• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.1
• /
• pp.70-75
• /
• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• International Journal of Precision Engineering and Manufacturing
• /
• v.6 no.3
• /
• pp.19-23
• /
• 2005

To minimize the weld defect in manufacturing of the welded tube by using $CO_2$ laser, the monitoring of the welding quality and the seam tracking along the butt-joint lengthwise to the tube axis are studied. The longitudinal butt-joint is shaped from $60kgf/mm^2$ grade steel sheet by 2 roll bending method, and welded by the $CO_2$ laser welding system equipped with the seam tracker and plasma sensor. The laser welded tube has the thickness of 1.5mm, diameter of 105.4mm and length of 2000mm. The precise positioning of the laser beam on the butt-joint to be assembled is obtained within $200{\mu}m$ by the laser vision sensor. The artificial defects in the butt-joint are well observed by the signal of plasma intensity measured from the plasma sensor of UV wavelength range within 400nm. The developed $CO_2$ laser tube welding system has the function of the precision seam tracking and the real-time monitoring of the welding quality. In conclusion, the laser welded tube can be used for manufacturing of automobile chassis and components after hydro-forming.

• Tunnel and Underground Space
• /
• v.4 no.3
• /
• pp.274-286
• /
• 1994

Direct shear tests were on ducted in a laboratory setting in order to investigate the shear strength and deformation behavior of rock joints. Also, the characteristics of acoustic emissions (AE) during shearing of rock joints were studied. The artificial rock joints were created by splitting the intact blocks of Hwangdeung granites and Iksan marbles. Joint roughness profiles were measured by a profile gage and then digitized by Image analyzer. Roughness profile indices(Rp) of the joints were calculated with these digitized data. Peak shear strength, residual shear strength, shear stiffness and maximum acoustic emission(AE) rate were investigated with joint roughness. The peak shear strenght, the residual shear strength and the shear stiffness were increased as roughness popfile index or normal stress increased in the shear tests of granites. In the tests of marble samples, the shear deformation characteristics were not directly affected by joint roughness. As the result of two directional shear tests, the shear characteristics were varied with shear direction. AE count rates were measured during the shear deformation and the AE signals in several stages of the deformation were analyzed in a frequency domain. The AE rate peaks coincided with the stress drops during the shear deformation of joint. The dominant frequencies of the AE signals were in the vicinity of 100 kHz fo rgranite sample and 900 kHz for marble samples. The distribution of amplitude was dispersed with increasing normal stress.

• Journal of the Korean Geotechnical Society
• /
• v.16 no.6
• /
• pp.35-41
• /
• 2000

Residual stress is defined as a minimum stress with a large displacement of specimens and the residual stress after peak shear stress appears with displacement volume but there is no provision to select the residual stress. In the previous study, residual stress was recorded when the change of shear load is small in the condition of the strain more than 15%. But, in this study, hyperbolic function((No Abstract.see full/text), b=experimental constant) of soil test is adapted to joint of rock and the propriety is investigated. In a landslide and landsliding of artificial slope, wedge failure of tunnel with a large displacement, tests are simulated from peak stress to residual stress for safety analysis. But now. direct shear stress and triaxial compressive tests are usually performed to find out characteristics of shear stress about joint. Although these tests get a small displacement, that data of peak stress and residual stress are used for safety analysis. In this study, we tried to determine failure criteria for joints of rock using ring shear test machine. The residual stress following shear behavior was determined by the result of ring shear test and direct shear test. In conclusion, after comparing the results of the two test, we found that cohesion(c) and internal friction angle(ø) of ring shear test are 30% and 22% respectively of those of the direct shear test.

• CELLMED
• /
• v.5 no.2
• /
• pp.10.1-10.3
• /
• 2015

Arthritis is a major cause of joint pain, stiffness, and subsequent disability which adversely affects quality of life. Seriously, it can lead to long term social and psychological effects including loss of independence, depression, and anxiety. Arthritis is usually treated with joint replacement surgery or medications. However, the artificial joint is temporary and pharmacological measures have side effects, such as addiction or hypersensitivity. Thus, orthotics has been developed to improve arthritis as a nonpharmacological measure. The increased regional load across compartments of articular cartilage is an important factor in the cause of the arthritis. Mubal$^{(R)}$, a clinical shoe insole, has a sliding function to help people to walk straight and realign the body balance. The slide of Mubal$^{(R)}$ reduces the knee joint loading in patients with arthritis. In addition, pumping function of Mubal$^{(R)}$ can mitigate arthritis by stretching the squashed nerves from lumbar to cervical vertebral and actively circulating blood of pelvic limb. In addition, Mubal$^{(R)}$ could help to stimulate the growth plate. Therefore, Mubal$^{(R)}$ can be used for the child with short stature as well as patients with arthritis.

