• Computers and Concrete
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• 제19권4호
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• pp.405-411
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• 2017

Carbon Fiber Reinforced Plastic (CFRP) has commonly been used to strengthen existing RC structures. Wrapping the whole component with CFRP is an effective method and simple to execute. Besides, specific configuration of CFRP sheets (L, X and T shape) has also been considered in some experiments to examine CFRP effects in advance. This study aimed to provide an optimal CFRP configuration to effectively retrofit the beam-column connection using continuous material topology optimization procedure. In addition, Moved and Regularized Heaviside Functions and penalization factors were also considered. Furthermore, a multi-material procedure was also used to compare with the results from the single material procedure.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.165-169
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• 2000

A simple method was suggested to calculate the stress intensity factor for a one-sided patched crack with finite thickness. To consider out-of-plane bending effect resulting from the load-path eccentricity, the spring constant as a function of the through-thickness coordinate z was calculated from the stress distribution in the un-cracked plate, ${\sigma}_{yy}(y=0,\;z)$, and the displacement for the representative single strip Joint, $u_y(y=0,\;z)$. The stress Intensity factors were obtained using Rose's asymptotic solution approach and compared with the finite element results. In short crack region, two results had a little difference. However, two results were almost same in long crack region. On the other hand, the stress intensity factor using plane stress assumption was more similar to finite element result than plane strain condition.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• International Journal of Control, Automation, and Systems
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• 제6권4호
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• pp.607-612
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• 2008

This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국생산제조학회지
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• 제5권4호
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.411-416
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• 2016

Existing moving robots has several kinds of moving method; using wheel, jointed leg structure and so on. Wheel type can be operated by DC motor so it is simple and efficient. However, it is not appropriate to pass irregular terrain and obstacle. Leg structure type has an advantage in those cases. Generally, Leg structure is operated by several servo motors attached to each joint. It makes a robot heavier and more complicate due to increase of the degree of freedom. However, by using Theo Jansen Mechanism, one (or more) leg have only single-degree of freedom and can be operated by only one DC motor. So leg structure using Theo Jansen Mechanism will be good choice if robots have to be mass-produced. This paper describes the following a walking robot designed and produced based on Theo Jansen Mechanism, simulating process of Theo Jansen leg structure using Edison m.Sketch and how to solve several of discovered problem of the robot.

• 대한조선학회논문집
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• 제42권5호
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• pp.466-471
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• 2005

The out-of-plane deformation in thin plate structure has been a serious qualify problem. It has been known that the out-of-plane deformation is caused by the angular deformation of welded joint. However, experimental results show that the conventional theory based on angular deformation is not appropriate for prediction of the out-of-plane deformation in thin plate structure. In this study, large deformation plate theory is introduced to clarify the effect of residual stress on the out-of-plane deformation. A simple equation is proposed to predict the out-of-plane deformation. The results by the proposed method show good agreement with the experimental results.

• 한국음향학회지
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• 제42권5호
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• pp.460-468
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• 2023

고관절 이형성증(Developmental Dysplasia of Hip, DDH)은 영유아 성장기에 흔히 발생하는 병리학적 상태로, 영유아의 성장을 방해하고 잠재적인 합병증을 유발하는 원인 중 하나이며 이를 조기에 발견하고 치료하는 것은 매우 중요하다. 기존의 DDH 진단 방법으로는 촉진법과 X-ray 또는 초음파 영상 기반 고관절에서의 특징점 검출을 이용한 진단 방법이 있지만 특징점 검출 시 객관성과 생산성에 제한점이 존재한다. 본 연구에서는 X-ray 및 초음파 영상을 이용한 딥러닝 모델 기반 특징점 검출 방법을 제시하고, 다양한 딥러닝 모델을 이용하여 특징점 검출의 성능을 비교 분석하였다. 또한, 부족한 의료 데이터를 보완하는 방법인 다양한 데이터 증강 기법을 제시하고 비교 평가하였다. 본 연구에서는 Residual Network 152(ResNet152) 및 Simple & Complex augmentation 기법을 적용하였을 때 가장 높은 특징점 검출 성능을 보여주었으며, X-ray 영상에서 평균 Object Keypoint Similarity(OKS)가 약 95.33 %, 초음파 영상에서는 약 81.21 %로 각각 측정되었다. 이러한 결과는 고관절 초음파 및 X-ray 영상에서 딥러닝 모델을 적용함으로써 DDH 진단 시 특징점 검출에 관한 객관성과 생산성을 향상시킬 수 있음을 보여준다.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제32권6호
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• pp.497-503
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• 2010

Purpose: The purpose of this study is to induce artificial arthritis on rabbit TMJ by injecting collagenase. Materials and Methods: An experimental animal model of arthritis induced by surgical method or intraarticular injection of chemical agent like LDH, papain, ketorolac. Surgical method is complex and needs a long time in inducing arthritis. Intra-articular injection of chemical agent like LDH, papain, ketorolac is simple. But chemical agent like LDH, papain, ketololac needs multiple injections to induce arthritis and mechanism inducing arthritis was known. Collagenase destroys helical domain of type II collagen in extracellular matrix produced by chondrocyte and then induces arthritis. We injected collagenase (0.5, 1.0, 2.0 mg) into the temporomandibular joint of rabbit. In the control group saline was intra-articularly injected. The condylar cartilage, disk and synovia were histologically examined at 1, 2, 4, 6 weeks after the initiation of collagenase injections. Results: Four weeks after injection of 2.0 mg collagenase, we could see histologic change like arthritis. In other groups, we couldn't see arthritis-like change. Conclusion: In our study, we produce arthritis on temporomandibular joint of rabbit by using injection of collagenase in temporomandibular joint of rabbit. And this experimental osteoarthritis is a useful animal model.