• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• 대한기계학회논문집A
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• 제35권4호
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• pp.347-352
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• 2011

일반 산업용 로봇의 위치정밀도는 $100{\mu}m$ 정도임에 반해, 정밀부품의 조립공차는 수십 ${\mu}m$ 이내이다. 또한, 조립공차가 작을 경우 미소한 위치/각도 오차에 의해 재밍 또는 웨징이 쉽게 발생하며, 위치제어 기반의 로봇인 경우 부품 조립 시 접촉력을 적절히 조절하지 못하여 조립물이 파손될 가능성이 크다 이와 같은 문제를 해결하기 위하여 접촉력에 능동적으로 반응할 수 있는 힘제어 기반의 로봇조립에 대한 연구가 진행되고 있다. 본 연구에서는 기존의 산업용 로봇에 적용하기 용이하도록 위치제어 기반의 머니퓰레이터에 힘제어를 적용할 수 있는 시스템을 구현하였다. 머니퓰레이터에 어드미턴스 필터를 이용한 임피던스 제어를 적용하여 안정적인 접촉운동을 구현하였다. 또한, 임피던스 제어와 blind 검색을 적용하여 정밀부품을 조립할 수 있음을 검증하였다.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.26-34
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• 1996

One of the challenging tasks in visual inspection using CCD camera is to identify surface defects in an image with complex textured backgeound. In microscopic view, the surface of real objects shows regular or random textured patterns. In this paper, we present a visual inspection algorithm to extract abnormal surface defects in an image with textured background. The algorithm uses the space and frequency information at the same time by introducing the Dominant Frequency Map(DFM) which can describe the frequency characteristics of every small local region of an input image. We demonstrate the feasibility and effectiveness of the method through a series of real experiments for a 14" TV CRT mold. The method successfully identifies a variety of infinitesimal defects, whose size is larger than $50\mu\textrm{m}$, of the mold. The experimental results show that the DFM based method is less sensitive to the environmental changes, such as illumination and defocusing, than conventional vision techniques.ques.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.208-219
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• 2002

A novel measurement method to obtain the 6-DOF motions of arbitrary rigid bodies is proposed in this paper. The method adopts a specially fabricated mirror called 3-facet mirror, which looks like a triangular pyramid haying an equilateral cross-sectional shape. The mirror is mounted on the objects to be measured, illuminated by a laser beam having circular profile, and reflects the laser beam in three different directions. Three PSDs(position sensitive detector) detect the three beams reflected by the mirror, respectively. From the signals of the PSDs, we can calculate the 3-dimensional position and orientation of the 3-facet mirror, and thus enabling us to determine the 3-dimensional position and orientation of the objects. In this paper, we model the relationship between the 3-dimensional position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects and provide resonable measurement accuracy.

• 한국가시화정보학회지
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• 제16권2호
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• pp.53-58
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• 2018

This paper presents an electromagnetically driven microrobot for the enhancement of mixing performance in high viscous liquid media such as blood and bone marrow. First, an electromagnetic system was fabricated, and the magnetic flux density generated from the system was compared with the theoretical value. Second, the reciprocating motion of the microrobot was demonstrated in microchannel using electromagnetic system. As a proof of concept, the mixing performance by the electromagnetically driven microrobot in high viscous liquid was investigated using safranin solution. As a result, it was completely mixed within 140 s with the reciprocating motion of the microrobot while it took 1680 s for natural diffusion. In addition, the mixing efficiency was quantitatively evaluated through a mixing index obtained by an image analysis. The proposed method provides not only wireless actuation of a microrobot with a simple design but also high mixing performance in variety of high viscous liquid media.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.271-276
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• 2001

Conventional clonoscope is semiflexible tube that should be manipulated by operator for inspection and treatment. Therefore, it sometimes causes pain for the patient and even perforation to the wall of colon if a surgeon is not well trained. For safe colonoscopy, self-propelling robots with inchworm locomotion are studied. But, inchworm locomotion has some problems in adaptiveness to the variation of colon diameter. In this paper, we propose novel locomotive mechanism which can move in the colon without any external assistance. It has several cams that have constant phase difference each other and located along the centerline of the mechanism. This mechanism could realize the robotic endoscope which has continuous and smooth thrust force.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.50-50
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• 2000

In this paper, a new measuring system is :proposed which can measure the fine 6-DOF displacement of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45$^{\circ}$ to its bottom surface. We call this mirror 3-facet mirror. The 3-facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors(PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation tying parallel to the reference plane. The sensitive areas of three PSDs are oriented toward the center point of the triangular formation. The object whose 6-DOF displacement is to be measured is situated at the center with the 3-facet mirror on its top surface. A laser beam is emitted from the laser source located at the upright position and vertically incident on the top of the 3-fatcet mirror. Since each reflective facet faces toward each PSD, the laser beam is reflected at the 3-facet mirror and splits into three sub-beams, each of which is reflected from the three facets and finally arrives at three PSDs, respectively. Since each PSD is a 2-dimensional sensor, we can acquire the information on the 6-DOF displacement of the 3-facet mirror. From this principle, we can get 6-DOF displacement of any object simply by mounting the 3-facet mirror on the object. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. And, a series of simulations are performed to demonstrate the effectiveness of the proposed method. The simulation results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects.

