• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.105-110
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• 1990

In this paper, a compliance robot control algorithm using a PID adaptive controller is proposed. The compliance robot is suitable for the tasks in contact with environment, such as assembly operation or surface processing. A hybrid robot control method can control force and position simultaneously and two independant feedback closed loops are formed in this method. Because the compliance robot is operated in contact with environment, it is very difficult to obtain linear model of dynamics for this robot. In order to overcome this difficulty, a PID adaptive controller independant of robot dynamics is applied to the compliance robot. The proposed control algorithm for the compliance robot was analyzed and conformed by simulating the surface processing task by a two-joint robot.

• Journal of the Korean Society of Safety
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• v.39 no.3
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• pp.1-6
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• 2024

Polyester round slings are widely utilized in various work environments due to their lightweight, flexible nature and smooth surface that minimizes the risk of cargo abrasion or damage. However, specific guidelines intended to protect round slings from the damage caused by the sharp edges of cargo, thus preventing accidents in case the cargo falls, are lacking in South Korea. In this study, a comparative analysis was conducted on the regulations and guidelines related to round slings in South Korea and the United States. Further, experiments were carried out to determine the relationship between round slings and lifting accessories. The research identified specific shortcomings in the user manuals provided by round-sling manufacturers. Accordingly, certain measures were proposed for enhancing the operational safety of round slings: 1) establish criteria for edge protection of polyester round slings and 2) recommend standardization of the information provided by manufacturers. As developing new standards is a time-consuming task, this study proposes a method for enhancing the operational safety of round slings in the short term by introducing established safety standards from the United States-where safety has been proven over a considerable period of time-into the domestic context. In addition, it is recommended that edge criteria be permanently printed on the labels of round slings.

• Restorative Dentistry and Endodontics
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• v.36 no.6
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• pp.515-520
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• 2011

One of the most challenging task in closing anterior diastema is avoiding "black triangle" between the teeth. This paper reports a case that the closure of diastema in anterior teeth could be successfully accomplished using direct adhesive restorations and gingival recontouring. The traditional technique using Mylar strip was modified to increase the emergence profile with natural contours at the gingival-tooth interface. Mylar strip was extended out of the sulcus by approximately 1 mm high from the gingival margin, and a small cotton pellet was used to provide the emergence contour. This modified approach is acceptable for the clinical situation.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.5
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• pp.757-763
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• 2020

City gas buried pipes are managed by corrosion protection to prevent corrosion. In the case of the press-in section, the double pipe and the main pipe may cause corrosion under the influence of stray current, which can shorten the life of the pipes. In addition, if the insulator is filled in the press-in section, the press-in section itself is a single structure, and can be directly affected by external impact, and when the surrounding ground subsidence occurs, the stress may be concentrated, resulting in serious consequences. In this study, a serration-type shock absorber in the form of a sliding support was proposed as a new buried double piping construction method using EPS. The serration-type shock absorber can contribute to the improvement of the integrity of the buried double piping, as it can utilize the gas piping's own ductility and stress distribution characteristics with proper anti-corrosion management and shock-absorbing material properties by preventing contact inside the buried double pipe. However, for application to ground piping, there remains a task to supplement the vulnerability against fire due to the characteristics of EPS materials.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.55-62
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• 1999

In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. In this paper, to bring under robust ard accurate control of auto-equipnent systems which disturbance, parameter alteration of system, uncertainty ard so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the learning architecture to compute inverse kinematic coordinates transfonnations in the manirclator of auto-equipnent systems is developed ard the example that DNP can be used is explained The architocture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simllations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.he DNP.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.89-100
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• 2016

Given the unpredictability of the space environment, satellite communications are manually performed by exchanging telecommands and telemetry. Ground support for orbiting satellites is given only during limited periods of ground antenna visibility, which can result in conflicts when multiple satellites are present. This problem can be regarded as a scheduling problem of allocating antenna support (task) to limited visibility (resource). To mitigate unforeseen errors and costs associated with manual scheduling and mission planning, we propose a novel method based on a genetic algorithm to solve the ground support problem of multiple satellites and antennae with visibility conflicts. Numerous scheduling parameters, including user priority, emergency, profit, contact interval, support time, remaining resource, are considered to provide maximum benefit to users and real applications. The modeling and formulae are developed in accordance with the characteristics of satellite communication. To validate the proposed algorithm, 20 satellites and 3 ground antennae in the Korean peninsula are assumed and modeled using the satellite tool kit (STK). The proposed algorithm is applied to two operation modes: (i) telemetry, tracking, and command and (ii) payload. The results of the present study show near-optimal scheduling in both operation modes and demonstrate the applicability of the proposed algorithm to actual mission control systems.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.1
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• pp.69-75
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• 2012