• Smart Structures and Systems
• /
• v.32 no.5
• /
• pp.309-318
• /
• 2023

The appropriate maintenance of highway roads is critical for the safe operation of road networks and conserves maintenance costs. Multiple methods have been developed to investigate the surface of roads for various types of cracks and potholes, among other damage. Like road surface damage, the condition of expansion joints in concrete pavement is important to avoid unexpected hazardous situations. Thus, in this study, a new system is proposed for autonomous expansion joint monitoring using a vision-based system. The system consists of the following three key parts: (1) a camera-mounted vehicle, (2) indication marks on the expansion joints, and (3) a deep learning-based automatic evaluation algorithm. With paired marks indicating the expansion joints in a concrete pavement, they can be automatically detected. An inspection vehicle is equipped with an action camera that acquires images of the expansion joints in the road. You Only Look Once (YOLO) automatically detects the expansion joints with indication marks, which has a performance accuracy of 95%. The width of the detected expansion joint is calculated using an image processing algorithm. Based on the calculated width, the expansion joint is classified into the following two types: normal and dangerous. The obtained results demonstrate that the proposed system is very efficient in terms of speed and accuracy.

• Smart Structures and Systems
• /
• v.21 no.4
• /
• pp.521-535
• /
• 2018

The main purpose of this paper is to predict missing absolute out-of-plane displacements and failure limits of infill walls by artificial neural network (ANN) models. For this purpose, two shake table experiments are performed. These experiments are conducted on a 1:1 scale one-bay one-story reinforced concrete frame (RCF) with an infill wall. One of the experimental models is composed of unreinforced brick model (URB) enclosures with an RCF and other is composed of an infill wall with bed joint reinforcement (BJR) enclosures with an RCF. An artificial earthquake load is applied with four acceleration levels to the URB model and with five acceleration levels to the BJR model. After a certain acceleration level, the accelerometers are detached from the wall to prevent damage to them. The removal of these instruments results in missing data. The missing absolute maximum out-of-plane displacements are predicted with ANN models. Failure of the infill wall in the out-of-plane direction is also predicted at the 0.79 g acceleration level. An accuracy of 99% is obtained for the available data. In addition, a benchmark analysis with multiple regression is performed. This study validates that the ANN-based procedure estimates missing experimental data more accurately than multiple regression models.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.8 s.197
• /
• pp.122-129
• /
• 2007

To evaluate the effect of artificial disc implantation and fusion on the biomechanics of adjacent motion segment, a nonlinear three-dimensional finite element model of whole lumbar spine (L1-S1) was developed. Biomechanical analysis was performed for two different types of artificial disc, ProDisc and SB $Charit{\acute{e}}$ III model, inserted at L4-L5 level and these results were also compared with fusion case. Angular motion of vertebral body, forces on the spinal ligaments and facet joint under sagittal plane loading with a compressive preload of 150 N at a nonlinear three-dimensional finite element model of Ll-S1 were compared. The implant did not significantly alter the kinematics of the motion segment adjacent to the instrumented level. However, $Charit{\acute{e}}$ III model tend to decrease its motion on the adjacent levels, especially in extension motion. Contrast to motion and ligament force changes, facet contact forces were increased in the adjacent levels as well as implanted level for constrained instantaneous center of rotation model, i.e. ProDisc model.

• Tunnel and Underground Space
• /
• v.10 no.1
• /
• pp.45-58
• /
• 2000

Cyclic shear test system, which is capable of measuring flow rate inside rock joint, was established to investigate the hydraulic behavior of rough rock joints under various loading conditions. Laboratory hydraulic tests during compression and shear were conducted for artificial rough rock joints. Prior to tests, aperture characteristics of specimens were examined by measuring surface topography. Permeability changes under compression were well approximated with several hydraulic model. Hydraulic behavior conformed to dilation characteristics in the first stage, and permeability increased with increase of dilation. As the shear displacement progressed, flow rate became somewhat constant due to gouge production and offset of apertures. Hydraulic behavior under cyclic shear loading was also influenced by the degradation of asperities and gouge production. In addition. the relation between hydraulic aperture and mechanical aperture under compression and shear loading was investigated and compared.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.8 no.3
• /
• pp.177-185
• /
• 2014

In this study, the exoskeleton orthosis for the assistance of dorsiflexion torque in ankle joint to prevent foot-drop was developed. It was consist of three part; 1) the power part using artificial pneumatic actuator, 2) wearing part of ankle and knee joints to fix the orthosis, and 3) control part to detect the gait phase using physiological signal. The dorsiflexion torque was generated by the artificial pneumatic actuator connected with wearing part between ankle and knee joint. The accurate timing to assist dorsiflexion torque is made up of physiological signal in foot sole part that detect the gait phase, that is, stance and swing phase in each foot. We conduct the experiment to investigate the effect of exoskeleton orthosis to the 7 elderly people and 10 healthy people. The result showed that the muscular activities in tibialis anterior muscle were reduced because of the assistance of dorsiflexion torque in ankle joint using the exoskeleton orthosis.