• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.422-427
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• 2001

The component mode synthesis method allows the elastic deformation of each component in the flexible multibody system by a sum of modes and modal coordinates. This paper focuses on the selection of boundary conditions and deformation modes for redundantly constrained flexible components in mechanical system dynamics. The result of a flexible body dynamic analysis with only normal modes is used to identify proper boundary conditions of a static modes and a desired set of static modes which will be used in the final model. A simple four bar mechanism is used to explain the procedure and a space satellite with solar panels is analyzed using the proposed method.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.203-210
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• 2019

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.8-13
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• 1998

A tracking controller is presented for RLFJ(rigid link flexible joint) robot manipulators with only position measurements. The controller is developed based on the integrator backstepping design method and on the two observers: the first is simple linear form observer for the filtered link velocity errors and the other for the actuator velocities. The proposed controller achieves exponential tracking of link positions and velocities while keeping all internal signals bounded. It also guarantees exponential convergence of the estimated signals to their actual ones. Finally, simulation results are included to demonstrate the tracking performance.

• Journal of Radiation Protection and Research
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• v.46 no.3
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• pp.83-97
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• 2021

Background: The lifetime risk of lung cancer incidence due to radiation for nonsmokers is overestimated because of the use of the average cancer baseline risk among a mixed population, including smokers. In recent years, the generalized multiplicative (GM)-excess relative risk (ERR) model has been developed in the life span study of atomic bomb survivors to consider the joint effect of radiation and smoking. Based on this background, this paper discusses the issues of radiation risk assessment considering smoking in two parts. Materials and Methods: In Part 1, we proposed a simple method of estimating the baseline risk for nonsmokers using current smoking data. We performed sensitivity analysis on baseline risk estimation to discuss the birth cohort effects. In Part 2, we applied the GM-ERR model for Japanese smokers to calculate lifetime attributable risk (LAR). We also performed a sensitivity analysis using other ERR models (e.g., simple additive (SA)-ERR model). Results and Discussion: In Part 1, the lifetime baseline risk from mixed population including smokers to nonsmokers decreased by 54% (44%-60%) for males and 24% (18%-29%) for females. In Part 2, comparison of LAR between SA- and GM-ERR models showed that if the radiation dose was ≤200 mGy or less, the difference between these ERR models was within the standard deviation of LAR due to the uncertainty of smoking information. Conclusion: The use of mixed population for baseline risk assessment overestimates the risk for lung cancer due to low-dose radiation exposure in Japanese males.

• Journal of Korean Foot and Ankle Society
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• v.1 no.1
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• pp.23-29
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• 1997

Freiberg's disease is a pathologic condition of the second or third metatarsal head, rarely the forth or fifth metatarsal head, and it becomes abnormally enlarge due to avascular necrosis of subchondral cancellous bone. From Nov. 1982 to Sep. 1994, we treated surgically 10 cases of the disease who complained the continuous symptoms inspite of proper conservative management. Metatarsal head excision was done in 8 cases and resurfacing of the cartilagenous portion of the metatarsal head in 2 cases. During the average follow up of 55 months, the pain was relieved in all patients who were underwent surgical intervention but the stiffness of the metatarsophalangeal joint was remained in most of cases. It seems to be a logical treatment of choice in younger and active patients that conservative management is the initial treatment but more ablative procedure is needed for the continued symptoms. We can propose the metatarsal head excision or resurfacing of the involved joint is effective treatment method with simple procedure and minimize morbid period than other procedures such as corrective osteotomy.

• Archives of Reconstructive Microsurgery
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• v.2 no.1
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• pp.53-61
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• 1993

High level, major limb amputation above the wrist and ankle joint has some characteristic problems because of the large muscle mass and poor potential for nerve regeneration. As an adjunct method to reduce warm ischemic time prior to bony stabilization, temporary vascular shunting by simple catheterization has been performed, which has not been associated with any significant complication and has improved on success rate in replantation surgery. The authors have experienced 198 cases replantation of amputated limbs and digits from September, 1983 at the Korea medical center, Guro hospital, of which, 13 cases of successful replantation of amputated limbs by avulsion injury above the wrist and ankle joint level, which is generally considered as contraindication, were followed up for average 4.5 years(minimum 1.5 to maximum 8.4 years) on terms of survival rate, function and appearance. The clinical analysis upon these cases is to be presented with review of references.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.1
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• pp.56-63
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• 2007

In case of bus rollover, the body structure of the bus should be designed to ensure the survival space for passengers. So, this study focuses on evaluating rollover strength through a computer simulation using the commercial code, LS-DYNA3D at the initial stage of vehicle development. For this study, section structure was modeled using a simple beam element, and impact boundary conditions required by ECE(Economic Commission for Europe) regulation No.66 were applied. In order to confirm the validity of the beam element bus model, the results compared with the test results and shell element bus model. The analysis errors from beam element bus model are due to the difference in strain energy of joint area between beam and shell model. In this study, a method for the joint modeling was suggested by using nonlinear springs to which the collapse mechanisms were applied.

• ETRI Journal
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• v.41 no.5
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• pp.626-636
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• 2019

A novel algorithm for joint user selection and optimal power allocation for Stackelberg game-based revenue maximization in a downlink non-orthogonal multiple access (NOMA) network is proposed in this study. The condition for the existence of optimal solution is derived by assuming perfect channel state information (CSI) at the transmitter. The Lagrange multiplier method is used to convert the revenue maximization problem into a set of quadratic equations that are reduced to a regular chain of expressions. The optimal solution is obtained via a univariate iterative procedure. A simple algorithm for joint optimal user selection and power calculation is presented and exhibits extremely low complexity. Furthermore, an outage analysis is presented to evaluate the performance degradation when perfect CSI is not available. The simulation results indicate that at 5-dB signal-to-noise ratio (SNR), revenue of the base station improves by at least 15.2% for the proposed algorithm when compared to suboptimal schemes. Other performance metrics of NOMA, such as individual user-rates, fairness index, and outage probability, approach near-optimal values at moderate to high SNRs.