• 대한조선학회 특별논문집
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• 대한조선학회 2006년도 특별논문집
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• pp.122-127
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• 2006

In case of lap joint fillet welds of thin plate, the example which is applicable to Plasma Welding increases substituting for the exiting TIG Welding but the quality of Plasma arc welding has a special feature influenced sensitively by the condition of welding caused by controlling the various parts of welding torch. This research is purposed to improve lap joint fillet welds of thin plate in high quality and attain the high productivity and it is examined that how the change of electrode tip angle and Setback has an effect on the quality of welding and it is investigated how the change of Setback and Standoff has an effect on Melting efficiency using Response Surface Analysis.

• 한국산업융합학회 논문집
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• 제23권4_1호
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• Structural Engineering and Mechanics
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• 제74권3호
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• pp.407-423
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• 2020

The pre-peak cyclic shear mechanism of two-order asperity degradation of rock joints in the direct shear tests with static constant normal loads (CNL) are investigated using experimental and numerical methods. The laboratory testing rock specimens contains the idealized and regular two-order triangular-shaped asperities, which represent the specific geometrical conditions of natural and irregular waviness and unevenness of rock joint surfaces, in the pre-peak cyclic shear tests. Three different shear failure patterns of two-order triangular-shaped rock joints can be found in the experiments at constant horizontal shear velocity and various static constant normal loads in the direct and pre-peak cyclic shear tests. The discrete element method is adopted to simulate the pre-peak shear failure behaviors of rock joints with two-order triangular-shaped asperities. The rock joint interfaces are simulated using a modified smooth joint model, where microscopic scale slip surfaces are applied at contacts between discrete particles in the upper and lower rock blocks. Comparing the discrete numerical results with the experimental results, the microscopic bond particle model parameters are calibrated. Effects of cyclic shear loading amplitude, static constant normal loads and initial waviness asperity angles on the pre-peak cyclic shear failure behaviors of triangular-shaped rock joints are also numerically investigated.

• Structural Engineering and Mechanics
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• 제27권2호
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• pp.223-241
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• 2007

Seven full-scale exterior beam-column joints were produced and tested under reversible cyclic loads to determine. Two of these seven specimens were produced using ordinary reinforced concrete (RC). Steel Fiber Reinforced Concrete (SFRC) was placed in three different regions of the beams of the rest five specimens to determine the extent of the region where SFRC is the most effective. The extent of the region of SFRC was kept constant at the columns of all five specimens. Three of these five specimens which had one stirrup in the joint, were tested to evaluate the effect of the stirrup on the behavior of the beam-column joint together with SFRC. In production of the specimens with SFRC, all special requirements of the Turkish Earthquake Code related to the spacing of hoops were disregarded. Previous researches reported in the literature indicate that the fiber type, the volume content, and the aspect ratio of steel fibers affect the behavior of beam-column joints produced with SFRC. The results of the present investigation show that the behavior of exterior beam-column joints depends on the extent of the region where SFRC is used and the usage of stirrup in the joint, in addition to the parameters listed in the literature.

• Ocean Systems Engineering
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• 제13권1호
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• pp.43-55
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• 2023

In this study, the SCFs in tubular T-joints stiffened with external ring under axial load are studied and discussed. After verification of the present numerical model with the results of several available experimental tests, 156 FE models were generated and analyzed to parametrically evaluate the effect of the joint geometry and the ring geometry on the SCFs. Results indicated that the SCF of the stiffened T-joints at crown point can be down to 24% of the SCF of the corresponding un-reinforced joint at the same point. Also, the effect of the ring on the SCF at saddle point is more remarkable than the effect of the ring on the SCF at crown point. Moreover, against un-reinforced joints under axial load, the SCF at saddle point of the stiffened joint is smaller than the SCF at crown point of that stiffened joint. The ring results in the redistribution of stresses in the ring and metal substrate. Also, the effect of the ring thickness on the decrease of the SCFs is slight and can be ignored. In final step, the geometric parameters affecting the SCFs of the stiffened T-joints are analyzed by multiple nonlinear regression analyses. An accurate formula is proposed for determining the SCFs.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.210-216
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• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• Geomechanics and Engineering
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• 제14권4호
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• pp.325-336
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• 2018

