• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.321-322
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• 2012

의료용 방사선 장비는 초기의 아날로그 방식의 필름 및 카세트에서 진보되어 현재는 디지털 방식의 DR (Digital Radiography)이 널리 사용되며 그에 관한 연구개발이 활발히 진행되고 있다. DR은 크게 간접방식과 직접방식의 두 분류로 나눌 수 있는데, 간접방식은 X선을 흡수하면 가시광선으로 전환하는 형광체(Scintillator)를 사용하여 X선을 가시광선으로 전환하고, 이를 Photodiode와 같은 광소자로 전기적 신호로 변환하여 방사선을 검출하는 방식을 말하며, 직접 방식은 X선을 흡수하면 전기적 신호를 발생 시키는 광도전체(Photoconductor)를 사용하여 광도전체 양단 전극에 고전압을 인가한 형태를 취하고 있는 가운데, X선이 조사되면 일차적으로 광도전체 내부에서 전자-전공쌍(Electron-hole pair)이 생성된다. 이들은 광도전체 양단의 인가되어 있는 전기장에 의해 전자는 +극으로, 전공은 -극으로 이동하여 아래에 위치한 Active matrix array을 통해 방사선을 검출하는 방식이다. 본 연구에서는 직접방식 X-ray 검출기에서 활용되는 a-Se을 ITO (Indium Thin oxide) glass 상단에 Thermal evaporation증착을 이용하여 두께 $50{\mu}m$, 33 넓이로 증착 시킨 다음, a-Se상단에 Sputtering증착을 이용하여 ITO를 11 cm, 22 cm, $2.7{\times}2.7cm$ 넓이로 증착시켜 상하부의 ITO를 Electrode로 이용하여 직접방식의 X-ray검출기 샘플을 제작하였다. 제작 과정 중 a-Se의 Thermal evaporation증착 시, 저진공 $310^{-3}_{Torr}$, 고진공 $2.210^{-5}_{Torr}$에서 보트의 가열 온도를 두 번의 스텝으로 나누어 증착 시켰다. 첫 번째 스텝 $250^{\circ}C$, 두 번째 스텝은 $260^{\circ}C$의 조건으로 증착하여 보트 내의 a-Se을 남기지 않고 전량을 소모할 수 있었으며, 스텝간의 온도차를 $10^{\circ}C$로 제어하여 균일한 박막을 형성 할 수 있었다. Sputtering증착 시, 저진공 $2.510^{-3}$, 고진공 $310^{-5}$에서 Ar, $O_2$를 사용하여 100 Sec간 플라즈마를 생성시켜 ITO를 증착하였다. 제작된 방사선 각각의 검출기 샘플 양단의 ITO에 500V의 전압을 인가하고, 진단 방사선 범위의 70 kVp, 100 mA, 0.03 sec 조건으로 X-ray를 조사시켜 ITO넓이에 따른 민감도(Sensitivity)와 암전류(Dark current)를 측정하였다. 측정결과 민감도(Sensitivity)는 X-ray샘플의 두께에 따른 $1V/{\mu}m$ 기준 시, 증착된 ITO의 넓이가 11 cm부터 22 cm, $2.7{\times}2.7cm$까지 각각 $7.610nC/cm^2$, $8.169nC/cm^2$, $6.769nC/cm^2$로 22 cm 넓이의 샘플이 가장 높은 민감도를 나타내었으나, 암전류(Dark current)는 $1.68nA/cm^2$, $3.132nA/cm^2$, $5.117nA/cm^2$로 11 cm 넓이의 샘플이 가장 낮은 값을 나타내었다. 이러한 데이터를 SNR (Signal to Noise Ratio)로 합산 하였을 시 104.359 ($1{\times}1$), 60.376($2{\times}2$), 30.621 ($2.7{\times}2.7$)로 11 cm 샘플이 신호 대 별 가장 우수한 효율을 나타냄을 알 수 있었다. 따라서 ITO박막의 면적이 클수록 민감도는 우수하나 그에 따른 암전류의 증가로 효율이 떨어짐을 검증 할 수 있었으며, 이는 ITO면적이 넓어짐에 따른 저항의 증가로 암전류에 영향을 끼침을 할 수 있었다. 본 연구를 통해 a-Se의 ITO 박막 면적에 따른 전기적 특성을 검증할 수 있었다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.11
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.7
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• pp.56-65
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• 1997

