• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.41-46
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• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.499-502
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• 2003

The purpose of this study is to understand the sliding characteristics of the infilling-joint surface using the new devised shear test apparatus with changeable slope for the original infilling materials and the infilling materials experienced cyclic freezing-thawing processes. Three types of the mother rock classified as the igneous rock, the metamorphic rock and the sedimentary rock and the infilling materials were collected for laboratory test. The cohesion according to the slope change of the rock joint shows large variation within ${\pm}$5 degrees but the internal friction angle shows appears the linear decreasing tendency. It is confirmed that the affecting factor of slope change of rock joint at the behavior of rock mass is larger than that of the infilling thickness. Test results show that the cohesion and the internal friction angle in 100 times of cyclic freezing-thawing processes are decreased about 50 percent compared with original one. A further study using various infillings materials would lead to a better understanding of the failure mechanism of rock mass by slope change of rock joint.

• Computers and Concrete
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• v.17 no.6
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• pp.723-737
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• 2016

In this paper an approach was described for determination of direction of sliding block in rock slopes containing planar non-persistent open joints. For this study, several gypsum blocks containing planar non-persistent open joints with dimensions of $15{\times}15{\times}15cm$ were build. The rock bridges occupy 45, 90 and $135cm^2$ of total shear surface ($225cm^2$), and their configuration in shear plane were different. From each model, two similar blocks were prepared and were subjected to shearing under normal stresses of 3.33 and $7.77kg/cm^{-2}$. Based on the change in the configuration of rock-bridges, a factor called the Effective Joint Coefficient (EJC) was formulated, that is the ratio of the effective joint surface that is in front of the rock-bridge and the total shear surface. In general, the failure pattern is influenced by the EJC while shear strength is closely related to the failure pattern. It is observed that the propagation of wing tensile cracks or shear cracks depends on the EJC and the coalescence of wing cracks or shear cracks dominates the eventual failure pattern and determines the peak shear load of the rock specimens. So the EJC is a key factor to determine the sliding direction in rock slopes containing planar non-persistent open joints.

• Proceedings of the Korea Concrete Institute Conference
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• 1993.10a
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• pp.237-242
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• 1993

Precast concrete panel buildings are designed to tracsmit shear forces through the joint between the reinforced concrete panels. The shear strength is partly provided by the resistance to sliding at the interface between the precast and in- situ concrete and partly by the dowel action of the reinforcement crossing the joint. The shear resistance to sliding is largely dependent on the shapes and configurations of vertical joints and the vertical loads of horizontal joints. In this paper, the shear strength by the difference of relative strength between panel and joint, the effect of reinforcement, and the effect of vertical load are considered.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.

• Journal of Korean Foot and Ankle Society
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• v.8 no.1
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• pp.31-38
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• 2004

Purpose: The purpose of the study was to identify the subtypes of idiopathic osteoarthritis of the tarsometatarsal joints based on accompanying hindfoot, midfoot, or foot deformities and their corresponding surgical options and also to evaluate the overall clinical results. Materials and Methods: The study included 59 patients (67 feet) with idiopathic tarsometatarsal joint osteoarthritis. Tarsometatarsal fusion was performed for tarsometatarsal joint and accompanied secondary change was divided into subtypes and various bony reconstruction was carried out. The patients were evaluated with the AOFAS midfoot score and FFI. The average patient age was 60.2 years with 40.6 months follow-up. Fifty-four feet (80.6%) had been treated with realignment fusion. Twenty-six feet had first and second tarsometatarsal joint fusion, and 20 feet had first tarsometatarsal fusion only. Six subtypes were identified based on associated foot deformities: 1) in-situ without deformities (18%), 2) pes planovalgus (45%), 3) rockerbottom (15%), 4) cavus foot (1%), 5) hallux valgus (12%), and 6) hallux valgus with pes planovalgus or rockerbottom (9%). Plantar-medial closing-wedge resection was used in 10 feet to correct rockerbottom. For pes planovalgus, a medial sliding calcaneal osteotomy was done. Lateral column lengthening with medial sliding calcaneal osteotomy was done for severe pes planovalgus, and triple arthrodesis was done for rigid pes planovalgus. Hallux valgus was corrected with the Lapidus procedure (85.7%). Results: AOFAS midfoot scores improved from preoperative 34.1 points to postoperative 83.9 points (p<0.05). The Foot Function Index postoperatively also showed significant improvement (p<0.05), with a high satisfaction rate (86.6%). There were 29 complications, most commonly sesamoid pain. Conclusion: Idiopathic tarsometatarsal OA feet can be classified into six categories. Pes planovalgus feet should be treated with medial sliding calcaneal osteotomy, lateral column lengthening, or triple arthrodesis in addition to tarsometatarsal joint realignment fusion. Rockerbottom and hallux valgus deformities should also be addressed.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.211-220
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• 2004

It is well known that the geometry of the articular surface has a major role in determining the position of articular contact and the lines of action for the contact forces. The contact force calculation of the knee joint under the effect of sliding and rolling is one of the most challenging issues in this field. We present a 3-D human knee joint model including sliding and rolling motions and major ligaments to calculate the lateral and medial condyle contact forces from the recovered total internal reaction force using inverse dynamic contact modeling and the Least-Square method. As results, it is believed that the patella, muscles and tendon affect a lot for the internal reaction forces at the initial heel contact stage. With increasing flexion angles during gait, the decreasing contact area is progressively shifted to the posterior direction on the tibia plateau. In addition, the medial side contact force is larger than the lateral side contact force in the knee joint during normal human walking. The total internal forces of the knee joint are reasonable compared to previous studies.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.266-271
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• 1992

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate the additional stabilizing control law with sliding property. The singularly perturbated models include inertia moments functions of the deformations of actuator. The newly defined fast controller variable is computed from the corrected reduced-order model without additional computational loads. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than conventional one, and especially effective for the manipulator with high joint-flexibilities.

• Tunnel and Underground Space
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• v.14 no.6 s.53
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• pp.391-398
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• 2004

An algebraic algorithm for predicting the joint trace distribution on the cut-face of rock slope based on the orientations and the locations of joints investigated in the borehole has been developed. Joint trace prediction is manipulated by utilizing the three dimensional plane equations of both joint planes and projection face, and the extent of trace within the projection area is calculated by considering the persistence of each joint plane. Joint trace prediction method is efficiently applied for analyzing the stability and the adequacy of support design of Gimhae Naesam cut-slope, which is structurally unstable due to slumping. Structural characteristics of rock mass is investigated by performing DOM drilling and the potential rock mass sliding inside slope face is analyzed by examining the orientations of joint planes which can induce the slope failure. Also, the efficiency of anchor support design is evaluated by considering the joint trace distribution on the anchor installation area and its sliding potential.