• Korean Institute of Interior Design Journal
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• v.13 no.6
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• pp.123-131
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• 2004

The hospitals built In the seventies and eighties have gone through many different extensions and renovations. However, as there had been no prior projections of the future extensions, irrational processes in terms of interdepartmental functional relocations and space availability have recurred. As well, areas and departments are located in several wings, which bring about a decrease in interdepartmental functional linkage, causing a lot of confusion and trouble in hospital management. Through this research we acquire concluding remarks. 1) To restore functional linkage in the whole hospital, strategy of interdepartmental relocation with the clinic-in-the clinic concept is the measure to minimize the problems of the increase in interdepartmental functional linkage since the clinic-in-the clinic concepts minimize circulation and maximizes efficiency of hospital management by making all the dispersed wings as professional as possible. 2) The measure of smooth circulation in order to resolve the problems of patients' difficulty in identifying directions and in decrease in staff's work performance, which arises from the extensions without considering the traffic systems of the whole hospital involves introduction of linear circulation systems in which connections between departments or areas can be made centering main axes of circulation. It is also a responsive measure to enhance the functional linkage between buildings and efficiency of patient's ease in identification of directions.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.411-418
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• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.162-168
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• 2008

A design objective for variable stability flight control system is to develop a controller of in-flight simulation capability that forces the aircraft being flown to follow the dynamics of other aircraft. This paper presents a model-following variable stability control system (VSS) for in-flight simulation which consists of feedforward and feedback control laws, the aircraft dynamic model to be simulated, and switching and fader logics to reduce the transient effect between two aircraft dynamics. The separate design techniques for feedforward and feedback control law proposals are based on model matching and augmented linear quadratic (LQ) techniques. The system allows pilots to select and engage VSS mode, and when deselected, the aircraft reverts to the baseline flight control system. Both the baseline flight control laws and VSS control laws are computed continuously during flight. Initialization of the state values are necessary to prevent instability, since VSS control laws have integrators and filters in longitudinal, and lateral/directional axes. This paper demonstrates and validates the effectiveness and quality of VSS with F-16 models embedded in T-50 in-flight simulation aircraft.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.4
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• pp.338-347
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• 2010

Heunginjimun designated as a Treasure No.1 is a two-story wooden structure with 5 bay and 2 bay in its front and side views, respectively. This paper presents an investigation on vibration characteristics of Heunginjimun through both ambient vibration and impact hammer tests. Ambient vibration test was performed to identify the natural frequency of Heunginjimun from the spectrum analysis of time history. Impact hammer test was undertaken to find the frequency of Heunginjimun which is affected by the surrounding traffics and to verify the reciprocal principle for the wooden structural system. Ambient vibration test results of Heunginjimun showed that the natural frequencies in two principal axes 1.5 Hz and 1.1 Hz, respectively. It was confirmed from impact hammer tests for a ground that the frequency of 4.2 Hz is caused by the traffics surrounding Heunginjimun. It was also observed that from the impact hammer test results between two locations in Heunginjimun that the transfer functions measured from two corresponding locations coincided well with each other. This result shows that the wooden structural system is globally linear, and the reciprocal principle is established.

• Korean Journal of Computational Design and Engineering
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• v.14 no.1
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• pp.18-24
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• 2009

This paper proposes an analytical method of evaluating the maximum error by modeling the exact tool path for the tool traverse singular region in five-axis machining. It is known that the NC data from the inverse kinematics transformation of 5-axis machining can generate singular positions where incoherent movements of the rotary axes can appear. These lead to unexpected errors and abrupt operations, resulting in scoring on the machined surface. To resolve this problem, previous methods have calculated several tool positions during a singular operation, using inverse kinematics equations to predict tool trajectory and approximate the maximum error. This type of numerical approach, configuring the tool trajectory, requires much computation time to obtain a sufficient number of tool positions in a region. We have derived an analytical equation for the tool trajectory in a singular area by modeling the tool operation into a linear and a nonlinear part that is a general form of the tool trajectory in the singular area and that is suitable for all types of five-axis machine tools. In addition, we have evaluated the maximum tool-path error exactly, using our analytical model. Our algorithm can be used to modify NC data, making the operation smoother and bringing any errors to within tolerance.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.4
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• pp.51-58
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• 2008

This paper presents a new design of the precision stage for the reticle in lithography process and a low hunting control method for the stage. The stage has three axes for X, Y, ${\theta}_z$ those actuated by three voice coil motors individually. The designed reticle stage system has three gap sensors and voice coil motors, and supported by four air bearings and the forward/inverse kinematics of the stage were solved to get an accurate reference position. When a stage is in regulating control mode, there always exist small fluctuations(stage hunting) in the stage movement. Because the low stage hunting characteristic is very important in recent lithography and nano-level applications, a special regulating controller for ultra low hunting is proposed in this paper. Also this research proposed the 2-step transmission system for preventing the noise infection from environmental devices. The experimental results showed the proposed regulating control system reduced hunting noise as 35nm(rms) when a conventional PID generates 77nm(rms) in the same mechanical system. Besides the reticle stage has 100nm linear accuracy and $1{\mu}rad$ rotation accuracy at the control frequency of 8kHz.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.4
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• pp.756-765
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• 2001

