• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.161.5-161
• /
• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.11a
• /
• pp.171-172
• /
• 2010

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.8
• /
• pp.585-589
• /
• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2002.05a
• /
• pp.296-303
• /
• 2002

Tribology, in other words, interacting surfaces in relative motion, is essential in life. The relative motion on surfaces may cause some problems with heat, vibration, noise, and so on. Unwanted vibrations by friction, which may arise during the operation of machines, are costly in terms of reduction of performance and service life. All these phenomena inolve stick-slip. The telescopic boom operations involves stick-slip oscillations like slideways. Unwanted stick-slip oscillations on telescopic boom operations cannot achieve smooth sliding and many developers of that machine makes a lot of effort to remove or reduce it. So this paper presents stick-slip oscillation with pressure of the hydraulic cylinder which drives booms, and attempts a theoretical approach for the numerical analysis for its stick-slip condition.

• Journal of Korean Physical Therapy Science
• /
• v.7 no.2
• /
• pp.439-457
• /
• 2000

The causes, risk factors and sequelae of mastectomy were studied, and the physical therapy approaches on post-mastectomy was discussed in this study. It was found that the patients taken mastectomy have experienced pins and needles in muscle, weakening of muscle, pains, deterioration of motion in joint region and activities of daily living, psychiatric sequelae, and etc even after the conservertive therapies like the chemical therapy, radiotherapy, immunotherapy, and hormone therapy. However, few study on the physical therapy approaches for patients with breast cancer has been carried in Korea at present. The followings were proposed as the physical therapy approaches. 1. Shoulder joint motion approach to relax the limit of range of motion 2. Control of breathing exercise for dealing with removal of the pectorailis muscle 3. Method to reduce the edema of arms for tackling the cut of lymph node 4. Method to reduce pains, pins and needles 5. Support home exercise program after discharging from hospital, sexual life and pregnancy, and activities of daily living training method.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11b
• /
• pp.171-175
• /
• 2001

Chemical mechanical polishing(CMP) process has been widely used to planarize dielectrics and metal, which can apply to employed in integrated circuits for sub-micron technology. Despite the increased use of CMP process, it is difficult to accomplish the global planarization of free-defects in inter level dielectrics and metal. Especially, defects like (micro-scratch) lead to severe circuit failure, and affects yield. Current conditioning method - bladder type, orbital pad motion- usually provides unsuitable pad profile during ex-situ conditioning near the end of pad life. Since much of the pad wear occurs by the mechanism of bladder type conditioning and its orbital motion without rotation, we need to implement new ex-situ conditioner which can prevent abnormal regional force on pad caused by bladder-type and also need to rotate the pad during conditioning. Another important study of ADPC is related to the orbital scratch of which source is assumed as diamond grit dropped from the strip during ex-situ conditioning. Scratch from diamond grit damaged wafer severely so usually scraped. Figure 1 shows the typical shape of scratch damaged from diamond. e suspected that intensive forces to the edge area of bladder type stripper accelerated the drop of Diamond grit during conditioning. so new designed Flat stripper was introduced.

• Structural Engineering and Mechanics
• /
• v.85 no.3
• /
• pp.381-391
• /
• 2023

The seismic performance of the tall building equipped with a tuned mass damper (TMD) considering soil-structure interaction (SSI) effects is well studied in the literature. However, these studies are performed on the nominal model of the seismic-excited structural system with SSI. Hence, the outcomes of the studies may not valid for the actual structural system. To address the study gap, the reliability theory as a useful and powerful method is utilized in the paper. The present study aims to carry out reliability analyses on tall buildings equipped with TMD under near-field pulse-like (NFPL) ground motions considering SSI effects using a subset simulation (SS) method. In the presence of uncertainties of the structural model, TMD device, foundation, soil, and near-field pulse-like ground motions, the numerical studies are performed on a benchmark 40-story building and the failure probabilities of the structures with and without TMD are evaluated. Three types of soils (dense, medium, and soft soils), different earthquake magnitudes (M_w = 7,0. 7,25. 7,5 ), different nearest fault distances (r = 5. 10 and 15 km), and three seismic performance levels of immediate occupancy (IO), life safety (LS), and collapse prevention (CP) are considered in this study. The results show that tall buildings built near faults and on soft soils are more affected by uncertainties of the structural and ground motion models. Hence, ignoring these uncertainties may result in an inaccurate estimation of the maximum seismic responses. Also, it is found the TMD is not able to reduce the failure probabilities of the structure in the IO seismic performance level, especially for high earthquake magnitudes and structures built near the fault. However, TMD is significantly effective in the reduction of failure probability for the LS and CP performance levels. For weak earthquakes and long fault distances, the failure probabilities of both structures with and without TMD are near zero, and the efficiency of the TMD in the reduction of failure probabilities is reduced by increasing earthquake magnitudes and the reduction of fault distance. As soil softness increases, the failure probability of structures both with and without TMD often increases, especially for severe near-fault earthquake motion.

