• 대한환경공학회지
• /
• 제30권7호
• /
• pp.743-750
• /
• 2008

본 연구에서는 용존오존부상법(Dissolved Ozone Flotation; DOF)을 이용한 정수처리 효과를 파악하기 위하여 적정 오존 주입 농도와 오존 주입 농도별 처리 특성에 대해서 연구하였으며, 또한 용존공기부상법(Dissolved Air Flotation; DAF) 및 중력식 침전법(Conventional Gravity Sedimentation; CGS)과 DOF의 처리 성능을 비교하였다. 최적 오존 주입 농도를 산정하기 위한 실험에서 최적 오존 주입농도는 2.7 mg/L로 나타났으며, 오존 주입 농도가 증가할수록 탁도 및 KMnO$_4$ 소모량, UV$_{254}$ 흡수도, TOC 등과 같은 제거효율이 낮아지는 것으로 나타났다. DOF와 DAF, CGS의 처리성능을 비교한 결과 오존 주입 농도 2.7 mg/L로 운전한 DOF시스템의 탁도 제거효율은 88.9%, 유기물질 항목의 경우 KMnO$_4$ 소모량은 62.9%, TOC 47%, 그리고 UV$_{254}$ 흡수도 77.3% 그리고 THMFP 제거율의 경우 51.6%로 다른 두 공정보다 높거나 비슷하게 나타났다. 따라서 응집 부상 공정과 오존 산화 공정이 하나의 반응기에서 일어나는 DOF 시스템은 정수처리시설의 소유부지 감소와 기존 CGS 시스템에서 처리가 어려운 조류 및 용존성 유기물질의 제거를 통해 소독부산물의 생성을 감소시킴으로 향후 고도정수처리시스템으로 적용 가능성이 충분한 것으로 판단된다.

• 디지털융복합연구
• /
• 제13권1호
• /
• pp.331-339
• /
• 2015

사이버나이프치료에서 삽입된 금표지자의 삽입 개수 및 인식의 제한으로 인하여 3D DOF로 치료하는 경우 척추구조물 정렬을 가능하게 하는 Xsight spine tracking system으로 회전방향의 위치오차를 보정함으로서 표적위치오차를 개선하고, 치료방법의 대안을 제시하고자 한다. 실험결과 6D DOF에서 표적위치오차는 $0.214{\pm}0.058mm$, 종양내부에 삽입된 2개 금표지자를 이용한 3D DOF에서 $0.673{\pm}0.142mm$, 종양외부에 삽입된 2개 금표지자를 이용한 3D DOF에서 $1.126{\pm}0.253mm$, Xsight spine tracking system의 적용 한 3D DOF에서 $0.542{\pm}0.103mm$로 나타났다. 실험결과 척추 구조물로 회전방향에 대한 보정을 시행하였을 때 표적위치에 대한 정확성이 약 48% 향상되었다. 또한, 선량분포의 일치성도 약 3%가 향상되어 일치하는 것을 확인할 수 있었다. 따라서 척추구조물 정렬을 병용한 Xsight spine tracking system의 회전방향에 대한 보정은 유용한 것으로 평가 되었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1922-1927
• /
• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.260-260
• /
• 2000

In this work, we have developed a 2 degree of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two ac servo motors that drive the roll and pitch motion.

• 제어로봇시스템학회논문지
• /
• 제22권8호
• /
• pp.603-609
• /
• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• 제어로봇시스템학회논문지
• /
• 제17권7호
• /
• pp.697-703
• /
• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.65-67
• /
• 2007

In this paper describes the design and characteristic analysis of a novel 2-DOF(Degree of Freedom) motor. For multi DOF actuating, several numbers of motors have been used. But the using of normal motors they connected each other in single joint, have necessary to a several type of complex power transmission devices. The 2-DOF motor can drive pan, tilt motion in only one unit and it is not necessary to use additional gears and links parts. Therefore by the using of 2-DOF spherical motor ran eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. The validity of the analysis is confirmed by 3D finite element method.

• 한국조명전기설비학회:학술대회논문집
• /
• 한국조명전기설비학회 1999년도 학술대회논문집-국제 전기방전 및 플라즈마 심포지엄 Proceedings of 1999 KIIEE Annual Conference-International Symposium of Electrical Discharge and Plasma
• /
• pp.262-266
• /
• 1999

In this paper, we consider to apply of 2-DOF (Degree of Freedom) PID controller at D.C servo motor system. Many control system use I-PD, PID control system, but the position control system have difficulty in controling variable load and changing parameter. We propose neural network 2-DOF PID control system having feature for removal disturbrances and tracking function in the target value point. The back propagation algorithm of neural network used for tuning the 2-DOF parameter ($\alpha$, $\beta$, ${\gamma}$, η). We investigate the 2-DOF PID control system in the position control system and verify the effectiveness of proposal method through the result of computer simulation.

• 한국정밀공학회지
• /
• 제26권8호
• /
• pp.79-88
• /
• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• 상하수도학회지
• /
• 제19권6호
• /
• pp.767-774
• /
• 2005

The DOF (Dissolved Ozone Flotation) system was used to treat the effluent of the secondary wastewater treatment plant. The DOF system uses ozone instead of air, while DAF (Dissolved Air Flotation) uses air. Moreover, since the solubility of ozone is higher than air, the DOF system produces larger volume of micro-bubbles than the DAF system does. Thus, the DOF system performs better than the DAF system in floating ability. The DOF system could remove 70% of turbidity to an average of 0.59NTU in effluent from 2.31NTU in influent. The removal efficiency of absorbance measured with UV-254 in the effluent of the DOF system was 63%, while only 19% was removed by the DAF system. the DOF system removed 84% of the color from 25~26CU to 4CU, while DAF system removed 42% of the color to 15 CU. The CODMn removal efficiency of the DOF system was 34%, 6.8mg/l of effluent $COD_{Mn}$ concentratin, while it was 20%, 8.3mg/L of effluent $COD_{Mn}$ concentratin, to use the DAF system. Microbial bacteria such as coliform bacteria, and heterotrophic bacteria were removed over 99% by the DOF system, and 42~45% by the DAF system. That is, Microbial bacteria were almost completely destroyed by the DOF system. To sum up with, the DOF system was found to be very effective to treat effluent of the wastewater treatment plant.