Deformation of rock masses is not only related to rock itself, but also related to discontinuities, the latter maybe greater. Study on crack propagation at discontinuities is important to reveal the damage law of rock masses. DDARF is a discontinuous deformation analysis method for rock failure and some modified algorithms are proposed in this study. Firstly, coupled modeling methods of AutoCAD-DDARF and ANSYS-DDARF are introduced, which could improve the modeling efficiency of DDARF compared to its original program. Secondly, a convergence criterion for automatically judging the computation equilibrium is established, it could overcome subjective drawbacks of ending one calculation by time steps. Lastly but not the least, relationship between the super relaxation factor and the calculation convergence is analyzed, and reasonable value range of the super relaxation factor is obtained. Based on these above modified programs, influences on crack propagation of joint angle, joint parameters and geo-stresses' side pressure are studied.

• 대한안전경영과학회지
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• 제14권2호
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• pp.11-22
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• 2012

The purpose of this study was to compare drivers' postures with different car pedal systems and skilled levels. Fourteen subjects participated in this experiment and for three-dimensional analyses, six cameras (Proreflex MCU-240, Qualisys) were used to acquire raw data. The parameters were calculated and analyzed with Visual-3D. In conclusion, the patterns of pelvic, hip, knee and ankle joint angles were different as to pedal systems and skilled levels, and distal joints ROA pelvis have large angles. ROA(range of angle) of a double pedal system was small, but ROA of a single pedal system was large. These findings suggested that we should improve a present single pedal system.

• Physical Therapy Rehabilitation Science
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• 제9권1호
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• pp.25-35
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• 2020

Objective: To compare the effects of joint mobilization, gym ball exercises, and breathing exercises on breathing pattern disorders and joint position sense in persons with chronic lower back pain. Design: Three-group pretest-posttest design. Methods: Thirty-six individuals with chronic low back pain who were undergoing a postural correction and vertebral movement at a rehabilitation center participated in this study. The subjects were randomly divided into the joint mobilization group (n=12), gym ball exercises group (n=12), and the breathing exercises group (n=12). The exercises were applied for 40 minutes a day, twice a week for a total of 12 weeks. Measurement tools included the end-tidal CO₂ (ETCO₂), respiration rate (RR), breath hold time, Nijmegen Questionnaire (NQ), excursion, and joint position error (JPE). Results: The groups showed significant differences in the ETCO₂, RR, NQ, Excursion and JPE test before and after the intervention (p<0.05). The differences between the groups were significant in the group that received the gym ball and breathing exercises in ETCO₂ and RR (p<0.05). The differences between the groups were most significant in the group that received breathing exercises in NQ and excursion (p<0.05). The differences between the groups were significant in the group that received the gym ball and breathing exercises in JPE Lt. and Rt. (p<0.05). Conclusions: All three interventions had a significant impact on the biomechanical changes, respiratory variables, and joint position sense in participants with chronic lower back pain. Breathing exercises were found to be particularly effective in improving respiratory parameters.

• ETRI Journal
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• 제33권2호
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• pp.259-266
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• 2011

We present a new method for an automated markerless system to describe, analyze, and classify human gait motion. The automated system consists of three stages: I) detection and extraction of the moving human body and its contour from image sequences, ii) extraction of gait figures by the joint angles and body points, and iii) analysis of motion parameters and feature extraction for classifying human gait. A sequential set of 2D stick figures is used to represent the human gait motion, and the features based on motion parameters are determined from the sequence of extracted gait figures. Then, a k-nearest neighbor classifier is used to classify the gait patterns. In experiments, this provides an alternative estimate of biomechanical parameters on a large population of subjects, suggesting that the estimate of variance by marker-based techniques appeared generous. This is a very effective and well-defined representation method for analyzing the gait motion. As such, the markerless approach confirms uniqueness of the gait as earlier studies and encourages further development along these lines.