• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• 소성∙가공
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• 제20권3호
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• pp.206-213
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• 2011

A flexible die, which is composed of a number of punches with adjusted heights to form a three-dimensional curved surface, is a crucial part of a flexible forming technology. In this study, the punch and control system of the flexible die were designed. The flexible die is divided into three modules, namely, punch, control and joint, and the corresponding modules were developed. The punch module materializes a three-dimensional forming surface by the control module, which is composed of an AC servo motor set and a linear guide. The joint module is necessary for the sequential motion between the servo motor set and the punch module. A sequential motion algorithm for the AC servo motor set, that uses the data of the punch relative heights, was also proposed. Finally, a flexible stretch forming test was carried out using the presently designed flexible die.

• Imaging Science in Dentistry
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• 제33권1호
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• pp.1-4
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• 2003

Purpose : The purpose of this study was to investigate the distribution and frequency of temporomandibular joint (TMJ) effusion in magnetic resonance (MR) images of patients with disc displacements. Materials and Methods: On T2 weighted MR images of 148 TMJs taken from 74 patients presenting with TMJ pain and dysfunction, we assessed the cases showing TMJ effusion, defined as an amount of fluid that exceeded the maximum amount seen in a control group of asymptomatic volunteers. The amount of TMJ fluid was graded as: I (none or minimal), II (moderate), III (marked), and IV (extensive), according to a standard set by a reference. Disc displacement categories were also recorded. Results: Of the 148 TMJs examined in this study, 52 joints (35.1%) presented with joint effusion, 24 (16.2%) showing bilateral joint effusion. 38 joints showed upper joint space effusion, 3 showed lower joint space effusion, and 11 showed both upper and lower joint space effusion. 96 joints (64.9%) had grade I joint fluid, 27 (18.2%) grade II, 15 (10.1 %) grade III, and 10 (6.8%) grade IV. 80.0% of the joints presenting with grade IV effusion showed disc displacement without reduction. Conclusion: Joint effusion was found not only in upper, but also in lower joint spaces. The higher the effusion grade, the greater the frequency of disc displacement without reduction.

• 대한토목학회논문집
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• 제36권4호
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• pp.659-665
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• 2016

풋월 비탈면 설계 시 해석시간이 짧고, 간편하여 한계평형법을 주로 이용하였으나, 쟁기형태파괴를 모사하기에는 어려움이 따른다. 따라서, 본 연구에서는 2차원 DEM (Distinct Element Method) 해석프로그램인 UDEC을 이용해 수치해석을 수행하여 풋월 비탈면에서 발생되는 쟁기형태파괴에 미치는 영향인자를 분석하였다. 매개변수분석은 암반절리(층면절리, 공액절리, 비탈면의 하단에 위치한 절리)의 구조 및 암반절리상태 등을 변경하여 수행하였으며, 비탈면의 안전율은 강도감소법(Strength Reduction Method)을 이용하여 산정하였다. 수치해석 결과를 통해 쟁기형태파괴는 공액절리(conjugate joint)의 경사각에 주로 의존하고 있음을 확인할 수 있었으며, 층리의 한계간격 및 슬래브의 한계길이가 공액절리의 경사각에 영향을 받는 것으로 나타났다. 본 연구결과는 비탈면 보강을 포함한 풋월 비탈면의 최적설계 및 시공에 적용될 수 있을 것으로 판단된다.