In this paper, we propose a reference input odification-type iterative learning control law for a class of discrete-time nonlinear systems and prove the convergence of the output error. We can get the high-precision in case of the trajectroy control when the proposed control law is properly combined with a feedback controller, and we can easily implement the learning control law compared to the control input modification-type learning control law. To show the validity and the convergence perfodrmance of the proposed control law, we perform experimentations on the trajectroy control and rejection of periodic disturbance for a 2-axis SCARA-type direct drive robot.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.137-145
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• 1998

In this paper, we propose a tube-hole center detection vision algorithm verifying the position of a tele-controlled robot and providing visual information for increasing reliability and efficiency in the diagnosis of steam generator (SG) tubes in nuclear power plant. A tele-controlled robot plays a role in carrying the probe used in inspecting the integrity of SG tubes. Thus accurately locating a tele-controlled robot on the desired tube-hole center is important issue for reliability of inspection. To do this work, we have to find the tube-hole center locations from the input image. At first, we apply the three-class segmentation method modified for this application. WE extract minimum bounding rectangles (MBRs) in the theresholded binary image. Second, for discriminating between MBR by tube and MBR by noise, we introduce the MBR rejection rules as knowledge-based rule set. MBRs are divided into the very dark region MBRs and the very bright region MBRs. In order to describe the region of complete tube-hole, the MBRs need a process of pairing each other. We then can find the tube-hole center from the paired MBR. For more accurately finding the tube-hole center in several sequential images, the centers of some frames need to be averaged. We tested the performance of our method using hundreds of real images.

• Journal of Sensor Science and Technology
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• v.4 no.4
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• pp.47-54
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• 1995

Sensory measurements are inevitably uncertain, and this may decrease the reliability of sensor feedback systems. In this paper we present a method to achieve reliable measurements using multiple sensors. Assuming sensors with unknown characteristics in dynamic surroundings, readings from the sensors are clustered and fused with the estimated degrees of credit. In the experiment performed with logical sensors the technique proposed is employed to adaptively estimate the measurand under the circumstances where an existing probabilistic technique is difficult to be applied. The technique proposed may be useful for automatic systems working in unstructured environments - for example, sensory robots employed for intelligent manipulation.

• Proceedings of the Korea Water Resources Association Conference
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• 2009.05a
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• pp.405-409
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• 2009

현재 하천의 유량측정을 위해 국내외에서 설치, 운영되고 있는 자동유량측정시설은 대부분 초음파유속계를 이용한 실시간 하천유량측정시스템이다. 이러한 초음파유속계는 도플러 방식 초음파유속계(ADVM)와 이동 시간차 방식 초음파유속계(UVM)로 구분되는데, 한강대교 등에 적용된 ADVM 방식에 비해 UVM 방식은 초음파 도달거리의 특성으로 인해 대부분 중소규모의 하천에 적용되어왔다. 이러한 UVM 방식을 하폭이 넓고 홍수시 수위변화가 심한 대규모하천에 적용하기 위해서는 여러 회선을 다층으로 구성하여 설치할 필요가 있는데, 한강의 여주지점은 16개의 회선을 5개의 층으로 구성하여 측정의 정확도를 높이고 홍수시 수위상승시에도 다양한 회선으로 유속을 측정할 수 있도록 하였다. 본 연구에서는 여주지점에 설치되어 운영 중에 있는 이동 시간차 방식 자동유량측정시설의 운영결과를 검토하고 측정치에 대한 검증을 위해 2008년 1월부터 12월까지의 유량측정결과를 검토하였다. 평 저수시는 유속계와 ADCP 이동보트를 이용한 연속측정결과와 비교하였으며 홍수시에는 봉부자 측정결과와 비교하였다. 기존 실측은 2008년 2월부터 12월까지 저수위 및 중 고수위에 걸쳐 실시하였으며, 프라이스유속계 22회, 이동식 ADCP 6회 그리고 부자를 이용한 방법 6회등, 총 34회가 이루어졌으며, 비교 결과 수위 1.5m 이하의 저 평수기에 평균 5.5%의 오차를 보였으며, 홍수시 검증측정유량과의 비교결과 7.6%의 오차를 보였다.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.414-416
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• 1992

Stability analysis and load distribution problem of two coordinating robots using full dynamic model is studied in this paper. Dynamic models of two robots are combined with the position force control strategy and the Liapunov 2nd method is used for the proof of the stability. This analysis shows that the position and force control of two coordinating robot is always stable. Also, load distribution problem is mentioned with respect to the end-effector forces minimizing joint torques.

• Journal of the Korean Society for Precision Engineering
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• v.7 no.4
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.