• 한국정밀공학회지
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• 제18권10호
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• pp.194-199
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• 2001

In this paper, we propose a new locomotive mechanism using impulsive force for microcapsule-type endoscope. It has the compact size for movement in the colon and actuating mechanisms for hi-directional movement. The actuating mechanism resembles a pneumatic cylinder and consists of body, inertia mass(piston). spring. pneumatic source and calve. When valve is ON, the pneumatic impulsive force between piston and body drives them in two opposite direction. As the air in the body is passed away, the contrary movements are occurred by spring reaction. Therefore, the direction of body's motion is determined by the relative magnitude of two opposite impulsive forces, i.e., pneumatic and spring force. The effect of two impulsive forces can simply be controlled by On-Off time of solenoid valve.

• 한국자기학회지
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• 제6권5호
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• pp.340-352
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• 1996

최근 급속도로 발전하고 있는 첨단산업의 배경에는 반도체를 중심으로 한 디지틀 전자기술(Electronics)이 자리잡고 있음은 주지의 사실이다. 이러한 전자 및 정보기술 이후, 즉 포스트 일렉트로닉스(Post-electronics)시대를 겨냥한 새로운 돌파구로서 기대되고 있는 21세기 기술의 주도권을 잡을 기술이 어떤 기술이 될 것인가는 매우 흥미로운 질문이다. 현재 시점에서 볼 때 반도체를 매개로 한 20세기 정보전자혁명을 대신할 새로운 기술혁명으로 대두하고 있는것이 마이크로혁명이며, 이 마이크로혁명을 주도할 기술로서 세계적인 주목을 끌고 있는 기술중의 하나가 초소형 미소기계, 즉 마이크로머신(Micromachine)이다. 현재 '반도체를 능가할 수 있는 차세대 메카트로닉스(Mechatronics)혁명'이라 평가되고 있는 마이크로머신 기술은 과거 꿈으로나 가능하던 공상과학의 세계를 현실로 만들어 주는 경이로운 기술이며, 나아가 분자기술을 응용한 생체로봇, 생체컴퓨터 등 이른바 나노기술(Nano-technology)의 신세계로 향하는 입구라 할 수 있다. 이기술은 기계공학, 전자기술은 물론 물리학, 생물학, 화학, 재료공학 등 광범위한 분야의 기술이 총망라되어야 개발이 가능하며, 그 실현을 위해서는 매크로 한 세계와는 판이하게 다른 물리현상 등 마이크로한 세계의 특수성을 이해해야 함은 물론 에너지공급, 재료, 데이타통신, 구조조립 등 많은 기술적 난제를 극복해야 한다. 마이크로머신기술은 현재 일부 전문가를 제외하고는 일반은 물론 자기학분야의 연구자들에게도 별로 익숙하지 않은 분야이다. 그러나 이 기술의 미래 영향력이나 가능성, 필요성을 고려할 때 이제는 자기분야 연구자들도 이 분야에 관심을 가져야 할 것으로 생각하여 연구자들도 이 분야에 관심을 가져햐 할 것으로 생각하여 본고에서는 먼저 최근 마이크로머신의 기술동향을 개괄적으로 소개하고, 다음으로 마이크로머신에 사용되는 주요 재료들과 자성재료가 주도적인 기능을 하는 자기마이크로머신(Magnetic Micro-machine)에 사용되는 자성재료들에 관해 소개하고자 한다.

• Journal of Platform Technology
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• 제8권1호
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• pp.24-32
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• 2020

본 논문은 SMT라인의 핵심 기술인 칩마운터의 보급을 위해 교육연구용이나 샘플제작을 목적으로 사용이 가능한 3D 프린터 기술기반의 칩마운터를 설계하고 제작하였다. 저가형 구동부 설계를 위해 오픈루프제어가 가능한 스텝모터를 사용하였다. 스텝모터 사용으로 발생하는 모터의 진동, 탈조 등의 특성상 단점은 마이크로스텝제어 방법을 이용하여 보완하였다. 칩마운터 실험은 제작한 소형 칩마운터에 거버파일을 생성하고 실제 크기로 프린트하여 샘플보드 제작과 동일한 방법으로 HASL 처리되어 있는 PCB에 솔더크림을 프린팅한 후 부품을 실장하여 여러 번 반복해서 수행하였다. 실험결과 2012 미소부품과 달리 보정이 필요한 SOIC, TQFP 등의 부품은 부품 실장 시간이 2배정도 길었지만 비교적 정확히 실장되는 것을 확인할 수 있었다. 또한, 초기 위치에 대한 오차를 총 10회에 반복하여 측정한 결과 약 0.110mm의 비교적 적은 오차가 발생함을 확인할 수 있었다.