• 대한정형도수물리치료학회지
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• 제29권2호
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• pp.69-75
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• 2023

Purpose: This study examined the distance between the coracoid process and the humeral head using an ultrasonography device when shoulder active contraction were applied according to the guided direction in the end range of shoulder mobilization. This study aims to provide essential data on treating shoulder disease patients. Methods: The subjects of this study were 20 adults with healthy shoulder joints. ultrasonography (US) equipment was used to examine shoulder joint mobilization under two conditions: (1) anteroposterior (AP) joint mobilization and (2) superoinferior (SI) joint mobilization. Shoulder active contraction was assessed in the end range. The distance between the coracoid process and the humeral head was measured. A linear probe was used for US; the frequency was set to 7.5MHz, and the US image display method was set to B-mode. The US measurement values were measured in (1) the starting position, (2) the end range position, and (3) the end range position of the shoulder active contraction, and the moving distance was drawn in a straight line through the US image. The distance was determined as the measurement value, and the average values were compared. Reults: The results were as follows: (1) the measured AP Joint mobilization increased by an average of .52cm from the end range of the joint mobilization with shoulder active contraction; (2) the measured SI Joint mobilization increased by an average of .49cm from the end range of the joint. Conclusion: When shoulder mobilization is applied, the distance between the coracoid process and the humeral head increases when muscle contraction occurs through shoulder active contraction in the end range, according to the therapist's guidance. Therefore, shoulder mobilization combined with shoulder active contraction is an effective treatment method for patients with shoulder injuries.

• 한국통계학회:학술대회논문집
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• 한국통계학회 2002년도 추계 학술발표회 논문집
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• pp.129-132
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• 2002

네트워크를 설계하거나 평가하는데 있어 중요한 문제 중 하나는 그 네트워크를 구성하는 요소들간의 상대적 중요도(importance)에 관한 문제이다. 이런 중요도를 나타내는 여러 가지 측도들 중 하나인 Joint Reliability Importance(JRI)는 Hong & Lie(1993)에 의해 소개되었으며, 네 가지 파생된 서브그래프의 신뢰성을 구하여 JRI를 계산하는 방법이 제시되었다. 본 연구에서는 minimal path set을 이용하여 파생되는 서브 그래프 신뢰성 계산에서의 중복되는 계산과정을 줄임으로써 JRI를 보다 효율적으로 구하는 방법을 제시하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.93.2-93
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• 2001

This paper presents the implementation of fuzzy PI gain scheduling controller (FPICGS) for controlling flexible joint robot arms with uncertainties from time-varying load. The term FPICGS is called based on a combination of fuzzy PI control scheme with a set of rule bases. Principle of design for a FPICGS is given along with the implementation of the designed computer aided control system. The experiment reveals an effectiveness of the proposed control scheme for flexible joint robot arms driven by a DC motorhooked with a spring which both parameters are completely unknown parameters ...

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2001년도 가을 학술발표회 논문집
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• pp.231-237
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• 2001

This paper presents some proposed methods for discontinuum analysis with rock discontinuities data acquisited in tunnel design stage. The limit equilibrium method for rock block sliding and falling proposed in this paper can consider the tunnel excavation and support stage, and, to the extent, the standard deviations and means of joint set orientation. Simple Distinct Elemet modelling methods are recommended in estimating the stability of tunnels in jointed rock masses. Because, the simple models are likely to show more consistent and clear than very complex model with finite joint length and joint deviation parameters.

• 대한기계학회논문집
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• 제17권10호
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• pp.2543-2554
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• 1993

In this paper, the kinematic and dynamic analyses of spatial complex kinematic chain are studied. Through the new method both using the set of identification numbers and applying the DenavitHartenberg link representation method to the spatial complex kinematic chain, the kinematic configuration of the chain is represented. Some link in the part of closed chain being fictitiously cutted, the complex kinematic chain is transformed to the branched chain. The kinematic constraint equations are derived from the constraint conditions which the cutted sections of the link have to satisfy. And the joint variables being partitioned in the independent joint variables and the dependent joint variables, the dependent variables are calculated from the independent variables by using the Newton-Raphson iterative method and the pseudoinverse matrix. The equations of motion are derived under the independent joint variables by using the principle of virtual work. Algorithms for dynamic analysis are presented and simulations are done to verify accuracy and efficiency of the algorithms.

• 로봇학회논문지
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• 제11권3호
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.