• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.568-571
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• 1997

Recently, the number of techniques for analyzing medical images has been increasing in computer vision, employing X-ray CT images, ultrasound images, MR images, moire topographic images, etc. Spinal deformity is a serious problem especially for teenagers and medical doctors inspect moire topographic images of their backs visually for the primary screening. If a subject is normal, the moire image is almost symmetric with respect to the middle line of the subject's back, otherwise it shows asymmetric shape. In this paper, an image analysis technique is described for discriminating suspicious cases from normal in human spinal deformity by recognizing asymmetric moire images of human backs. The principal axes which are sensitive to asymmetry of the moire image are extracted at two parts on a subject's back and their angles are evaluated with respect to the detected middle line of the back. The two angles compose a 2-D feature space and inspected cases are divided into two clusters in the space by a linear discriminant function based on the Mahalanobis distance. Given 120 cases, 60 normal and 60 abnormal, the leave-out method was applied for the recognition and 75% recognition rate was achieved.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.362-369
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• 2000

Via screw theory, a vibration mode can be geometrically interpreted as a pure rotation about the vibration center in a plane and as a twisting motion on a screw in a three dimensional space. In thi s paper, applying the conditions that can be used to diagonalize the stiffness matrix by a parallel axis congruence transformation, the vibration modes and frequency response of an elastically suspended optical disc drive have been analyzed. It is first shown that the system has one plane of symmetry, which enables one to decouple the complicated vibration modes into two sets of modes independent of each other. Having obtained the analytical solutions for the axes of vibrations, the frequency response for a given applied input force has been demonstrated. Most importantly, it has been explained that this research result could be used in the synthesis process of a linear vibration system in order to improve the frequency response.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.1
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• pp.7-17
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• 1997

During the past decade, there were many well-established theories for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of industrial robot control. Neural network computing methods provide one approach to the development of adaptive and learning behavior in robotic system for manufacturing. Computational neural networks have been demonstrated which exhibit capabilities for supervised learning, matching, and generalization for problems on an experimental scale. Supervised learning could improve the efficiency of training and development of robotic systems. In this paper, a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital signal processors is proposed. Digital signal processors, DSPs, are micro-processors that are developed particularly for fast numerical computations involving sums and products of variables. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be an efficient control scheme for implementation of real-time control for SCARA robot with four-axes by experiment.

• Laser Solutions
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• v.13 no.4
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• pp.14-20
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• 2010

Robot path generation and laser welding technology for manufacturing automotive body are studied. Laser welding and industrial robot systems are used with the robot based laser welding system. The laser system used in this study is 1.6kW Fiber laser, while the robot system is 6 axes Industrial robot (payload: 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. The welding joints of steel plate are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. The 3 dimensional laser welding for non-linear pipe welding line is performed. This paper introduces the robot based laser welding system to resolve the limited welding speed and accuracy of the conventional spot welding system.

• Journal of Welding and Joining
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• v.14 no.6
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• pp.68-80
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• 1996

When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.261-264
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• 2004

This paper presents the design and test of elliptical vibration assisted cutting tool post. It is actuated by two piezoelectric actuators which are connected to the moving part through the elastic hinge with its role of imposing the preliminary pressures. These two actuators are located at right angles so that the resulting tool tip moves like a two-dimensional ellipse. Also, the tool post is activated within the region of linear actuation in order to overcome the distorted elliptical motion. For the precise measurement of the displacement of the tool tip, three-dimensional experimental apparatus was designed and the strokes of the tool post in major and minor axes were measured. The results show that the tool post can produce the variety of vibration locus from a circle with a radius of 5 ${\mu}{\textrm}{m}$ to an ellipse with a major axis, a =10 ${\mu}{\textrm}{m}$, and a minor axis, b =2.5 ${\mu}{\textrm}{m}$

• KIPS Transactions on Software and Data Engineering
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• v.3 no.4
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• pp.163-168
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• 2014

In a protein molecule, ${\alpha}$-helices are important for protein structure, function, and binding to other proteins, so the analysis on the structure of helices has been researched. Since an interaction between two helices is evaluated based on their axes, massive errors in protein structure analysis would be caused if a curved or kinked long ${\alpha}$-helix is considered as a linear one. In this paper, we present an algorithm to reconstruct ${\alpha}$-helices in a protein molecule as a sequence of straight helices under given threshold.

• Structural Engineering and Mechanics
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• v.35 no.2
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• pp.141-173
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• 2010

In this paper a boundary element method is developed for the general flexural-torsional buckling analysis of Timoshenko beams of arbitrarily shaped cross section. The beam is subjected to a compressive centrally applied concentrated axial load together with arbitrarily axial, transverse and torsional distributed loading, while its edges are restrained by the most general linear boundary conditions. The resulting boundary value problem, described by three coupled ordinary differential equations, is solved employing a boundary integral equation approach. All basic equations are formulated with respect to the principal shear axes coordinate system, which does not coincide with the principal bending one in a nonsymmetric cross section. To account for shear deformations, the concept of shear deformation coefficients is used. Six coupled boundary value problems are formulated with respect to the transverse displacements, to the angle of twist, to the primary warping function and to two stress functions and solved using the Analog Equation Method, a BEM based method. Several beams are analysed to illustrate the method and demonstrate its efficiency and wherever possible its accuracy. The range of applicability of the thin-walled theory and the significant influence of the boundary conditions and the shear deformation effect on the buckling load are investigated through examples with great practical interest.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.97-104
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• 2007

Vibration analysis of a rigid body supported by in-parallel linear springs can be greatly simplified by utilizing the conditions for a plane of symmetry. The vibration modes of an oscillatory system having plane of symmetry are classified into the in-plane and out-of-plane modes. From the viewpoint of screw theory, they represent respectively the vibration axes perpendicular to the plane of symmetry and lying in the plane of symmetry. In this paper, the sets of orthogonal and mutually intersecting three springs are used as resilient support of a rigid body. The geometrical conditions for the system to have a plane of symmetry and diagonalized stiffness matrix are presented. From the orthogonality of the vibration modes with respect to the inertia matrix, the geometrical relation between the reaction wrenches and the vibration modes are derived. This geometrical relation is then used to get the cubic design equation for the design of out-of-plane modes. The numerical design example of engine mounts is presented in order to explain the suggested design technique.