• Journal of the Ergonomics Society of Korea
• /
• v.25 no.3
• /
• pp.25-32
• /
• 2006

As national income increases, consumers began to place a great deal of weight on products or quality of their life. They would like to have products which are more convenient to use and could meet their emotional desire in addition to its basic functional requirements. An automobile is one of the transportation system for human beings and the factor such as safety or environmentaly-friendly is regarded as important things resulting from it's popularization. In fact, domestic design technology leaves much to be desired compared with excellent manufacturing techniques. For this reason, some problems, like lowering of usage, could be caused by introducing technological data as it is from overseas. A survey of domestic car users has found that the most preferred condition (step height) is 460~495cm when they get in and out of their car. Men use their visual information and then get in the car, taking motion fit for each condition when automobile condition is changed. In other words, men get in cars actively within the range of conditions used for this study. These results were found from a motion study, when getting in a car, and checking the possibility of getting injury in accordance with the change of condition as well.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11a
• /
• pp.171-175
• /
• 2001

Chemical mechanical polishing(CMP) process has been widely used to planarize dielectrics and metal, which can apply to employed in integrated circuits for sub-micron technology. Despite the increased use of CMP process, it is difficult to accomplish the global planarization of free-defects in inter level dielectrics and metal. Especially, defects like (micro-scratch) lead to severe circuit failure, and affects yield. Current conditioning method - bladder type, orbital pad motion - usually provides unsuitable pad profile during ex-situ conditioning near the end of pad life. Since much of the pad wear occurs by the mechanism of bladder tripe conditioning and its orbital motion without rotation, we need to implement new ex-situ conditioner which can prevent abnormal regional force on pad caused by bladder-type and also need to rotate the pad during conditioning. Another important study of ADPC is related to the orbital scratch of which source is assumed as diamond grit dropped from the strip during ex-situ conditioning. Scratch from diamond grit damaged wafer severely so usual1y scraped. Figure 1 shows the typical shape of scratch damaged from diamond. We suspected that intensive forces to the edge area of bladder type stripper accelerated the drop of Diamond grit during conditioning, so new designed Flat stripper was introduced.

• International Journal of Highway Engineering
• /
• v.16 no.1
• /
• pp.11-19
• /
• 2014

PURPOSES : The purpose of this article is to investigate the predicted life of jointed concrete pavement (JCP) with two variables effecting on axle load spectra (ALS). The first variable is different data acquisition methods whether using high-speed weigh-in-motion (HS-WIM) or not and the other one is spectra distribution due to overweight enforcement on main-lane of expressway using HS-WIM. METHODS : Three sets of ALS had been collected i) ALS provided by Korea Pavement Research Program (KPRP), which had been obtained without using HS-WIM ii) ALS collected by HS-WIM before the enforcement at Kimcheon and Seonsan site iii) ALS collected after the enforcement at the same sites. And all ALS had been classified into twelve vehicle classes and four axle types to compare each other. Among the vehicle classes, class 6, 7, 10 and 12 were selected as the major target for comparing each ALS because these were considered as the primary trucks with a high rate of overweight loading. In order to analyze the performance of JCP based on pavement life, fatigue crack and International Roughness Index (IRI) were predicted using road pavement design program developed by KPRP and each ALS with same annual average daily traffic (AADT) was applied to design slab thickness. RESULTS : Comparison ALS of KPRP with those of HS-WIM shows that the ALS of KPRP has a low percentage of heavy spectra such as 6~9 tonnes for single axle, 18~21 tonnes for tandem axle and 27~30 tonnes for tridem axle than other two ALS of HS-WIM in most vehicle classes and axle types. It means that ALS of KPRP was underestimated. And after the enforcement, percentage of heavy spectra close to 10 tonnes per an axle are lowered than before the enforcement by the effect of overweight enforcement because the spectra are related to overweight regulation. Prediction results of pavement life for each ALS present that the ALS of HS-WIM collected before the enforcement makes the pavement life short more than others. On the other hand, the ALS of KPRP causes the longest life under same thickness of slab. Thus, it is possible that actual performance life of JCP under the traffic like ALS of HS-WIM could be short than predicted life if the pavement was designed based on ALS provided by KPRP. CONCLUSIONS : It is necessary to choose more reliable and practical ALS when designing JCP because ALS can be fairly affected by acquisition methods. In addition, it is important to extend performance life of the pavement in service by controlling traffic load such as overweight enforcement.