• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.6
• /
• pp.778-784
• /
• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.8 no.3
• /
• pp.1-6
• /
• 2009

This paper presents a geometrical error compensation of tool alignment for sharp edge bite on B axis controlled machine. In precision micro patterning, bite alignment is crucial parameter for machined surface. To decrease bite alignment error, plus tilted bite from B axis center is touched to reference work piece(pin gauge) and checked the deviation from original position. Same process is repeated for maximum touch deviation value. From this touched position value, wheel alignment error in X axis and Z axis can be calculated on B axis center. Experimental results show that this compensation method is efficient to correct sharp edge bite alignment.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.20 no.12
• /
• pp.100-106
• /
• 2021

This paper presents a study on the improvement of the machining quality of sculptured-surfaces of molds according to the shape and posture of the tool. In the existing 3-axis machining, the methods using the ball end-mill and radius end-mill were analyzed for various cutting patterns and compared with those of the 5-axis machining. It was observed that the 5-axis machining using a ball end-mill obtained the finest surface roughness, and for the 3-axis machining, the optimal results were obtained for the one-way machining using a radius end-mill.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.1 s.190
• /
• pp.27-36
• /
• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2014.02a
• /
• pp.314.1-314.1
• /
• 2014

The properties of Ni/Au Ohmic contacts formed on nonpolar a-plane GaN grown on r-plane sapphire substrate with different tilt angles are investigated using current-voltage (I-V) measurements. To investigate the effects of pattern direction and size on Ohmic contact properties of a-plane GaN, transmission line method (TLM) patterns are formed either along c-axis and m-axis on nonpolar GaN surface with different size. I-V measurement results show that the size of TLM pattern and formation direction of electrode have an effect on the electrical properties of a-plane GaN. The large sized patterns show the relatively lower sheet resistance compared to the small sized patterns. In addition, the sheet resistance of a-plane GaN along m-axis shows lower values than that along the c-axis. Finally, the effects of miscut angle of r-sapphire substrate ($0.2^{\circ}$, 0.4oand $0.6^{\circ}$) on electrical properties of a-plane GaN will be discussed.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.20 no.8
• /
• pp.2637-2649
• /
• 1996

Flow characteristics and aerodynamic forces acting on an elliptic cylinder placed in a plane boundary layer were investigated experimentally. Four cylinder models with axis ratio(major axis to minor axis, AR=A/B) of 1, 2, 3, and 4 having the same equivalent diameter were used in this experiment. The Reynolds number based on the equivalent diameter $D_e$(=20mm) was 13,000. In the case of circular cylinder, regular vortex shedding occurs for the cylinder gaps larger than G/B=0.3 and is not almost related to the boundary layer thickness. But, for the elliptic cylinders, the vortex shedding frequency is increased with increasing the gap ratio (G/B) and the axis ratio (AR) of elliptic cylinders. The maximum drag coefficient acting on a circular cylinder is mainly affected by the boundary layer thickness. But, the elliptic cylinders(AR$\geq$2), except for the smaller gap G/B<0.2, show a nearly constant drag coefficient which is much smaller than that of a circular cylinder. The base pressure on the flat plate decreases with increasing the axis ratio(AR) of the elliptic cylinder. In the case of a circular cylinder, the base pressure has the minimum value at the gap ratio G/B=0.4, but it occurs at G/D=2 for elliptic cylinders. The mean velocity of the cylinder wake is quickly recovered at a small cylinder height ratio(H/$\delta$), but the turbulent intensity is rapidly recovered at a large cylinder height ratio(H/$\delta$). The effective wake region in the plane boundary layer is shrinkaged with increasing the axis ratio(AR) of elliptic cylinder. And the drag coefficient and streamwise turbulent intensity of the elliptic cylinder with AR=4 are less than half of those for the circular cylinder(AR=1).

