• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1867-1870
• /
• 2005

The celestial navigation is one of alternatives to GPS system and can be used as a backup of GPS. In the celestial navigation system using more than two star trackers, the vehicle's ground position can be solved based on the star trackers' attitude information if the vehicle's local vertical or horizontal angle is given. In order to determine accurate ground position of flight vehicle, the high accurate local vertical angle measurement is one of the most important factors for navigation performance. In this paper, the Earth geophysical deflection was analyzed in the assumption of using the modern electrolyte tilt sensor as a local vertical sensor for celestial navigation system. According to the tilt sensor principle, the sensor measures the tilt angle from gravity direction which depends on the Earth geoid surface at a given position. In order to determine the local vertical angle from tilt sensor measurement, the relationship between the direction of gravity and the direction of the Earth center should be analyzed. Using a precision orbit determination software which includes the JGM-3 Earth geoid model, the direction of the Earth center and the direction of gravity are extracted and analyzed. Appling vector inner product and cross product to the both extracted vectors, the magnitude and phase of deflection angle between the direction of gravity and the direction of the Earth center are achieved successfully. And the result shows that the angle differences vary as a function of latitude and altitude. The maximum 0.094$^{circ}$angle difference occurs at 45$^{circ}$latitude in case of 1000 Km altitude condition.

• Journal of Energy Engineering
• /
• v.19 no.2
• /
• pp.128-135
• /
• 2010

This paper introduces step by step procedures for the fabrication and operation of an embedded solar tracker. The system presented consists of application software, compactRIO, C-series interface module, analogue input module, step drive, step motor, feedback devices and other accessories to support its functional stability. CompactRIO that has a real-tim processor allows the solar tracker to be a stand-alone real time system which operates automatically without any external control. An astronomical method and an optical method were used for a high-precision solar tracker. CdS sensors are used to constantly generate feedback signals to the controller, which allow a solar tracker to track the sun even under adverse conditions. The database of solar position and sunrise and sunset time was compared with those of those of the Astronomical Applications Department of the U.S. Naval Observatory. The results presented here clearly demonstrate the high-accuracy of the present system in solar tracking, which are applicable to many existing solar systems.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.6
• /
• pp.566-572
• /
• 2011

In recent semiconductor and FPD (Flat Panel Display) manufacturing processes, high clean-class delivery operation is required more and more for short working time and better product quality. Traditionally SLIM (Single-sided Linear Induction Motor) is widely used in the liner drive applications because of its simplicity in the rail structure. A magnetically levitated (Maglev) unmanned vehicle with SLIM traction, which is powered by a CPS (Contactless Power Supply) can be a high precision delivery solution for this industry. In this paper unmanned FPD-carrying vehicle, which can levitate without contacting the rail structure, is suggested for high clean-class FPD delivery applications. It can be more acceptable for the complex facilities composed with many processes which require longer rails, because of simple rail structure. The test setup consists of a test vehicle and a rounded rail, in which the vehicle can load and unload products at arbitrary position commanded through wireless communications of host computer. The experimental results show that the suggested vehicle and rail have reasonable traction servo and robust electromagnetic suspensions without any contact. The resolution of point servo errors in the SLIM traction system is accomplished under 1mm. The maximum gap error is ${\pm}0.25mm$ with nominal air gap length of 4.0mm in the electromagnetic suspensions. This type of automated delivery vehicle is expected to have significant role in the clean delivery like FPD glass delivery.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.3
• /
• pp.324-333
• /
• 2012

The conventional medium and large caliber gun, in general, utilize the hydro-pneumatic recoil mechanism to control the firing impulse and to return to the battery position. However, this kind of mechanism may cause the problems like the leakages and the property changes in oil and gas due to the temperature variations between low and high temperatures. Accordingly, the friction spring mechanism has recently been researched as an alternative system. The friction spring mechanism consists of a set of closed inner and outer rings with the concentric tapered contact surfaces assembled in the columnar form, and can only be used under the compression load. When the spring column is axially loaded, the tapered surfaces become overlapped, causing the outer rings to expand while the inner rings are being contracted in diameter allowing an axial displacement. Because of friction between tapered contact surfaces, much higher spring stiffness is obtained on the stroke at the increase in load than the stroke at the decrease. In this paper, the dynamic equations regarding the friction spring system and the design approach have been investigated. It is also tried for a dynamic model representing the recoil motion and the friction spring forces. And the model has been proved from firing test using a gun system with friction springs. All the results show that the recoil mechanism using friction springs can substitute for the classic hydro-pneumatic recoil system.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.45 no.6
• /
• pp.149-156
• /
• 2008

SLAM(Simultaneous Localization and Mapping) system is to find a global position and build a map with sensing data when an unmanned-robot navigates an unknown environment. Two kinds of system were developed. One is used distance measurement sensors such as an ultra sonic and a laser sensor. The other is used stereo vision system. The distance measurement SLAM with sensors has low computing time and low cost, but precision of system can be somewhat worse by measurement error or non-linearity of the sensor In contrast, stereo vision system can accurately measure the 3D space area, but it needs high-end system for complex calculation and it is an expensive tool. In this paper, we implement the SLAM system using a single camera image and a PSD sensors. It detects obstacles from the front PSD sensor and then perceive size and feature of the obstacles by image processing. The probability SLAM was implemented using the data of sensor and image and we verify the performance of the system by real experiment.

