• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.12
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• pp.1088-1095
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• 2008

5-axis NC machining has a good advantage of the accessibility of tool motion by adding two rotary axes. It offers numerous advantages such as expanding machining fields in parts of turbo machineries like impeller, propeller, turbine blade and rotor, reasonable tool employment and great reduction of the set-up process. However, as adding two rotary axes, it is difficult to choose suitable machining conditions in terms of tool path, tool posture, feedrate control at a tool tip and post-processing. Therefore in this paper, it is proposed to decide suitable machining condition through an experimental method such as adopting various tool paths, tool postures, and feedrate types. Machining experiment on AL7075 for impeller is performed to define suitable machining condition, and measurement of surface roughness on machined surfaces depended on each machining condition is performed. By defining suitable machining condition, we should have conclusion as improving the surface quality in the aspect of surface roughness and machined shape of surface.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.1
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• pp.52-62
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• 2013

In order to obtain the relation between the cutting force and the process parameters in the chamfering process for the gear of a gear shaft, analysis of the process was performed with a simplified model instead of considering the whole actual 3-dimensional cutting situation produced between cutting tool and gear. The model divided the actual situation into the accumulation of hundreds of 2-dimensional layers with a small thickness in the direction of the height of gear and derived cutting force at a cutting position by accumulating each cutting force calculated in a layer. With proposed method to analyze the cutting forces in the chamfering process, it was revealed that the cutting position and size were exactly searched to calculate the cutting force in each layer. The total cutting force was the highest in the corner where the cutter encountered the gear first during the relative motion between them. The cutting forces were changed in proportion to the cutting parameters such as feed rate and trajectory.

• Proceedings of the Korean Information Science Society Conference
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• 1998.10c
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• pp.384-386
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• 1998

The use of hand gesture provides an attractive alternative to cumbersome interface devices for human-computer interaction(HCI). Many methods hand gesture recognition using visual analysis have been proposed such as syntactical analysis, neural network(NN), Hidden Markov Model(HMM) and so on. In our research, a HMMs is proposed for alphabetical hand gesture recognition. In the preprocessing stage, the proposed approach consists of three different procedures for hand localization, hand tracking and gesture spotting. The hand location procedure detects the candidated regions on the basis of skin-color and motion in an image by using a color histogram matching and time-varying edge difference techniques. The hand tracking algorithm finds the centroid of a moving hand region, connect those centroids, and thus, produces a trajectory. The spotting a feature database, the proposed approach use the mesh feature code for codebook of HMM. In our experiments, 1300 alphabetical and 1300 untrained gestures are used for training and testing, respectively. Those experimental results demonstrate that the proposed approach yields a higher and satisfying recognition rate for the images with different sizes, shapes and skew angles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.759-763
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.1-9
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• 2016

Objective: The aim of this study is to investigate the association between dance experience and smoothness of hand trajectory during dance by using three jerk-based quantitative methods (integrated squared jerk, mean squared jerk, and dimensionless jerk). Methods: Eleven Korean traditional dancers whose experience of dancing ranged from 5 years to 20 years participated in this study. Dancers performed the Taeguksun motion in Korea traditional dance. Six infrared cameras were used to capture the movement of the hands of the dancers. The smoothness of hand movement was calculated using three jerk-based methods. Results: With regard to the smoothness of the right hand, dance experience was significantly correlated with dimensionless jerk (r=0.656, p=0.028), while dance experience was not significantly correlated with integrated squared jerk (r=0.581, p=0.552) and mean squared jerk. With regard to the smoothness of the left hand, there was no correlation between dance experience and any of the three jerk values. Conclusion: Our results showed that individuals with more dance experience performed the task more smoothly. This study suggests that dimensionless jerk should be used as a predictor for smoothness in dance movement. Thus, our results support the idea that smoothness is an aspect of movement quantity distinct from speed and distance.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.3
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• pp.254-260
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• 2011

Telemetry link is dynamic communication link that antenna gain and polarization are varying with the movement of the airplane. In this paper we calculated the antenna gain, polarization mismatch using the flight trajectory, motion of the airplane and 3D antenna pattern. And we modeled the multipath environment to the 2-Ray spherical earth reflection geometry, estimated the received signal strength when the narrow beam antenna received the RF signal transmitted from the airplane. Also we performed the flight test and after comparing measured value with the estimated value, we confirmed to almost coincide with each other.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Particle and aerosol research
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• v.5 no.3
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• pp.123-131
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• 2009

This paper presents simulation results of particle transport in low-pressure, low-temperature plasma environment. The size dependent transport of particles in the plasma is investigated with a two-dimensional simulation tool developed in-house for plasma chamber analysis and design. The plasma model consists of the first two and three moments of the Boltzmann equation for ion and electron fluids respectively, coupled to Poisson's equation for the self-consistent electric field. The particle transport model takes into account all important factors, such as gravitational, electrostatic, ion drag, neutral drag and Brownian forces, affecting the motion of particles in the plasma environment. The particle transport model coupled with both neutral fluid and plasma models is simulated through a Lagrangian approach tracking the individual trajectory of each particle by taking a force balance on the particle. The size dependant trap locations of particles ranging from a few nm to a few ${\mu}m$ are identified in both electropositive and electronegative plasmas. The simulation results show that particles are trapped at locations where the forces acting on them balance. While fine particles tend to be trapped in the bulk, large particles accumulate near bottom sheath boundaries and around material interfaces, such as wafer and electrode edges where a sudden change in electric field occurs. Overall, small particles form a "dome" shape around the center of the plasma reactor and are also trapped in a "ring" near the radial sheath boundaries, while larger particles accumulate only in the "ring". These simulation results are qualitatively in good agreement with experimental observation.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.6
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• pp.572-578
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• 2007

A Rigid Inflatable Boat (RIB) is now widely used for commercial and military purpose. In this paper, it is supposed that seven-meter-class RIB be used as an unmanned target ship for naval training. In order to develop many tactical maneuvering patterns of a target ship, a simple horizontal maneuvering model of a RIB is needed. Therefore, models of speed and yaw rate are constructed as the first-order differential equations based on Lewandowski#s empirical formula for steady turning circle diameter of a conventional planning hull. Some parameters in the models are determined using the results of sea trial tests. Finally, proposed models are validated through the comparison of the simulation result with the sea trial result for a specific scenario. Even though a simple model does not represent the horizontal motion of a RIB precisely, however, it can be used enough to develop tactical trajectory patterns.