• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.181-188
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• 2024

With the development of precision facility technology, the importance of four-axis CNC precision processing technology is increasing. However, due to complex shape processing, it is difficult to operate the system. This paper compared precision control and efficiency by manufacturing a four-axis control structure to solve this problem and implementing Bresenham's Line Algorithm and Runspeed Algorithm without using commercial programs. When Runspeed was applied, there was an error improvement of about 12.03% and curvature accuracy improvement compared to Bresenham. It was confirmed that precise processing was possible to a three-dimensional structure by driving a rotary shaft A motor.

• Korean Journal of Ichthyology
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• v.13 no.3
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• pp.166-172
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• 2001

Parental care of eggs of Chromis fumea (Tanaka) was observed by Skin Scuba gear in August 1995 off Cheju Island. The eggs and larval development were observed in the laboratory at Pukyong National University, Pusan. Eggs were deposited on a flat surface of hard substratum and formed a plain sheet of one layer of eggs. Males showed parental care of the eggs by hovering over the nest and attacking other fishes that approached the nest. The spawned eggs were transparent, elliptical in shape and measured 0.73~0.88 mm in long axis and 0.50~0.56 mm in short axis. An analysis by T-test of the long axis of the egg with time showed a significant difference (p<0.01). However, there was no significant difference in short axis with time. Eggs were reared at water temperatures of $23.0{\sim}25.5^{\circ}C$ and took about 4~5 days from embryonic body stage to hatching. The newly hatched larvae were 1.10~1.61 mm in notochord length (NL) had 21 myomeres, has closed mouth but open anus, preanus length was 45.8% of NL. Melanophores were distributed on the occipital region of head, the eye, the peritoneal region, and along the ventral contour. The larvae absorbed the yolk material and oil globule in 3~4 days after hatching and became postlarvae. On the third day after hatching, the larvae had attained 1.9~2.4 mm in NL, had 25 myomeres, and showed rapid growth. By the ninth day after hatching, the larvae had attained 2.9 mm in NL, had an swimbladder in the dorsal margin of ventral region, the preanus length was 37.9% of NL, and their melanophores were enlarged and reduced in number.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.524-527
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• 2002

This paper is on the development of an educational 6-axis articulated manipulator using 4-bar linkage system. Especially, the 2$^{nd}$ and the 3$^{rd}$ axes need large torque to control the movement of an end-effect. However, small motors (RC-servo, DC-gear, stepping meters) are used for the 4-bar linkage. In addition the manipulator can be operated by a switch and also motion can be realized automatically, based on C-language coded users programs..

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.42-46
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• 1993

This paper presents development of a pratical tool deflection compensation system in order to reduce the machining error by the tool deflection in the end-milling process. The system is a tool adapter which includes 2-axis force sensor for detecting tool deflection and 2-axis tool tilting device for adjusting tool position through computer interface in on-line process. In experiments, it is revealed that the force sensor applying parallel plate principle and strain gauge is proper to obtain dynamic process signal, and the tilting device using stepping motor and cam drive mechanism is suitable to have necessary action. By the system and control algorithm, it is possible to get precise machining surface profile without excessive machining error and overcut generated due to increased cutting force in more productive machining condition.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1814-1819
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• 2005

This paper describes the development of a Stewart platform-based robot force sensor with distinctive structure of ball joints. The number of ball joints is only a half of the similar style sensors, so it is possible to reduce size and weight of the sensor. The structure of ball joint is described and discussed. Furthermore, we use strain gauges, but not liner voltage differential transformers, as sensing elements, in order to reduce size and weight of the sensor. It is also proposed that beams are replaced with pipes as sensing elements of the sensor. The ball joints and sensing elements with pipes can effectively reduce the error of the sensor. A geometric analysis model is also proposed. The external force and its moment can be measured with this model. Moreover, the performance of this sensor was tested. The test results conducted to evaluate the sensing capability of the sensor is reported and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• The Journal of Korean Physical Therapy
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• v.13 no.3
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• pp.751-760
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• 2001

Therapeutic exercise had developed with human being. It depend upon development of physiology, anatomy, kinesiology and biomechanics. There are two categories in therapeutic exorcise. One is classical therapeutic exercise which is a activity of one muscle group, one axis and one plane motion. It is ROM, FRE. osteokinematics, arthrokinematics. Another is neurophysiological approach which is multi muscle group, multi axis and plane exercise. It is PNF and Bobath that start from 1940 to early 1950. Classical therapeutic exorcise develop from ROM to osteokinematics and arthrokinematics. It is foundation of the joint mobilization and orthopaedic manual physical therapy. Neurophysiological therapeutic approaching has more theory and skills than before. Bobath methods had changed from reflex-inhibiting posture to key points of control and added the theory of musculoskeletal, biomechanics, motor behaviour and cognition. We call it motor control.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.1024-1030
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• 2001

In this paper, a horizontal LOS(line of sight) rate estimator for conventional sea skimming ASM(anti-ship missile) is proposed. A LOS rate dynamics model for a 2-axis gimbal system and the homing geometry is derived. A new LOS rate estimator is proposed by applying the Kalman filter theory to the LOS rate dynamics model. The proposed filter estimates LOS rates by taking roll motions into account. Simulation results show that the proposed filter produces smaller estimation errors than a conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.238-243
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• 1997

A new transfer alignment algorithm using the velocity and the quaternion partial matching methods is proposed to reduce the effect of a ship's Y-axis flexure on the performance of azimuth error estimation of Kalman filter. The simulation results show that it can significantly reduce the effect of Y-axis flexure on error estimation by the transfer alignment algorithm. As its results, azimuth transfer alignment error is reached up to 3 mrad under proper roll and pitch attitude motion of the ship.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.733-742
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• 2017

LADARs are used for important sensors in various applications, for example, terrain information sensors in self driving cars, safety sensors for factory automation, and 3D map constructions. This study develop important component technologies to improve the performance of a LADAR system under development in Korea. The component technologies include diode temperature regulation, reducing distance error in outdoor environment, and signal processing technique for better detection of distant objects. This paper explains the suggested component technologies and experimental results of the developed LADAR system. Also, the developed system is operated and tested an a single axis driving platform to acquire 3D information from 2D LADAR.