• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.5
• /
• pp.57-63
• /
• 2014

At present, a high-speed swivel tool head of a small size is required to improve the productivity of CNC automatic lathes. Hence, there is growing interest in shorter machining times with higher cutting speeds. However, an increase in the rotation speed of a swivel tool head also has adverse effects, such as vibration and noise caused by the swivel tool head system. In this work, the fatigue life and contact pressure of a swivel tool head bearing system driven by gears were calculated. Based on the calculated results, a prototype swivel tool head was manufactured and its static and dynamic characteristics, i.e., the vibration, noise and precision, were measured using a reliability testing device which allows the application of cutting force to the end of the swivel tool head.

• Korean Journal of Applied Biomechanics
• /
• v.26 no.3
• /
• pp.265-272
• /
• 2016

Objective: The aim of this study was to analyze X-factor, triple X-factor, and the center of pressure (COP) according to the feel of golf driver swing. Method: For this research, 9 golfers from the Korea Professional Golfers' Association (age: $30.11{\pm}2.98yrs$, height: $178.00{\pm}8.42cm$, weight: $76.22{\pm}8.42kg$, experience: $10.06{\pm}3.11yrs$) were recruited to participate in the experiment. Twelve Motion Analysis Eagle-4 cameras were installed and an image analysis was conducted by using the NLT (non-linear transformation) method, and 2 units of Kistler type 5233A dynamometer were used to measure ground reaction force. The sampling ratio was set at 1000 Hz. The golfers each took 10 swings by using their own driver, and chose the best and worse feel from among 10 shots. A paired-sample t-test was used to analyze the results. Results: In regard to feel, no change in head speed, X-factor, and the triple X-factor's X-factor stretch, hip rise, and head swivel, was observed (p>.05). Regarding ground reaction force, a difference was observed between the top of the backswing (p<.05) and impact (p<.05) in the vertical force of the left foot. For COP, a difference was also observed between the mid backswing (p<.001), late backswing (p<.001), and top of the backswing (p<.05) for the right foot X-axis and Y-axis mid follow through (p<.01). Conclusion: It can be reasoned that, irrespective of feel, the head speed, X-factor and triple X-factor's X-factor stretch, hip rise and head swivel did not have an effect on drive distance for domestic golfers, and the vertical reaction force of the left foot and left-right movement span's pressure dispersal of the right foot had an increasing effect on drive distance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.875-881
• /
• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.12
• /
• pp.1106-1114
• /
• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.24 no.1
• /
• pp.112-121
• /
• 2016

AFLS (Adaptive front lighting system) is being applied to improve safety in driving automotive at night. Safe embedded system design for controlling head-lamps is required to improve noise robust ECU hardware and software simultaneously by considering safety requirement of hardware-dependent software under severe environmental noise. In this paper, we propose an adaptive headlight controller with a newly-designed symmetric angle sensor compensator, especially based on the proposed steering-swivel angle lookup table to determine whether the current controlling target is safe. The proposed system includes an additional backup hardware to compare the system status and provides safe swivel-angle management using a controlling algorithm based on the pre-defined lookup table (LUT), which is a symmetric mapping relationship between the requested steering angle and expected swivel angle target. The implemented system model shows that the proposed architecture effectively detects abnormal situations and restores safe status of controlling the light-angle in AFLS operations under severe noisy environment.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.245-246
• /
• 2006

For developing 5-axis laser cutting systems, many problems such as rotating of laser head or table, 5-axis tool path generation and collision avoidance between laser head and product should be solved. In this paper, a five-axis laser cutting machine with table swivel and rotary type configuration is developed. The five axes (X,Y,Z,A,B) are controlled and interfaced to PC via MMC board. Two kinds of CAM S/W such as commercial 5-axis CAM S/W(Euclid) and UG-API are engaged to generate NC code for the developed 5-axis laser cutting machine.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.891-896
• /
• 2007

This paper contained the flight test calibration for the airspeed indicator and the altimeter of the light airplane ChangGong-91, which is the first type certified aircraft from Korean Ministry of Construction and Transportation, as a part of the flight test validation. The flight test for airspeed position error calibration was performed using tower fly by method in order to calibrate swivel head testboom which is attached to the right wing tip of the airplane, and using system to system method for airspeed indicator. The altimeter calibration was calculated using flight test data for airspeed calibration. The flight test was conducted at the basis of the 'Korean Airworthiness Standard' regulation of Korean Ministry of Construction and Transportation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.7
• /
• pp.629-634
• /
• 2008

This paper presents the flight test procedure and the results for the airspeed indicator calibration of a light airplane the name of ChangGong-91, which is the first type certified aircraft from Korean Ministry of Construction and Transportation, as a part of the flight test validation to get the certification. The flight tests for airspeed position error calibrations are conducted using tower fly by method in order to calibrate swivel head testboom which is attached to the right wing tip of the airplane. Also system to system method is applied in order to calibrate the airspeed indicator of the cockpit. The flight test is conducted at the basis of the 'Korean Airworthiness Standard' which is the regulation of Korean Ministry of Construction and Transportation. The airspeed error range for the testboom and the airspeed indicator are determined to $-0.75{\sim}+0.75$ knot and to $-4.0{\sim}+2.0$ knots, respectively. The calibration results are applied to ChangGong-91 Flight Operation Manual.