drives. The mechanical body of SCARA robot and the servo drives are selected from the commercially available ones. The four joint controllers, assigned to each joint one by one, are combined into a common system through a mother board hardwarewise and through the global memeory softwarewise. The mother board is designed to connect joint controllers onto the board through the slots adopting PC/104 bus structures. And, the global memory stores the common data which can be shared by joint controllers and the host computer directly, which virtually combines the whole system into one. To demonstrate the performance and efficienty of the sytem, a robust inverse dynamic algorithm is proposed and implemented for a faster and more precise control. The robust inverse dynamic algorithm is basically derived from an inverse dynamci algorithm and a PID compensator. Based upon the derived dynamic equitions of SCARA robot, the inverse dynamic algorithm is intitially implemented within 0.3 msec of the control cycle in this system. The algoithm is found to be not accurate enough for the high speed and precision tasks due to inherent modelling errors and time-varying factors. Therefore, a variable PID algorithm is combined with the inverse dynamic algorithm to support robustness of control performance. Experimental datfor the proposed algorithm are presented and compared with the result obtained from PID and inverse dynamic algorithm.

• The Journal of Korean Physical Therapy
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• v.6 no.1
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• pp.155-161
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• 1994

Joint mobilization refers to techniques that are used to treat joint dysfunction such as when there is stiffness reversible joint hypomobility, or pain. Currently there are several schools of thought and treatment techniques that are popular in the United States. and leading practitioners and educators are attempting to blend common points to yield more uniform treatment from the various approaches. In order to effectively use joint mobilization for treatment, the practitioner must know and be able to evaluate the anatomy, arthrokinematics, and pathology of the neuromusculoskeletal system and to recognize when the techniques are indicated or when other stretching techniques would be more effective for regaining lost motion. Indiscriminate use of joint mobilization techniques when tot indicted could lead to potential harm to the patient's joints.

• Strategy21
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• s.37
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• pp.193-241
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• 2015

China, Japan and Korea are the world's top 10 energy consumers, and so very interested in the development of seabed hydrocarbon resources in order to meet their energy demands. The East China Sea is the tri-junction area where three countries' entitlements on the maritime boundaries are overlapped. There are abundant oil reserves in the East China Sea, and therefore competitions among countries are growing to get control of them. Although these countries have concluded the bilateral agreements to jointly develop resources in the East China Sea, they do not function as well. Because joint development and management of seabed petroleum resources can lead to stable development system, and to lower possibility of legal and political disputes, the needs for joint development agreement among three countries are urgent. Meanwhile, Northeast Asian seas are semi-closed seas, which are geographically closed and vulnerable to marine pollution. Moreover there are a lot of nuclear power plants in coastal area, and seabed petroleum resources are being developed. So it is likely to occur nuclear and oil spill accidents. Fukushima nuclear disaster and Bohai Bay oil spill accident in 2011 are the cases to exhibit the potential of major marine pollution accidents in this area. It is anticipated that the risks become higher because power plants and offshore oil platforms are extending gradually. Therefore, the ways to seek the joint marine environmental protection agreement focused on regulation of nuclear power plant and offshore oil platform have to be considered. In this paper, we try to find the way to make joint development and joint environmental protection agreement in Northeast Asian seas. We concentrate on the measure to drive joint development of seabed petroleum deposits in East China Sea's overlap area, despite of maritime delimitation and territorial disputes, and we try to drive joint marine environmental protection system to respond to marine pollution and accidents due to offshore oil platform and nuclear power plants. Through these consideration, we seek solutions to deal with lack of energy, disputes of maritime territorial and boundary delimitation, and marine pollution in Northeast Asia.

• Progress in Superconductivity
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• v.3 no.1
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• pp.104-110
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• 2001

Since the strand-to-strand type joint far CICC (Cable-In-Conduit Conductor) is small in size and has low DC resistance, it is expected to be useful type fur a superconducting magnet system which had a compact structure like the KSTAR (Korea Superconducting Tokamak Advanced Research) coil system. The DC resistance is changed according to the distribution patterns of strands in cables connected together in the joint. A commercial code was used for the calculation of the DC resistance. With the decrease of outer diameter of the Joint, Which means the increase of strand volume fraction in the joint, the calculated DC resistance decrease rapidly and non-lineally. The variation of resistance depends mainly on the volume fraction of solder which has higher resistivity than copper. The resistance decrease inversely with the increase of the length of the joint. The resistance increase with increase of number of triplets in each stack contacted with that of another terminal cable. In case of the strand-to-strand joint that has 62mm of outer diameter, 52mm of inner diameter, 100mm of overlap length, and four triplets in each stack, the calculated DC resistance is less than 1 n-Ohm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1190-1193
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque, so that the estimation of damping property from the isokinetic movement is difficult.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.10a
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• pp.669-680
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• 2005

It is very difficult to determine the failure block scale in great rock slopes. Especially, postulating entire slope domain as a failure block without attention to discontinuity trace lenth makes very confuse and difficult to design rock slopes. In this paper, we estimate realistic failure block scale using joint system simulation method and introduce the application procedures on rock slope analysis. Besides, presenting how joint characteristics measurement and statistical analysis results are applicated to slope stability analysis design flow.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.