• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.78-84
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• 2009

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.

• Journal of Sericultural and Entomological Science
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• v.16 no.2
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• pp.119-125
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• 1974

When the nomal silkworms reached active time of 3rd instar stage both non-moulting larva and normal silkworms from the same rearing tray were collected and fixed. The silkworms in 4th instar stage whose growth was as dwarfish as those in 1st and 2nd instar stages were also collected and fix with the normal silkworms. Non-moulting larva and normal silkworms were morphologically compared and the examined results from the tissue inspection are summarized as follows： 1. In spite of the fact that the normal silkworms reached the active eating time of 3rd instar stage non-moulting silkworms were dwarfish as if they had been reared for two days. Non-moulting silkworms which were observed at the time of 4th instar stage showed no much difference in their growth. 2. There was the tendency that the exuvial gland as was shown in Fig. 1 and 2 was flat cyslidium of ellipse and its size at thorax was small shile the gland at abdomen was big. 3. The exuvial gland at thorax has been reported to be bigger at thoracic base than at dorsal vessel but according to the present it was examined to be irregular. 4. The size of exuvial gland of silkworms in the active eating stage of 3rd instar was from 151.3${\mu}$ (major axis) to 94.5${\mu}$ (minor axis) at prothorax and from 568.6${\mu}$ (major axis) to 495.1${\mu}$ (minor axis) at 7th abdominal segment. The sire oe exuvial gland of non-moulting silkworm was 57.5${\mu}$ (major axis) to 51.3${\mu}$ (minor axis) at prothorax and from 91.5${\mu}$ (major axis) to 75.5${\mu}$ (minor axis) at 5th abdominal segment (see Fig. 1) 5. When the normal silkworms reached 4th instar active eating stage its exuvial gland was compared to that of dwarfish silkworm. The result was that the size of normal silkworm at prothorax was from 252.2${\mu}$ (major axis) to 131.6${\mu}$ (minor axis) and the size of exuvial gland at 7th abdominal segment was from 691.5${\mu}$ (major axis) to 493.4${\mu}$ (minor axis) while the sire of exuvial gland of non-moulting at prothorax was from 71.4${\mu}$ (major axis) to 61.5${\mu}$ (minor axis) and the size of the non-moulting silkworm's 8th abdominal segment was from 94.6${\mu}$ (major axis) to 71.5${\mu}$ (minor axis) (See Table 2) 6. There was a remarkable difference in the from of exuvial gland of non-moulting silkworm. The size of alveolar of the non-moulting silkworm was many times larger compared to that of normal silkworm 7. There was no great difference between secretory cells of normal and non-moulting silkworms but the granular type exuvial gland was small in sire compared to that of normal silkworm.

• Journal of Sensor Science and Technology
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• v.15 no.6
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• pp.411-416
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• 2006

This paper describes the development of a 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand. In order to safely grasp an unknown object, robot's hand should measure the weight of an object and the force of grasping direction simultaneous. But, in the published papers, the grippers and hands equippd with the force sensor that could only measure the force of grasping direction, and grasped objects using their sensors. These grippers and hands can't safely grasp unknown objects, because they can't measure the weight of it. Thus, it is necessary to develop 3-axis force sensor that can measure the weight of an object and the force of grasping direction for an intelligent gripper. In this paper, 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand was developed. In order to fabricate a 3-axis finger force sensor, the sensing elements were modeled using parallel plate beams, and the theoretical analysis was performed to determine the size of sensing elements, then the 3-axis finger force sensor was fabricated. Also, the characteristic test of the developed 3-axis finger force sensor was performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.353-364
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• 1998

This paper describes the design processes and evaluation results of a small-sized six-axis force/torque sensor. The new six-axis force/torque sensor including S-type structure has been developed using a parallel plate structure as a basic sensing element. In order tominimize coupling errors, the location of strain gages has been determined based on the finite element analysis and the connections of strain gages have been made such that the bridge circuit with 4 strain gages becomes balanced. Several design modifications result in a similar strain sensitivity for six-axis forces and moments, and the reduced coupling errors of 2.6% FS between each forces and moments. Calibration test results show that the six-axis load cell developed which has light weight of 135g and the maximum capacities of 196 N in forces and 19.6 N.m in moments is estimated to be within 7.1% FS in coupling error.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.678-683
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• 2006

In this paper, the 5-axis tool path that has been generated from the original surface is, newly generated from the offset polyhedral mesh. In this approach, the interference check between two solid models can be simplified to that of offset polyhedral mesh and axis line. The tool path computation and interference check based on the offset mesh is simpler and faster than that based on the original surface. But 5-axis tool path generation using this approach is able to apply only for ball endmill and still takes longer time than 3-axis tool path generation.

