• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• The Journal of Korean Academy of Prosthodontics
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• v.23 no.1
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• pp.39-59
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• 1985

The purpose of this study was to investigate how gap distances of 0.13mm, 0.15mm, 0.20mm, and 0.30mm affects solder joint strength from gold alloys and nickel-chromium base alloys and to examine the composition of solder gold, the solder joint of gold alloys and nickel-chromium base alloys. The tensile test specimens were prepared in the split stainless steel mold with a half dumbbell shape 2.5mm in diameter and l2mm in length. 6 pairs of specimens of each gap distance group of gold alloys and nickel-chromium base alloys were made and 48 pairs of all specimens were soldered with solder gold of 666 fineness. All soldered specimens were machined to a uniform diameter and then a tensile load was applied at a cross-head speed of 0.10mm/min using Instron Universal Testing Machine, Model 1115. The fractured specimens at solder gold of solder joint fracture with each gap distance of 0.13mm, 0.15mm, 0.20mm, and 0.30mm were examined under the Scanning Electron Microscope, JSM-35c and the composition of solder gold, the solder joint of gold alloys and nickel-chromium base alloys was analyzed by Electron Probe Micro Analyzer. The results of this study were obtained as follows: 1. In case of soldering of gold alloys, the tensile strength between gold alloys showed $37.33{\pm}2.52kg/mm^2$ at 0.13, $39.14{\pm}3.35kg/mm^2$ at 0.15mm, $43.76{\pm}2.97kg/mm^2$ at 0.20mm, and $49.18{\pm}4.60kg/mm^2$ at 0.30mm. There was statistically significant difference at each gap distance, and so the greater increase of gap distance showed the greater tensile strength. 2. In case of soldering of nickel-chromium base alloys, the tensile strength between nickel-chromium base alloys showed $34.84{\pm}4.26kg/mm^2$ at 0.13mm, $37.25{\pm}2.49kg/mm^2$ at 0.15mm, $42.91{\pm}4.32kg/mm^2$ at 0.20mm, and $46.93{\pm}4.21kg/mm^2$ at 0.30mm. There was not statistically significant difference only between 0.13mm and 0.15mm and bet ween 0.20 mm and 0.30mm, but generally the greater increase of gap distance showed the greater tensile strength. 3. The greater increase of gap distance shoed less porosities in solder gold at solder joint fracture. 4. In solder gold Au, Cu, Ag, Zn, and Sn were composed and Au and Cu were mostly distributed uniformly. 5. In solder joints of solder gold and gold alloys Au, Cu, Ag, Zn, and Sn were composed in solder gold and Au, Cu, Ag, Pt, and Pd were composed in gold alloys. Au and Cu of solder gold and gold alloys were mostly distributed uniformly and the diffusion of other elements except Pt and Pd around the solder joint was not almost found. In solder joints of solder gold and nickel-chromium base alloys Au, Cu, Ag, Zn, and Sn were composed in solder gold and Ni, Cr, and Al were composed in nickel-chromium base alloys. Au and Cu of solder gold and Ni and Cr of nickel-chromium base alloys were mostly distributed uniformly and the diffusion of other elements except Cr around the solder joint was not almost found.

• Journal of Legislation Research
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• no.55
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• pp.167-191
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• 2018

Despite international cooperation, piracy has not yet been eradicated in major waters around the world. From the perspective of South Korea, which is absolutely dependent on exporting and importing, it's a lifeline for us to secure safe maritime traffic so it is a situation we have to be vigilant about maritime safety and security. However, criminal law on punishment of piracy is still insufficient and legislative consideration is needed. Since pirates are regarded as enemies of humankind, all nations can punish pirates regardless of their damage. The international community has done its best in cooperation from hundreds of years ago to secure maritime trade through this universal jurisdiction and marine transportation in international waters which is an essential space for military activities, particularly in the Gulf of Aden, the advanced nations have dispatched fleets to combat maritime security threats through joint operations to crack down on Somali pirates. Even if universal jurisdiction is allowed for piracy in accordance with the International Convention on Human Rights and the United Nations Convention on the Law of the Sea, it is difficult to effectively deal with piracy if it not fully complied with a domestic legal system for this purpose or is stipulated as different from international regulations. In other words, universal jurisdiction corresponding to international norms and constitution of piracy should be defined in criminal law in accordance with criminal statutory law. If the punishment of pirates by unreasonably applying our criminal law without prejudice to such work can lead to diplomatic disputes in violation of the Universal Declaration of Human Rights or other international norms. In South Korea, there is no provision to explicitly prescribe piracy as a crime, but punish similar acts like piracy in criminal law and maritime safety law. However, there is a limit to effective piracy punishment because we are not fully involved in internationally accepted piracy. In this study, we critically examine the proposals of the constitutional elements of piracy, propose the legislative direction, and insist on the introduction of globalism to pirate sins.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.2030-2039
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• 2001

Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1497-1498
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• 2011

본 논문에서는 -50[$^{\circ}C$]환경에서 케이블 접속함의 극한지역 적용가능 여부를 확인하기 위해 접속함의 주재료인 Etylene Propylene Rubbe(EPR), Silicone Rubber(SR) 및 Epoxy의 물성 및 특성 평가 시험을 진행하였다. 실험방법은 DSC(Differential Scanning Calorimetry)를 사용하여 10[$^{\circ}C$]/min의 승온속도로 각각의 온도구간에서 샘플들의 Tg(Glass Transition Temperature)를 측정하였고, UTM(Universal Testing Machine)으로 -50[$^{\circ}C$]~ 상온에서 인장강도 및 신율을 측정하였다. 본 연구를 동하여, 극한지역의 전력계통 연계 안정성 및 신뢰성 향상을 위한 기초적인 Data-base를 구축했다.

• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Phonetics and Speech Sciences
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• v.7 no.1
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• pp.3-10
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• 2015

In this paper, different frequency scales in cepstral feature extraction are evaluated for the text-independent speaker recognition. To this end, mel-frequency cepstral coefficients (MFCCs), linear frequency cepstral coefficients (LFCCs), and bilinear warped frequency cepstral coefficients (BWFCCs) are applied to the speaker recognition experiment. In addition, the spectro-temporal features extracted by the cepstral-time matrix (CTM) are examined as an alternative to the delta and delta-delta features. Experiments on the NIST speaker recognition evaluation (SRE) 2004 task are carried out using the Gaussian mixture model-universal background model (GMM-UBM) method and the joint factor analysis (JFA) method, both based on the ALIZE 3.0 toolkit. Experimental results using both the methods show that BWFCC with appropriate warping factor yields better performance than MFCC and LFCC. It is also shown that the feature set including the spectro-temporal information based on the CTM outperforms the conventional feature set including the delta and delta-delta features.

• The Korean Society of Law and Medicine
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• v.7 no.1
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• pp.323-386
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• 2006

A combination of information technology and medical care has given rise to a new type of medicine, i.e., telemedicine. Broadly defined, telemedicine is the transfer of electronic medical data from one location to another. Both at home and abroad, telemedicine has come to success in establishing appropriate equipment and solutions for such non-conventional medicine. Sooner or later, telemedicine is believed to find itself as one of the universal treatments. In order to facilitate the full-fledged development of telemedicine, a number of legal and institutional problems have to be settled. In Korea, the Medical Act was amended to include such provisions as telemedicine, electronic medical records, electronic prescriptions, etc. and the Act came into force on March 31, 2002. Telemedicine is in common with the conventional medicine in that a physician treats a patient. However, telemedicine is basically differentiated in the followings: - The offer and acceptance of treatment and medication are usually made on-line; - Telemedicine is inherently dangerous because a physician cannot meet face-to-face with a patient; and - Joint and several liability is borne by all the physicians involved in a telemedical consultation. As a result, telemedicine is vulnerable in nature to medical malpractice. Accordingly, there must be some new theories and arguments in the formation of contract and torts. The discussion on the civil liability covers the above-mentioned issues, and would give an insight or guidelines in the concerted operation of provisions with respect to telemedicine. This study delves into the civil liability of physicians involved in telemedical consultations and treatments based upon the conventional malpractice theory.

• Ocean and Polar Research
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• v.29 no.2
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• pp.165-185
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• 2007

Exploitation of transboundary oil and gas on continental shelves may cause conflicts between or among States concerned due to the physical character of these resources. As oil and gas are fluid, exploitation of such a transboundary oil field by one side may affect other parties in other jurisdictions. However, there is no universal international legal regime on the issue. This article tries to find the international legal regime governing such resources through analysing UN Assembly's resolutions, UNCLOS, international judicial opinions, bilateral agreements and ILC activities relating to transboundary natural resources. As a result of this study, it seems that each coastal State has an inherent sovereign right on its part of the transboundary oil and gas deposit, but this right is not unlimited. Each state involved with the deposit has a duty to cooperate with other states-through information exchange, consultation, and negotiation. Furthermore, the state has an obligation to refrain from unilateral action when there is a possibility of causing irrevocable damage to the interests of the other states.