• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• 한국공간정보시스템학회:학술대회논문집
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• 2004.05a
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• pp.75-82
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• 2004

Many researcher's efforts have made a significant advancement of space frame structure with various portion, and it becomes the most outsanding one of space structures. However, with the characteristics of thin and long term of spacing, the unstable behavior of space structure is shown by initial imperfection, erection procedure or joint, especially space frame structure represents more. This kind of unstable problem could not be set up clearly and there is a huge difference between theory and experiment. Moreover, the discrete structure such as space frame has more complex solution, this it is not easy to derive the formulation of design about space structure. In this space frame structure, the character of rise-span ratio or load mode is represented by the instability of space frame structure with initial imperfection, and snap-through or bifurcation might be the main phenomenon. Therefore, in this study, space frame structure which has a lot of aesthetic effect and profitable for large space covering single layer is dealt. And because that the unstable behavior due to variation of inner force resistance in the elastic range is very important collapse mechanism, I would like to investigate unstable character as a nonlinear behavior with a geometric nonlinear. In order to study the instability. I derive tangent stiffness matrix using finite element method and with displacement incremental method perform nonlinear analysis of unit space structure, star dome and 3-ring star dome considering rise-span $ratio(\mu}$ and load $ratio(R_L)$ for analyzing unstable phenomenon.

• Laser Solutions
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• v.10 no.3
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• pp.25-32
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• 2007

The effect of welding speed on the weldability, microstructures, hardness, tensile property of Nd:YAG laser welding joint in 600MPa grade precipitation hardening high strength steel was investigated. A shielding gas was not used, and bead-on-plate welding was performed using various welding speeds at a power of 3.5kW. Porosity in the joints occurred at 1.8m/min, but were not observed over the welding speed of 2.1m/min. However, spatter occurred over the welding speed of 6.6m/min. The hardness was the highest at heat affected zone(HAZ) near fusion zone(FZ), and was decreased on approaching to the base metal. The maximum hardness increased with increasing welding speed. The microstructure of FZ was composed of coarse grain boundary ferrite and bainite(upper) but the HAZ near the FZ contained bainite(Lower) and fine ferrite at a low welding speed. With increasing welding speed, ferrite at the FZ and the HAZ became finely and upper binite changed to lower bainite. In a perpendicular tensile test to the weld line, all specimens were fractured at the base metal, and the tensile strength and the yield strength of joints was equal to those of raw material. Elongation was found to be lower than that of the raw material.

• Journal of the Korean Society of Propulsion Engineers
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• v.1 no.2
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• pp.12-21
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• 1997

Nowadays, non-pollution energy sources have been strongly needed because of the exhaustion of fossil fuels and serious environmental problems. Because wind energy can be enormously obtained from natural atmosphere, this type of energy has lots of advantages in a economic and pollution point of view. This study has established the aerodynamic and structural design procedure of the rotor blade with an appropriate aerodynamic performance and structural strength for the 500㎾ medium class wind turbine system. The aerodynamic configuration of the rotor blade was determined by considering the wind condition in the typical local operation region, and based on this configuration aerodynamic performance analysis was performed. The rotor blade has the shell-spar structure based on glass/epoxy composite material and is composed of shank including metal joint parts and blade. Structural design was done by the developed design program in this study and structural analysis, for instance stress analysis, mode analysis and fatigue life estimation, was performed by the finite element method. As a result, a medium scale wind turbine rotor blade with starting characteristics of 4m/s wind speed, rated power of 500㎾ at 12m/s wind speed and over 20 years fatigue life has been designed.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Tunnel and Underground Space
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• v.27 no.1
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• pp.58-68
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• 2017

According to the development of optical technology, the capacity of LIDAR equipments has been greatly improved to get rock mass characteristics precisely and accurately enough and it has been lightened and popularized so that it can be easily used in the field. In this study, we examined the applicability of roughness measurement for joints in a rock slope using LIDAR technique. A triangular irregular network was constructed using LIDAR and a patch, which is a plane structure of discontinuity on rock mass measured from LIDAR scanning, was extracted to estimate the roughness of the rock slope. Four different kinds of roughness parameters were analyzed to find out their correlation with JRC for various point intervals. Among them, $R_s$ parameter was used to measure the roughness of a patch. Regression analysis between four roughness parameters and JRC with respect to point interval was performed. All the roughness parameters decreased with the increase of point interval. In addition, the parameter value showed greater decrease for rougher surfaces. A method of roughness measurement using $R_s$ parameter on rock slope discontinuities was suggested which showed slight overestimation of the real roughness value.

