• 대한전기학회논문지
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• 제37권8호
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• 전자공학회논문지A
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• 제30A권1호
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• pp.16-22
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• 1993

A via-hole process for reproducible and reliable GaAs MMIC fabrication is described. The via-hole etching process consists of two step dry etching. During the first etching step a BC $I_{3}$/C $I_{2}$/Ar gas mixure is used to achieve high etch rate and small lateral etching. In the second etching step. CC $L_{2}$ $F_{2}$ gas is used to achieve selective etching of the GaAs substrate with respect to the front side metal layer. Via holes are formed from the backside of a 100$\mu$m thick GaAs substrate that has been evaporated initially with 500.angs. thick chromium and subsequently a 2000.angs. thick gold layer. The fabricated via holes are electroplated with gold (~20$\mu$m thick) to form via connections. The results show that established via-hole process is satisfactory for GaAs MMIC fabrication.

• 산업공학
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• 제12권1호
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• pp.49-55
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• 1999

There are many types of holes to be machined on dies manufactured in the car industry. In this paper we introduce a CAM software developed for hole machining of press dies. The CAM software automatically generates NC files for machining holes from CAD data modeled in the CATIA system. A procedure generating NC files consists of three steps. First, the geometric information such as types of holes, hole positions, hole diameters, and hole depths is extracted from CATIA models. And then tools to be used and operation orders are standardized to establish a data base. Finally, NC files are generated by considering the machining conditions such as feedrate and rpm. It is efficient that holes with the same type and the same size should be grouped and machined by a tool to reduce the tool change time. The optimal tool path for machining the holes in a group can be determined by applying an algorithm solving the traveling salesman problem.

• 전자공학회논문지S
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• 제35S권2호
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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.

• 한국생산제조학회지
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• 제7권4호
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• pp.56-63
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• 1998

The purpose of this is to analyze experimentally how the change of cutting speed have effects on hole over size of cutting hole, surface roughness of workpiece and roundness during the deep hole machining of SM55C with solid BTA drill using BTA drilling system. Conclusion reached is as follows. (1) The diameter was expanded for 25$\mu$m at the first section and then was reduced 0$\mu$m and 15$\mu$m respectively at the 10m and 20m section comparing to the diameter of tool with respect to the variation of cutting length at 70m/min of cutting speed. 0.15mm/rev of feed. (2) It was proved that roughness was below 8.67$\mu$m for the whole section of cutting length. (3) The roundness has been below 12$\mu$m. Regarding the polygon phenomenon, it has been proved that not only uneven best at 70m/min of cutting speed. 0.15mm/rev of feed.

• 한국정밀공학회지
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• 제17권9호
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• pp.181-188
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• 2000

This paper deals with an analysis of the compliance characteristic for effective peg-in-hole task using robot hand without inter-finger coupling. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrary. next we classify the task of inserting a peg-in-a-hole into two contact styles between the peg and the hole. Then we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the give peg-in-hole task for each case. It is concluded that the location of compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play important roles for successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

• 한국연소학회지
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• 제8권3호
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• pp.15-23
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• 2003

Partial quenching structure of turbulent diffusion flames in a turbulent mixing layer is investigated by the method of flame hole dynamics in order to develop a prediction model for turbulent flame lift off. The essence of flame hole dynamics is derivation of the random walk mapping, from the flame-edge theory, which governs expansion or contraction of flame holes initially created by local quenching events. The numerical simulation for flame hole dynamics is carried out in two stages. First, a direct numerical simulation is performed for constant-density fuel-air channel mixing layer to obtain the turbulent flow and mixing fields, from which a time series of two dimensional scalar dissipation rate array is extracted at a fixed virtual flame surface horizontally extending from the end of split plate to the downstream. Then, the Lagrangian simulation of the flame hole random walk mapping projected to the scalar dissipation rate array yields temporally evolving turbulent extinction process and its statistics on partial quenching characteristics. The statistical results exhibit that the chance of partial quenching is strongly influenced by the crossover scalar dissipation rate while almost unaffected by the iteration number of the mapping that can be regarded as a flame-edge speed.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.777-785
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• 2000

This paper provides a guideline for the determination of compliance characteristics and the proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using hands. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole tasks effectively for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play ompliance on the peg and the coupling siffness element existing between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. The analytic results verified through simulations.

• 한국정밀공학회지
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• 제25권1호
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• pp.79-84
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• 2008

For the precision measurement of industrial products, the location of holes inside the products, if they exist, are often selected as feature points. The measurement of hole location would be performed by vision and laser-vision sensor. However, the usage of those sensors is limited in case of big change of light intensity and reflective shiny surface of the products. In order to overcome the difficulties, we have developed a hole displacement measuring device using contact-type displacement sensors (LVDTs). The developed measurement device attached to a robot measures small displacement of a hole by allowing its X-Y movement due to the contact forces between the hole and its own circular cone. The developed device consists of three plates which are connected in series for its own function. The first plate is used for the attachment to an industrial robot with ball-bush joints and springs. The second and third plates allow X-Y direction as LM guides. The bottom of the third plate is designed that various circular cones can be easily attached according to the shape of the hole. The developed system was implemented for its effectiveness that its measurement accuracy is less than 0.05mm.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.1023-1033
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• 2014

In this paper, performance improved hole-filling algorithm which includes the boundary noise removing pre-process that can be used for an arbitrary virtual view synthesis has been proposed. Boundary noise occurs due to the boundary mismatch between depth and texture images during the 3D warping process and it usually causes unusual defects in a generated virtual view. Common-hole is impossible to recover by using only a given original view as a reference and most of the conventional algorithms generate unnatural views that include constrained parts of the texture. To remove the boundary noise, we first find occlusion regions and expand these regions to the common-hole region in the synthesized view. Then, we fill the common-hole using the spiral weighted average algorithm and the gradient searching algorithm. The spiral weighted average algorithm keeps the boundary of each object well by using depth information and the gradient searching algorithm preserves the details. We tried to combine strong points of both the spiral weighted average algorithm and the gradient searching algorithm. We also tried to reduce the flickering defect that exists around the filled common-hole region by using a probability mask. The experimental results show that the proposed algorithm performs much better than the conventional algorithms.