• 한국정밀공학회지
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• 제10권2호
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• pp.126-137
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• 1993

This paper presents an efficient method for the identification of motion error sources in NC machine tools by making use of the circular interpolation test, which is often used in estimating the motion accuracy of NC machine tools. Mathematical formulae are described for motion errors due to various kinds of error sources. Two identification formulae are proposed: one is based on the frequency analysis and the other is formulated with the weithted residual method. Motion error signal is classified into two patterns, mean errors(mean of CW and CCW test signals from mean errors). The sources of the mean errors are identified by using the frequency analysis technique and the sources of the deviation errors by the weighted residual formulaltion. A menu driven, user oriented, computer program is written to realize the full steps of the proposed identificationprocedure. Then, the identification method is applied to two NC machine tools.

• 한국전자파학회논문지
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• 제17권12호
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• pp.1249-1258
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• 2006

ISAR 자동 초점(autofocus) 기법이란 움직이는 표적에 대한 2차원 레이더 영상인 ISAR 영상을 얻을 때 표적에 의한 doppler-shift 때문에 발생하는 위상 오차를 예측, 제거하는 기법이다. 이러한 자동 초점 기법이 수행되지 않은 ISAR 영상은 위상 오차(phase ewer)에 의한 왜곡이 포함되기 때문에 초점이 맞지 않는 것처럼 흐린(blurred) 영상이 된다. 이러한 영상은 추후에 구분기(classifier)를 이용하여 표적 구분 시 올바른 구분을 보장할 수 없으므로 반드시 자동 초점 기법이 수행되어야 하며, 본 논문에서는 이를 위해 영상의 엔트로피(entropy)를 최소화시키는 알고리즘을 이용한다. ISAR 자동 초점 기법은 크게 range alignment 과정과 phase adjustment 과정으로 나뉘는데, range alignment 과정에서 샘플링 포인트(sampling point)의 수와 그에 따른 영상 품질과의 관계를 분석하고, phase adjustment 과정 을 수행하기 위한 알고리즘인 SSA(Stage-by-Stage Approaching)의 계산시간 단축을 위한 방법을 분석한다.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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• pp.133-139
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• 2023

A weighing system calculates the bucket's excavation amount of an excavator. Usually, the excavation amount is computed by the excavator's motion equations with sensing data. But these motion equations have computing errors that are induced by assumptions to the linear systems and identification of the equation's parameters. To reduce computing errors, some commercial weighing system incorporates particular motion into the excavation process. This study introduces a linear regression model on an artificial neural network that has fewer predicted errors and doesn't need a particular pose during an excavation. Time serial data were gathered from a 30tons excavator's loading test. Then these data were preprocessed to be adjusted by MPL (Multi Layer Perceptron) or CNN (Convolutional Neural Network) based linear regression models. Each model was trained by changing hyperparameter such as layer or node numbers, drop-out rate, and kernel size. Finally ID-CNN-based linear regression model was selected.

• 대한기계학회논문집
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• 제14권1호
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• pp.43-53
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• 1990

본 연구에서는 변속장치로 사용되는 유성치차장치에 있어서 특히 피치오차와 편심오차가 동시에 존재할 경우도 고려하여 내접치차, 태양치차 혹은 유성캐리어 등이 각각 고정되었을 경우의 회전호차를 해석하였다. 이러한 해석을 통하여 각 치차의 오차에 의한 태양치차 혹은 내접치차의 중심변위궤적을 컴퓨터 시뮬레이션으로 화면상 에 나타나게 하여 실제 태양치차나 내점치차의 중심변위를 측정했을 때 그 변위 궤적 만을 보고도 오차가 존재하는 치차를 진달할 수 있도록 한다. 또, FFT(Fast Fourie- r Transform)를 이용한 파워 스펙트럼 분석법을 도입하여 컴퓨터 프로그램을 작성한 후 이를 이용하여 변위신호의 주파수 분석을 수행함으로써 이 방법이 치차의 오차 진 단에 더욱 효율적임을 밝히고자 한다.

• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• Wind and Structures
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• 제9권6호
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• pp.441-455
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• 2006

A more applicable optimization model for extracting flutter derivatives of bridge decks is presented, which is suitable for time-varying weights for fitting errors and different lengths of vertical bending and torsional free vibration data. A stochastic search technique for searching the optimal solution of optimization problem is developed, which is more convenient in understanding and programming than the alternate iteration technique, and testified to be a valid and efficient method using two numerical examples. On the basis of the section model test of Sutong Bridge deck, the flutter derivatives are extracted by the stochastic search technique, and compared with the identification results using the modified least-square method. The Empirical Mode Decomposition method is employed to eliminate noise, trends and zero excursion of the collected free vibration data of vertical bending and torsional motion, by which the identification precision of flutter derivatives is improved.

• Journal of Radiation Protection and Research
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• 제45권3호
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• pp.117-129
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• 2020

Background: Radiation portal monitors (RPMs) involving plastic scintillators installed at the border inspection sites can detect illicit trafficking of radioactive sources in cargo containers within seconds. However, RPMs may generate false alarms because of the naturally occurring radioactive materials. To manage these false alarms, we previously suggested an energy-weighted algorithm that emphasizes the Compton-edge area as an outstanding peak. This study intends to evaluate the identification of radioactive sources using an improved energy-weighted algorithm. Materials and Methods: The algorithm was modified by increasing the energy weighting factor, and different peak combinations of the energy-weighted spectra were tested for source identification. A commercialized RPM system was used to measure the energy-weighted spectra. The RPM comprised two large plastic scintillators with dimensions of 174 × 29 × 7 ㎤ facing each other at a distance of 4.6 m. In addition, the in-house-fabricated signal processing boards were connected to collect the signal converted into a spectrum. Further, the spectra from eight radioactive sources, including special nuclear materials (SNMs), which were set in motion using a linear motion system (LMS) and a cargo truck, were estimated to identify the source identification rate. Results and Discussion: Each energy-weighted spectrum exhibited a specific peak location, although high statistical fluctuation errors could be observed in the spectrum with the increasing source speed. In particular, ¹³⁷Cs and ⁶⁰Co in motion were identified completely (100%) at speeds of 5 and 10 km/hr. Further, SNMs, which trigger the RPM alarm, were identified approximately 80% of the time at both the aforementioned speeds. Conclusion: Using the modified energy-weighted algorithm, several characteristics of the energy weighted spectra could be observed when the used sources were in motion and when the geometric efficiency was low. In particular, the discrimination between ⁶⁰Co and ⁴⁰K, which triggers false alarms at the primary inspection sites, can be improved using the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• Radiation Oncology Journal
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• 제35권1호
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• pp.65-70
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• 2017

Purpose: To evaluate the utility of implanted surgical clips for detecting interfractional errors in the treatment of hepatobiliary and pancreatic cancer with postoperative radiotherapy (PORT). Methods and Materials: Twenty patients had been treated with PORT for locally advanced hepatobiliary or pancreatic cancer, from November 2014 to April 2016. Patients underwent computed tomography simulation and were treated in expiratory breathing phase. During treatment, orthogonal kilovoltage (kV) imaging was taken twice a week, and isocenter shifts were made to match bony anatomy. The difference in position of clips between kV images and digitally reconstructed radiographs was determined. Clips were consist of 3 proximal clips (clip_p, ${\leq}2cm$) and 3 distal clips (clip_d, >2 cm), which were classified according to distance from treatment center. The interfractional displacements of clips were measured in the superior-inferior (SI), anterior-posterior (AP), and right-left (RL) directions. Results: The translocation of clip was well correlated with diaphragm movement in 90.4% (190/210) of all images. The clip position errors greater than 5 mm were observed in 26.0% in SI, 1.8% in AP, and 5.4% in RL directions, respectively. Moreover, the clip position errors greater than 10 mm were observed in 1.9% in SI, 0.2% in AP, and 0.2% in RL directions, despite respiratory control. Conclusion: Quantitative analysis of surgical clip displacement reflect respiratory motion, setup errors and postoperative change of intraabdominal organ position. Furthermore, position of clips is distinguished easily in verification images. The identification of the surgical clip position may lead to a significant improvement in the accuracy of upper abdominal radiation therapy.