Purpose : The study was designed to investigate analysis of kinematics of lower extremity in healthy adults during walking with external loads on trunk. Methods : Fifteen healthy adults were recruited and The subjects provided written and informed consent prior to participation. They walked on a ten-meter walkway at a self-selected pace with loads of 0, 5, 10, and 15kg. They completed three trials in each condition and kinematic changes were measured. A three-dimensional motion analysis system was used to analyze lower extremity kinematic data. The data collected by each way of walking task and analyzed by One-way ANOVA. Results : There were significant differences in hip and knee joint on saggittal plane at initial contact and preswing, and significant differences in ankle joint on transverse plane at preswing. Conclusion : These findings revealed that increased external loads were changed joint angles and influenced postural strategies because of kinematic mechanism and future studies is recommended to find out prevention from damage of activities of daily living.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.11
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• pp.5527-5545
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• 2019

Through-wall ultra-wide band (UWB) radar has been considered as one of the preferred and non-contact technologies for the targets detection owing to the better time resolution and stronger penetration. The high time resolution is a result of a larger of bandwidth of the employed UWB pulses from the radar system, which is a useful tool to separate multiple targets in complex environment. The article emphasised on human subject localization and detection. Human subject usually can be detected via extracting the weak respiratory signals of human subjects remotely. Meanwhile, the range between the detection object and radar is also acquired from the 2D range-frequency matrix. However, it is a challenging task to extract human respiratory signals owing to the low signal to clutter ratio. To improve the feasibility of human respiratory signals detection, a new method is developed via analysing the standard deviation based kurtosis of the collected pulses, which are modulated by human respiratory movements in slow time. The range between radar and the detection target is estimated using joint time-frequency analysis (JTFA) of the analysed characteristics, which provides a novel preliminary signature for life detection. The breathing rates are obtained using the proposed accumulation method in time and frequency domain, respectively. The proposed method is validated and proved numerically and experimentally.

• Advances in concrete construction
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• v.5 no.3
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• pp.221-240
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• 2017

The modeling of the mechanical behavior of quasi-brittle materials is still a challenge task, mainly in failure processes when fracture and plasticity phenomena become important actors in dissipative processes which occur in materials like concrete, as instance. Many homogenization-based approaches have been proposed to deal with heterogeneous materials in the last years. In this context, a computational homogenization modeling for concrete is presented in this work using the concept of Representative Volume Element (RVE). The material is considered as a three-phase material consisting of interface zone (ITZ), matrix and inclusions-each constituent modeled by an independent constitutive model. The Representative Volume Element (RVE) consists of inclusions idealized as circular shapes symmetrically and nonsymmetrically placed into the specimen. The interface zone is modeled by means of cohesive contact finite elements. The inclusion is modeled as linear elastic and matrix region is considered as elastoplastic material. A set of examples is presented in order to show the potentialities and limitations of the proposed modeling. The consideration of the fracture processes in the ITZ is fundamental to capture complex macroscopic characteristics of the material using simple constitutive models at mesoscopic level.

• Journal of Biosystems Engineering
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• v.33 no.1
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• pp.14-20
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• 2008

An agricultural unmanned helicopter was suggested for an alternative to current pesticide application methods to solve such problems as high cost, low efficiency, shirking task and unsafe work. To pursuit this trend, researches on the development of unmanned helicopters have been accelerated in Korea as well. In this research, a guide type centrifugal clutch that plays an important role in the unmanned helicopter was studied. Theoretical analyses and experimental tests were conducted for designing an optimal clutches. Main design factors of the guide type centrifugal clutch were found to be spring constant, free length of spring, mass of friction sector, contact area, allowable pressure, number of friction sector, friction coefficient, radius of drum, and clutch arrangement. And these design factors could be the functions of engaging engine speed and desired power transfer capacity. The result of the single clutch test showed the power transfer capacity of 14.1 PS at 5,800 rpm and the result of the dual clutch test showed that the capacity of 17.7 PS at 5,600 rpm. These experimental results agreed well the theoretical simulations.