• Journal of Biomedical Engineering Research
• /
• v.29 no.1
• /
• pp.32-39
• /
• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Progress in Medical Physics
• /
• v.8 no.1
• /
• pp.25-29
• /
• 1997

Ir-192 source activity for high dose rate brachytherapy is measured using Farmertype ionization chamber. The source-to-chamber distance is 10 cm and the measured charge unit is converted to activity unit. The measured values are compared to the values provided from vendor. Because of time dependency of Ir-192 source activity, the activities are regularly checked and compared to calculated values. As the accuracy of Ir-192 source activity is depend on the mechanical measurement setup, we estimated the precision of remote controlled source dwell position using home-made device and film scanner. The difference between measured and predicted dwell position is within 1 mm. As a result, the errors of source activity are 0.7${\pm}$1.5 ％ for measured and vendor-provided values and 0.l${\pm}$1.2％ for measured and time-dependent calculated vlaues. In conclusion, our measured activity has been comparable to the values provided from vendor and our brachytherapy unit has been very accurate until now. Regular quality control of brachytherapy is essential for successful treatment which depends on the accuracy of source position and activity.

• Journal of Bio-Environment Control
• /
• v.23 no.1
• /
• pp.1-10
• /
• 2014

This study analyzed the efficiency and uniformity by measuring the temperature change depending on the position in the chamber with the use of QRD (quadratic residue diffusor) microwave capable of inducing even sterilization by changing wavelength phase difference and enhancing the effect on low power. The results are summarized as follows: When irradiating 7 kW of QRD microwave, the highest efficiency was obtained at 35 cm height and in the center of the chamber. When irradiating 5 kW of QRD microwave, high efficiency was obtained on the sides of the chamber. When irradiating 3 kW of QRD microwave to Magnetrons 1, 2 and 3, the temperature uniformity according to the position of the bars was similar in the position of Bar 1 and 2. When irradiating 3 kW of QRD microwave to Magnetrons 3, 4 and 5, the temperature increased by approximately 10 to 20% in Bar 3. When irradiating 5, 7 and 9 kW of magnetron, the average temperature during the irradiation time increased in a similar form independently of the position of the bars. On the other hand, the efficiency of the chamber's proper internal volume was not necessarily proportional to the irradiation dose. When irradiating 3 kW of magnetron for 60 120 and 180 seconds, the temperature increased by approximately 5 to 10 at the edge of the chamber according to the irradiation position of magnetron. The temperature distribution for each position in the horizontal plane was relatively uniform, and the temperature had a tendency to slightly increase at the edge. When irradiating 5, 7 and 9 kW of magnetron, the temperature relatively evenly increased independently of the position of the bars. It was thought necessary to increase the irradiation dose by approximately 10 to 20% by considering the difference in temperature rise according to the position of magnetron.

• Journal of the Korea Institute of Building Construction
• /
• v.22 no.6
• /
• pp.689-700
• /
• 2022

Layout work for building structures requires high precision to construct structural elements in the correct location. However, the accuracy and precision of the layout position are affected by the worker's skill, and productivity can be reduced when there is information loss and error. To solve this problem, it is necessary to automate the overall layout operation and introduce information technology, and layout process automation using construction robots can be an effective means of doing this. This study develops a prototype of an automated layout robot for building structures and evaluates its basic performance. The developed robot is largely composed of driving, marking, sensing, and control units, and is designed to enable various driving methods, and movement and rotation of the marking unit in consideration of the environment on structural work. The driving and marking performance experiments showed satisfactory performance in terms of driving distance error and marking quality, while the need for improvement in terms of some driving methods and marking precision was confirmed. Based on the results of this study, we intend to continuously improve the robot's performance and establish an automation system for overall layout work process.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.30 no.2
• /
• pp.211-221
• /
• 2012

To utilize omni-directional images acquired by a rotating line camera for indoor spatial information services, we should register precisely the images with respect to an indoor coordinate system. In this study, we thus develop a georeferencing method to estimate the exterior orientation parameters of an omni-directional image - the position and attitude of the camera at the acquisition time. First, we derive the collinearity equations for the omni-directional image by geometrically modeling the rotating line camera. We then estimate the exterior orientation parameters using the collinearity equations with indoor control points. The experimental results from the application to real data indicate that the exterior orientation parameters is estimated with the precision of 1.4 mm and $0.05^{\circ}$ for the position and attitude, respectively. The residuals are within 3 and 10 pixels in horizontal and vertical directions, respectively. Particularly, the residuals in the vertical direction retain systematic errors mainly due to the lens distortion, which should be eliminated through a camera calibration process. Using omni-directional images georeferenced precisely with the proposed method, we can generate high resolution indoor 3D models and sophisticated augmented reality services based on the models.