• Economic and Environmental Geology
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• v.49 no.1
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• pp.31-41
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• 2016

A program code was developed to calculate block hydraulic conductivity of the 2-D DFN(discrete fracture network) system based on equivalent pipe network, and implemented to examine the effect of joint orientation distribution on the hydraulic characteristics of fractured rock masses through numerical experiments. A rock block of size $32m{\times}32m$ was used to generate the DFN systems using two joint sets with fixed input parameters of joint frequency and gamma distributed joint size, and various normal distributed joint trend. DFN blocks of size $20m{\times}20m$ were selected from center of the $32m{\times}32m$ blocks to avoid boundary effect. Twelve fluid flow directions were chosen every $30^{\circ}$ starting at $0^{\circ}$. The directional block conductivity including the theoretical block conductivity, principal conductivity tensor and average block conductivity were estimated for generated 180 2-D DFN blocks. The effect of joint orientation distribution on block hydraulic conductivity and chance for the equivalent continuum behavior of the 2-D DFN system were found to increase with the decrease of mean intersection angle of the two joint sets. The effect of variability of joint orientation on block hydraulic conductivity could not be ignored for the DFN having low intersection angle between two joint sets.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Progress in Superconductivity and Cryogenics
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• v.14 no.3
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• pp.23-27
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• 2012

This paper aims to evaluate the feasibility of using no-insulation High Temperature Superconducting (HTS) coil in persistent current mode system. A HTS coil in persistent current mode system usually includes one or more non-superconducting joints in its circuit. And the current decaying rate of the coil is affected by the resistance of joint in persistent current circuit. If the resistance of joint is large, decaying rate of the current drastically increases. Therefore, reducing the joint resistance of the HTS coil is very important in persistent current mode system. In this paper, the no-insulation HTS coil is suggested as a way to reduce the joint resistance with the embedded parallel contact resistance naturally made by no-insulation winding method. Two small coils are fabricated with insulation and no-insulation winding method, and persistent current mode system experiment of each coil is preformed and analyzed.

• Journal of Ocean Engineering and Technology
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• v.27 no.2
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• pp.100-106
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• 2013

This paper deals with the design method for a small waterproof 4-axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.3
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• pp.445-449
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• 2011

A P2P technique is the concept to share sources efficiently in distributed environment that is studying a lot. In these P2P systems, the server to support the contents-information have less overloads than the composed system as the server to have resources generally. In this paper, we suggest a P2P system to support conveniences for users that were connected with the information of joint-buying based on social network. The joint-buying information based on social network is supported by peers using a p2p system and these information to intermediate are supported by a P2P server.

• Structural Monitoring and Maintenance
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• v.9 no.4
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• pp.359-371
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• 2022

Bridges are critical to the civil engineering infrastructure network as they facilitate movement of people, the transportation of goods and services. Given the aging of bridge infrastructure, federal officials mandate visual inspections biennially to identify necessary repair actions which are time, cost, and labor-intensive. Additionally, the expansion joints of bridges are rarely monitored due to cost. However, expansion joints are critical as they absorb movement from thermal effects, loadings strains, impact, abutment settlement, and vehicle motion movement. Thus, the need to monitor bridge expansion joints efficiently, at a low cost, and wirelessly is desired. This paper addresses bridge joint monitoring needs to develop a cost-effective, real-time wireless system that can be validated in a full-scale bridge structure. To this end, a wireless expansion joint monitoring was developed using commercial-off-the-shelf (COTS) sensors. An in-service bridge was selected as a testbed to validate the performance of the developed system compared with traditional displacement sensor, LVDT, temperature and humidity sensors. The short-term monitoring campaign with the wireless sensor system with the internet protocol version 6 over the time slotted channel hopping mode of IEEE 802.15.4e (6TiSCH) network showed reliable results, providing high potential of the developed system for effective joint monitoring at a low cost.

• Journal of Mechanical Science and Technology
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• v.16 no.8
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• pp.1079-1088
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• 2002

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1989.04a
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• pp.50-55
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• 1989

Piping systems are composed of pipes with various thickness, diameter and length. Accurate analysis of a piping system requires a complicated three dimensional finite element model and a computer system with large memory size, while simplified models result in system response prediction with deteriorated accuracy. An efficient analysis model for piping systems is proposed in this study. The proposed model is developed by introducing a joint model which accounts for the behavior of a pipe connection. Pipes are represented by beam elements and the effect of local deformation of pipe connections are replaced by joint element deformations. The proposed model which is as simple and efficient as a beam model can be used to obtain piping system response with accuracy close to that of a finite element model.

• Korean Journal of Acupuncture
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• v.24 no.4
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• pp.37-45
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• 2007

Objectives : Temporomandibular joint (TMJ) balance is known to be intricately integrated with nervous system, cervical spine, and meridian system balance. This retrospective study with one-group pretest-posttest design reviewed cervical spine imaging data to provide evidence of spinal alignment improving effect of TMJ balance treatment. Methods : Cervical spine imaging data including computed tomography and simple x-ray of 25 cases with painful condition were reviewed to explore any change in cervical alignment on wearing the intraoral device for TMJ balance treatment of functional cerebrospinal therapy. Results : Cervical spine alignment significantly improved on wearing the intraoral device. Conclusions : TMJ balance treatment improves cervical spinal alignment, which may be a firm basis to proceed with further research of TMJ balance therapy as a way of balancing the whole-body meridian system.