• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• International Journal of Contents
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• v.11 no.1
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• pp.15-20
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• 2015

The purpose of this research is to study methods for performing transition that have visual representation of corresponding animations with no bounce in subsequently recognized user information when attempting to interact with a virtual 3D character in real-time using user motion. If the transitions of the animation are needed owing to a variety of external environments, continuous recognition of user information is required to correspond to the motion. The proposed method includes linear interpolation of the transition using cross-fades and blending techniques. The normalized playing time of the source animation was utilized for automatically calculating the transition interpolation length of the target animation and also as the criteria in selecting the crossfades and blending techniques. In particular, in the case of blending, the weighting value based on the degree of similarity between two animations is used as a blending parameter. Accordingly, transitions for visually excellent animation are performed on interactive holographic projection systems.

• Polymer(Korea)
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• v.24 no.3
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• pp.333-341
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• 2000

Blends consisting of linear shape polylactic acid and star shape polylactic acid (L-PLLA/S-PLLA) have been prepared by melt and solution blending. The effect of blending method on the thermal properties and crystallization behavior of L-PLLA/S-PLLA blends has been investigated. The molecular weight decrease was revealed both in melt and solution blending. S-PLLA was found to be more stable than L-PLLA in the reduction of molecular weight during the course of blending due to its star shape structure. As a result, broad molecular weight distribution was obtained in solution blending. It was found that melting temperature and glass transition temperature decrease with increasing S-PLLA content. Blending method had large influence on the glass transition temperature of PLLA blends, while less effect on melting temperature. From DSC results, it can be noticed that solution blending is more effective blending method to obtain higher crystallinity than melt blending for S-PLLA and blend with higher S-PLLA content.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.2
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• pp.154-161
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• 2009

In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

• Applied Chemistry for Engineering
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• v.7 no.3
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• pp.504-510
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• 1996

Low-density polyethylene(LDPE)/Linear low-density polyethylene(LLDPE) blends were prepared by the compositional quenching process, a new morphology control method. The blends were characterized in terms of melting and crystallization behavior and mechanical properties. The results were compared with those of mechanically blended and solution blended samples. From DSC experiments, it was found that the melting temperatures and crystallization temperatures of the blends were dependent on the blending methods. In thermal property, LDPE/LLDPE blends prepared by compositional quenching process were similar to the blends prepared by solution blending but different from the blends prepared by mechanical blending. This result is explained to be due to the domain size dispersed in the matrix. The elongation-at-break and tensile strength of the samples blended by compositional quenching showed similar to those of the samples blended by solution blending method but larger than those of samples prepared by mechanical blending. Also, the Young's modulus showed the same trends as elongation-at-break. The tensile strength of the blends prepared by compositional quenching was not as high as the samples prepared by the other two blending methods.

• Korean Journal of Agricultural Science
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• v.41 no.2
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• pp.135-139
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• 2014

Pathogenic E. coli associated post-weaning diarrhea (PWD) and edema disease are common diseases in commercially-housed weanling pigs. An enterotoxigenic E. coli (ETEC) oral challenge model has been used to mimic the physiological responses observed in commercial conditions. However, an oral challenge procedure has two major limitations: (1) the ETEC cell density is unknown at the point of oral inoculation, and (2) blending ETEC with traditional TSB (trypticase soy broth) is not palatable and hence decreases acceptability by piglets. Therefore, the purposes of this study were to (1) establish a regression equation that can be used for estimation of ETEC concentration in dilution media using the spectrophotometric measurement of cell density; and (2) examine survival of ETEC after blending either with TSB, sweetener or dextrose. A strain of ETEC (serogroup beta-hemolytic E. coli O149; K91; F4; toxins LT, STa, STb) was grown in TSB for 3.5 hours, centrifuged, the supernatant was discarded, and the ETEC pellet was then blended either with TSB (100 mL), sweetener (60 mL TSB + 40 mL fruit flavored concentrate), or dextrose (50 mL TSB + 50 mL dextrose; 0.5g/mL dextrose). Cell density was measured using the colorimetric method and also plated on a 5% sheep blood agar for counting of ETEC colony forming units at 0, 5, 35, 65 and 125 min after blending. The optical density at 600 nm explained 83% of ETEC colony forming units, indicating that the established linear equation (y= 6E+08x - 4E+07, P<0.004) can be used for robust quantification of ETEC cell density in TSB, sweetener and dextrose media. When ETEC was blended with sweetener and dextrose, survival of ETEC was decreased by 45% and 72% within 5 min post-blending. Therefore, further research is required to find out the suitable medium that has potential to improve palatability without compromising survival of ETEC.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.269-270
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• 2012

• Korean Journal of Computational Design and Engineering
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• v.12 no.5
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• pp.354-365
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• 2007

We present novel methods to generate a sequence of shapes that represents the pattern of morphological development or transformation of Bezier curves. The presented methods utilize the intrinsic geometric structures of a Bezier curve that are derived from rib and fan decomposition (RFD). Morphological development based on RFD shows a characteristic pattern of structural growth of a Bezier curve, which is the direct consequence of development path defined by fans. Morphological transformation based RFD utilizes development patterns of source and target curves to mimic the theory of evolutionary developmental biology: although the source and target curves are quite different in shapes, we can easily find similarities in their younger shapes, which makes it easier to set up feature correspondences for blending them. We also show that further controls on base transformation for intensity of feature blending, and extrapolation can compensate the immaturity of blended curves. We demonstrate the experimental results where transformation patterns are smoother and have unique geometric style that cannot be generated using conventional methods based on multi-linear blending.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.77-83
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• 2003

We propose two algorithms to generate (1) polygonal meshes and (2) developable surface patches far generalized cylinders defined by contours of discrete curves. To solve the contour blending problem of generalized cylinder, the presented algorithms have adopted the algorithm and related properties of LIDM (linear interpolation by direction map) that interpolate geometric shapes based on direction map merging and group scaling operations. Proposed methods are fast to compute and easy to implement.

• Journal of the East Asian Society of Dietary Life
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• v.22 no.6
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• pp.782-794
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• 2012

The objective of this study was to determine the optimal conditions for preparation of cooked brown rice by blending brown rice, white rice and glutinous rice to improve the palatability. Formulations composed of brown rice (10~100%), white rice (0~90%) and glutinous rice (0~90%) were generated from an extreme-vertices of mixture experimental design, which showed ten experimental points for brown rice, with white rice and glutinous rice as the independent variables. The sensory evaluation, color, and texture profile analysis (TPA) of cooked brown rice and pasting characteristics of blending cereals flour were measured as response variables. Regression analysis showed that all responsible variables fit linear, quadratic or special cubic models (p<0.1), except for the cohesiveness of TPA. The goals of optimization of the blending ratio of brown rice, white rice and glutinous rice were given as appearance, flavor, texture and overall acceptability (lower: 5.50, target: 6.62). The optimal conditions were determined to be 34.55% brown rice, 42.71% white rice and 22.74% glutinous rice.