An effective dexterous motion control method of redundant robot manipulators based on neural optimization network is proposed to satisfy multi-criteria such as singularity avoidance, minimizing energy consumption, and avoiding physical limits of actuator, while performing a given task. The method employs a neural optimization network with parallel processing capability, where only a simple geometric analysis for resolved motion of each joint is required instead of computing of the Jacobian and its pseudo inverse matrix. For dexterous motion, a joint geometric manipulability measure(JGMM) is proposed. JGMM evaluates a contribution of each joint differential motion in enlarging the length of the shortest axis among principal axes of the manipulability ellipsoid volume approximately obtained by a geometric analysis. Redundant robot manipulators is then controlled by neural optimization networks in such a way that 1) linear combination of the resolved motion by each joint differential motion should be equal to the desired velocity, 2) physical limits of joints are not violated, and 3) weighted sum of the square of each differential joint motion is minimized where weightings are adjusted by JGMM. To show the validity of the proposed method, several numerical examples are illustrated.

• Earthquakes and Structures
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• v.8 no.1
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• pp.185-204
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• 2015

This study investigates the impact of the earthquake incident angle on the structural demand and the influence of ground motion selection and scaling methods on seismic directionality effects. The structural demand produced by Non-Linear Time-History Analyses (NLTHA) varies with the seismic input incidence angle. The seismic directionality effects are evaluated by subjecting four three-dimensional reinforced concrete structures to different scaled and un-scaled records oriented along nine incidence angles, whose values range between 0 and 180 degrees, with an increment of 22.5 degrees. The results show that NLTHAs performed applying the ground motion records along the principal axes underestimate the structural demand prediction, especially when plan-irregular structures are analyzed. The ground motion records generate the highest demand when applied along the lowest strength structural direction and a high energy content of the records increases the structural demand corresponding to this direction. The seismic directionality impact on structural demand is particularly important for irregular buildings subjected to un-scaled accelerograms. However, the orientation effects are much lower if spectrum-compatible combinations of scaled records are used. In both cases, irregular structures should be analyzed first with pushover analyses in order to identify the weaker structural directions and then with NLTHAs for different incidence angles.

• Journal of the Korean Chemical Society
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• v.38 no.9
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• pp.621-627
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• 1994

Two crystal structures of dehydrated, $Ag^{+}$ and $Ca^{2+}$-exchanged zeolite A treated at $250^{\circ}C$ with 0.15 torr of Cs vapor have been determined by single-crystal X-ray diffraction technique in the cubic space group $Pm{\bar\3m$ at $21(1)^{\circ}C$ (a = 12.344(2) $\AA$ and 12.304(2) $\AA$). Their structures were refined to the final error indices, R (weighted), of 0.091 with 180 reflections, and 0.093 with 179 reflections, respectively, for which I > $3\sigma(I).$ In each structure, Cs species are found at four different crystallographic sites: 3 $Cs^{+}$ ions per unit cell are located at 8-ring centers, ca. 6.81∼7.14 $Cs^{+}$ ions are found on opposite 6-rings on threefold axes in the large cavity, ca. 1.93∼2.03 $Cs^{+}$ ions are found on threefold axes in the sodalite unit, and 0.53∼0.66 $Cs^{+}$ ions lie on opposite 4-rings. Also, ca. 4.12∼4.27 Ag atoms are located near the center of the large cavity. In these structures, excess cesium atoms in a unit cell are associated with other $Cs^{+}$ ions on a single threefold axis to form the linear cationic cluster $(Cs_4)^{3+}$. By blocking 8-rings, the $Cs^{+}$ ions may have prevented silver atoms from migrating out of the structure. The Ag atoms are likely to have formed hexasilver clusters at the centers of the large cavities. Each hexasilver cluster is stabilized by coordination to 14 $Cs^{+}$ ions.

• The Journal of Fisheries Business Administration
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• v.15 no.1
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• pp.58-80
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• 1984

The classification of islands is prerequisite for establishing a development policy to vitalize many-sided function of islands. We try to classify the 440 inhabited islands which exist in Jeon-Nam area and Kyong-Nam area by means of PCA. PCA begins with making correlation matrix of orignal variables. From this matrix we can comprehend the rough relationships between two variables. Next, we look for the eigenvalues which are roots of characteristic equation of correlation matrix. The number of eigenvalues is equal to that of original variables. We choose the largest eigenvalue λ$_1$among them and then look for the eigenvector of correlation matrix corresponding to the largest eigenvalue. Linear combination of eigenvector obtained above and original variables is namely first Principal Component (PC). Using an eigenvalue criterion(λ$\geq$ 1), we choose 3 PCs in Jeon-Nam area and 2 PCs in Kyong-Nam area. But we decide to consider only two PCs in both areas to faciliate a comparative analysis. Now, loss of information is 31.7% in Jeon-Nam area and 26.64% in Kyong-Nam area. PCs extracted by preceding procedure have characteristics as follows. The first PC relates to aggregate size of islands in case of both areas. The second PC relates to income per household, factors of agricultural production and factors of fisheries production in Jeon-Nam area, but in Kyong-Nam area it means distance from island and income per household. A classification of islands can be attained by plotting component scores of each island in graph used two PCs as axes and grouping similiar islands. 6 groups are formed in Jeon-Nam area and 5 groups in Kyong-Nam area. The result of this study in kyong-Nam area accords with prior result of study.