• Journal of Electrical Engineering and Technology
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• v.6 no.5
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• pp.634-639
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• 2011

This paper presents a study on the design parameters that consider the magnetic saturation effect in a rotor core of a synchronous reluctance motor. Two important design parameters in a rotor are selected to analyze the saturation effect of a synchronous reluctance motor, particularly in a rotor core. The thickness of the main segment, which is the main path of the d-axis flux, and the end rip, which affects the q-axis flux, are analyzed using the d-axis and q-axis inductances. Moreover, the characteristics of torque and torque ripple when magnetic saturation takes place are analyzed. The saturation effect is verified by comparing the reluctance torque between the experiment and FEM simulation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.4
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• pp.19-26
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• 1997

The manufacture of an impeller typically requires the 5-axis CNC machining, since the impeller is usually under working conditions such as high speed, high temperature, and high pressure. Thus, this study contributes to development of an exclusive CAM system for effective 5-axis CNC machining of a ruled surface type impeller. In this study, the sampled impeller is made of blades and a body and the blade consists of ruled surfaces between hub curve and shroud curve. In the post processing for 5-axis NC part program, the cutter axis direction vector is the straighten vector on ruled surface. The position of ball center in ball end mill cutter is decided on the interference check between the cutter and body surface of impeller using with the modified z-map method that z-axis is the same of cutter axis direction vector. The exclusive CAM system for an impeller developed in this study was very effective for designs and 50-axis machining of a ruled surface type impeller.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Radiation Oncology Journal
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• v.14 no.3
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• pp.237-244
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• 1996

Purpose : The accurate dosimetry of independent collimator equipped for 6MV and 15MV X-ray beam was investigated to search for the optimal correction factor. Materials and Methods : The field size factors, beam quality and dose distribution were measured by using 6MV, 15MV X-ray Field size factors were measured from $3{\times}3cm^2$ to $35{\times}35cm^2$ by using 0.6cc ion chamber (NE 2571) at Dmax. Beam qualities were measured at different field sizes, off-axis distances and depths. Isodose distributions at different off-axis distance using $10\times10cm^2$ field were also investigated and compared with symmetric field. Result: 1) Relative field size factors was different along lateral distance with maximum changes in $3.1\%$ for 6MV and $5\%$ for 15MV. But the field size factors of asymmetric fields were identical to the modified central-axis values in symmetric field, which corrected by off-axis ratio at Dmax. 2) The HVL and PDD was decreased by increasing off-axis distance. PDD was also decreased by increasing depth For field size more than $5{\times}cm^2$ and depth less than 15cm, PDD of asymmetric field differs from that of symmetric one ($0.5\~2\%$ for 6MV and $0.4\~1.4\%$ for 15MV). 3) The measured isodose curves demonstrate divergence effects and reduced doses adjacent to the edge close to the flattening filter center was also observed. Conclusion . When asymmetric collimator is used, calculation of MU must be corrected with off-axis and PDD with a caution of underdose in central axis.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.1
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• pp.82-89
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• 2014

Recently, inertial sensors are popularly used for the location and position recognition of small devices for M2M/IoT. In this paper, we designed low power, low noise, small sized 6-axis inertial sensor IC for mobile applications, which uses a 3-axis piezo-electric gyroscope sensor and a 3-axis piezo-resistive accelerometer sensor. Proposed IC is composed of 3-axis gyroscope readout circuit, two gyroscope sensor driving circuits, 3-axis accelerometer readout circuit, 16bit sigma-delta ADC, digital filter and control circuit and memory. TSMC $0.18{\mu}m$ mixed signal CMOS process was used. Proposed IC reduces 27% of the current consumption of LSM330.