• Journal of Welding and Joining
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• v.29 no.1
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• pp.85-89
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• 2011

Waste water is disposed to sewage disposal plant by underground PE double wall pipes. Various processes have been introduced to join PE pipes, but most of these methods have many disadvantages such as costs, lack of reliability and difficulties in joining, etc. Recently butt welding has been paid much attention to joint PE pipes as this process has many advantages such as cost, safety and reliability. In this study, newly developed heat plate, a patent-pending heat plate with a groove, was used to butt-weld PE double wall pipes with different misalignment gaps to simulate real underground conditions, and the butt welding temperature of PE pipe was determined by thermal analysis (Thermal Gravimetric Analysis, Differential Scanning Calorimetry and Dynamic Mechanical Analysis). The resulting joining characteristics of double wall pipes were compared with those from a conventional heat plate, in terms of stiffness, flattening and leakage tests. The results from the stiffness and flattening test showed that there were no big differences between the butt-welded joints made from these two plates. From the leakage test, although PE pipes welded with a conventional heat plate did leak below the required test conditions (10 min. at 0.75kgf/cm2), the pipes welded with a patent-pending grooved heat plate did not show any leakage even at a pressure 1.5 times higher than the required conditions. It was noted that by utilizing a grooved heat plate more complete fusion at the pipe joints could be obtained, which in turn induced a high quality joints.

• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.639-644
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• 2011

The purpose of this study was to provide quantified data on the throwing skills of world-class athletes and to analyze the kinematic variables for women shot-putters at the IAAF World Championships Daegu 2011. Three-dimensional motion analyses of the eight players who qualified for the final round were carried out to obtain the data. The Kwon3D XP program was used for image analysis of the kinematic data, which included the configurations of each joint. The following conclusions were arrived at. The throwing distance increased with an increase in the release speed, and a significant correlation (p <. 01) was observed between the throwing distance and release speed. It was also shown that players using the spin technique increased their release speed with a fast shoulder-rotation-angle speed. The release height varied with their height and showed a significant difference with the record. This showed that the release angle did not greatly influence the record for the game, but varied with their technical and physical characteristics. Therefore, an increase in release speed is required to improve the record.

• Physical Therapy Korea
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• v.9 no.3
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• pp.47-65
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• 2002

This study examined the correlations among the Berg Balance Scale, which is a clinical tool used to evaluate balance ability, spatiotemporal parameters of gait, and falling; determined the parameters most closely related to falling; and identified a discriminatory parameter and its predictability. Thirty-four subjects aged 72 to 92 years participated in this study. Following a questionnaire survey about falling, the Berg Balance Scale and spatiotemporal parameters of gait were measured. The results revealed that the incidence of falls increased with aging and an accompanying reduction in the flexion range of motion of the hip joint. The gait characteristics of elderly people who fell easily included a slower walking speed, shorter stride, and longer stance time than other elderly. When the cutoff score was set at 45, the Berg Balance Scale was able to identify correctly those individuals who truly have experience of falling than when the cutoff score was set at 39. But when the cutoff score was set at 39, the scale's specificity identifying correctly those individuals who truly have not experience of falling was higher than at the cutoff score of 45. Therefore, the Berg Balance Scale is an appropriate screening method in a clinical setting for the early detection of elderly people at risk of falling. In conclusion, elderly people with a Berg Balance Scale score. below 45 are the most likely to fall owing to their decreased balance ability.

• Research in Community and Public Health Nursing
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• v.19 no.1
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• pp.57-65
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• 2008

Purpose: The purpose of this study is to assess the priorities of health promotion for older adults in the rural community. The study attempts to display demographic characteristics subjective health status and chronic diseases status of the older adults. Methods: We surveyed 384 senior residents in a community via face-to-face interviews in their homes, who were selected by proportional random sampling. We analysed the frequency, multiple responses and $X^2$ by SPSS 12.0K. Results: The mean of subjective health status was $54.04{\pm}21.69$ with a maximum of 100. Our study found that the high priorities in health promotion for older adults were prevention and management of hypertension and diabetes, strengthening of joint and muscles, cancer screening and physical exercise. Prevention of depression and social activities were low priorities. Strengthening of joints and muscles was a high priority among women while smoking cessation and social activities were high priorities of men. Conclusion: In conclusion, health promotion priorities of older adults differed by gender and subjective health status. Disease-related priorities received more attention than psycho-social health priorities. This study suggests comparing the priorities regionally and nationally.