• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Journal of the Optical Society of Korea
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• v.13 no.4
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• pp.445-450
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• 2009

Fingerprint recognition using a joint transform correlator (JTC) is the most well-known technology among optical fingerprint recognition methods. The JTC method optically compares the reference fingerprint image with the sample fingerprint image then examines match or non-match by acquiring a correlation peak. In contrast to the JTC method, this paper presents a new method to examine fingerprint recognition by producing a computer generated hologram (CGH) of those two fingerprint images and directly comparing them. As a result, we present some parameters to show that fingerprint recognition capability of the CGH direct comparison method is superior to that of the JTC method.

• Tunnel and Underground Space
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• v.5 no.1
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• pp.1-10
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• 1995

The behavior of a jointed rock mass depends mainly on the geometrical and mechanical properties of joints. The failure mode of a rock mass and kinematics of rock blocks are governed by the orientation, spacing, and persistence of joints. The mechanical properties such as dilation angle, shear strength, maximum closure, strength of asperities and friction coeffiient play important roles on the stability and deformation of the rock mass. The normal and shear behaviour of a joint are coupled due to dilation, and the joint deformation depends also on the boundary conditions such as stiffness conditons. In this paper, the joint constitutive law including the dilatant behaviour of a joint is numerically modelled using the edge-to-edge contact logic in distinct element method. Also, presented is the method to quantify the input parameters used in the joint law. The results from uniaxial compression and direct shear tests using the numeical model of the single joint were compared to the analytic results from them. The boundary effect on the behaviour of a joint is verified by comparing the results of direct shear test under constant stress boundary condition with those under constant stiffness boundary condition. The numerical model developed is applied to a complex jointed rock mass to examine its performance and to evaluate the effect of joint dilation on tunnel stability.

• Steel and Composite Structures
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• v.31 no.1
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• pp.99-112
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• 2019

Semi-rigid joints have been widely studied in literature in recent decades because they affect greatly the structural response of frames. In literature, the behavior of semi-rigid joints is commonly assumed to be identical under positive and negative moments which are obviously incorrect in many cases where joint details such as bolt arrangement or placement of haunch are vertically asymmetrical. This paper evaluates two common types of steel frames with asymmetrical beam-to-column joints by Direct Analysis allowing for plasticity. A refined design method of steel frames using a proposed simple forth order curved-quartic element with an integrated joint model allowing for asymmetrical geometric joint properties is presented. Furthermore, the ultimate behavior of six types of asymmetrical end-plate connections under positive and negative moment is examined by the Finite Element Method (FEM). The FEM results are further applied to the proposed design method with the curved-quartic element for Direct Analysis of two types of steel frames under dominant gravity or wind load. The ultimate frame behavior under the two different scenarios are examined with respect to their failure modes and considerably different structural performances of the frames were observed when compared with the identical frames designed with the traditional method where symmetrical joints characteristics were assumed. The finding of this research contributes to the design of steel frames as their asymmetrical beam-to-column joints lead to different frame behavior when under positive and negative moment and this aspect should be incorporated in the design and analysis of steel frames. This consideration of asymmetrical joint behavior is recommended to be highlighted in future design codes.

• Tunnel and Underground Space
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• v.29 no.5
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• pp.292-304
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• 2019

Limestone joint surfaces with smooth roughness were experimented by means of both the individual direct shear tests based on the KSRM standard test method and the multi-stage direct shear test to apply the stepwise vertical stresses. Changes in the roughness of the joint surfaces before and after the shear tests were examined and the difference between the two kinds of tests mentioned above was analyzed. In both tests, the shear resistance increased as the joint roughness increased and the maximum shear stress required for shearing the joint surface increased as the vertical stress increased. The peak friction angle obtained by the multi-stage direct shear tests was only 63% of that obtained by the individual direct shear tests. In the multi-stage direct shear test, the initial engagement of the concave-convex parts changes frequently during stepwise shearing process, which deforms the original roughness of a joint surface. Accordingly, the individual direct shear test is thought to be more effective when obtaining the friction angle of the rock joint surfaces. Limestone joint surfaces with smooth roughness of JRC value 4~8 were found to have peak friction angle of $47^{\circ}$, residual friction angle of $38^{\circ}$ and cohesion of 37 kPa.

• Journal of Information Display
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• v.2 no.4
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• pp.34-38
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• 2001

We suggested new PDP packaging technology using the direct joint method, which does not need an exhausting hole and tube. The advantages of this method are simple process, short process time and time panel package. To packaging, we drew the seal line of glass frit by dispenser followed by forming the lump, which provide pumping-out path during the packaging process. And, we have performed a pretreatment of glass frit to reduce the out-gases. After which, both front and rear glass plates were aligned and loaded into vacuum packaging chamber. The 4-inch monochrome AC-PDP was successfully packaged and fully emitted with brightness of 1000 $cd/m^2$. Also, glass frit properties for pretreatment condition was investigated by AES and SEM analyses.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.260-265
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• 1992

This paper presents an adaptive control scheme for flexible joint robot manipulators. This control scheme is based on the Lyapunov direct method with the arm energy-based Lyapunov function. The proposed adaptive control scheme uses only the position and velocity feedback of link and motor shaft. The adaptive control system of flexible joint robots is asymptotically stable regardless of the joint flexibility value. Therefore, the assumption of weak joint ealsticity is not needed. Also, joint flexibility value is unknown. Simulation results are presented to show the feasibility of the proposed adaptive control scheme.

• The Journal of Information Systems
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• v.18 no.3
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• pp.89-110
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• 2009

In today's e-business environment, it is important to make decisions cooperatively between companies on a supply chain for their business success. This research analyzes empirically the influences of organizational factors on joint decision making and the ones of the joint decision making on business performance. We collected 188 corporate-level data through a Web survey and tested them statistically through PLS method based on a structured equation modeling. The results showed that (i) partner's knowledge creation capabilities, inter-organizational process modularity, and inter-organizational trust had direct effects on joint decision making, (ii) joint decision making and electronic business interfaces bad direct impacts on business performance. Contrary to our expectation, however, the moderating effects of electronic business interfaces between corporations on the relationship between joint decision making and business performance was not significant. On the basis of these results, we discussed theoretical and managerial implications of the findings. The results are expected to provide useful perspectives when companies establish strategies to improve capabilities of cooperative decision making and business performance.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2006.05a
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• pp.9-13
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• 2006

The purpose of this study was to introduce the applied care of PC beam-column interior joint with splice type rebar. In this case, although the erection time of the introduced case was a little bit higher than that of general precast concrete method, this method was more effective than general precast concrete method in aspect of direct cost and the number of column joint. Therefore, this method could be adopted in the construction of the commercial and residential building in the future.

• Journal of the Korea Institute of Building Construction
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• v.5 no.1 s.15
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• pp.105-109
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• 2005

Classified with concrete as placing ways - direct ways, sheath way - and placing directing flange direction, web direction - is analyzed section and strength of hardened concrete. The results of this study is belows the more fluid of concrete, the more useful to top-down method. To minimize the voids of the reverse placement joints, It is more effect to use the sheath method than direct method in concrete placement. If the joint face is a plane, it is impossible to extract the air bubbles which caused voids, so we should consider about this, and decide to select which type of joints.