• Journal of architectural history
• /
• v.14 no.2 s.42
• /
• pp.41-55
• /
• 2005

Temple with Multi-Buddha's Pavilions is a temple consisting of more than 2 Buddha's Pavilions. Individual Buddha's Pavilions tend to form distinguished area, or to keep independent axis from other Buddha's Pavilions. This study is to understand the philosophy of layout of individual Buddha's Pavilions located in the Temple with Multi-Buddha's Pavilions. To investigate a relationship to layout of individual Buddha's Pavilions on the basis of Buddhism doctrine makes us to understand philosophies about temple layout which temple constructors had. Bulkooksa, a temple having several pavilions placed in parallel, integrates diverse philosophies such as Vairocana Buddha-Ksetra from Vairocana Buddha's Pavilion, Sakyamuni Buddha-Ksetra from both Sakyamuni Buddha's Pavilion and two stupa, and Amitayus Buddha-Ksetra (Sukhavati) from Amitayus Buddha-Ksetra Pavilion. Sakyamuni Buddha's Pavilion and Amitayus Buddha's Pavilion are placed east to west in parallel, and Vairocana Buddha's Pavilion is placed behind them. Beobjusa, a temple having several pavilions placed cross axis, combines three axes such as the first, main axis linking Kumkang Gate - Chunwang Gate - Palsang Pavilion - Amitayus Buddha's Pavilion - Sakyamuni Buddha's Pavilion, the second axis linking Palsang Pavilion -Maitreya Pavilion, and the third axis linking Amitayus Buddha's Pavilion - Avalokiteshvara Pavilion. Relationship among each Buddha's land is clearly expressed by means of this cross axis layout of Buddha's Pavilions, reflecting a philosophy of rebirth in Nirvana that Wonhyo and Eusang propagated. Buseoksa, a temple having several pavilions placed the before and the behind, combines three Buddha's lands such as Maitreya Buddha-Ksetra, Amitayus Buddha-Ksetra and Vairocana Buddha-Ksetra, by means of arrangement of Maitreya Pavilion, Anyang Pavilion and Amitayus Buddha's Pavilion at bended axis, and east facing Amitayus Buddha. By investigating the philosophy of Temple layout with Multi-Buddha's Pavilions in this study, Buddha's Land conception, for people, that ancient Korean temples have, is understood.

• Journal of Korean Institute of Industrial Engineers
• /
• v.26 no.1
• /
• pp.73-80
• /
• 2000

To determine the exact direction and location of the human joint in motion is crucial in developing a more accurate human model and producing a more fitting artificial joint. There have been several reports on the biomechanical analysis of the joint to determine the anatomy and movement of joints. However, all the previous researches were made in vitro study, that is, they investigated the passive movement of the joint from cadavers and the suggested location of the joint axis was difficult to make practical applications due to the lack of the direction of joint axis. Also, in many biomechanical models, each joint axis is assumed to lie horizontally or vertically to the adjacent links. Such an assumption causes inherent inaccuracy. In this study, the direction and location of the transverse elbow axis was obtained with respect to the global coordinate system whose origin is on the lateral epicondyle of the humerus. The suggested result based on the global coordinate system lying on the external landmark will be helpful to understand the information of the axis and to make an application. From the experiments conducted for five subjects, the direction and location of the elbow transverse joint was determined for each subject by the helical axis method. A statistical validation was also performed to confirm the result. Finally, the result was applied to develop a simple elbow model which is a part of the kinematic arm model. The simple elbow movement model was developed to validate the significance of the result and the kinematic arm model was able to describe the geometry of any complex linkage system. As a result, the errors incurred from the proposed model were significantly reduced when compared to the ones from the previous approach.

• Journal of Nutrition and Health
• /
• v.29 no.10
• /
• pp.1142-1149
• /
• 1996

This study was conducted to determine changes in th contents and composition of dietary fiber during the growth of soybean sprout. Soybean was soaked in water at $25^{\circ}C$ for 2hrs and cultivated at 2$0^{\circ}C$ for 7 days under dark condition. The soybean sprouts were divided into cotyledon and axis and sampled every 24hrs. The analysis methodlogies used were Van Soest's NDF, AOAC's ADF and lignin and Prosky's IDF, SDF, TDF. The weight of 100 sprouts increased gradually from 20.26g to 90.12g during the growth periods. The weight increased to 344.9% of the original weight. The germination rate was 100% after soaking at $25^{\circ}C$ for 2hrs. Root length increased gradualy from 0.6cm at 1st day to 17.2cm at 7th day. The crude ash and crude fat contents showed no significant change in the cotyledon and axis. The crude protein contents increased in the cotyledon and axis, whereas the total carbohydrate content didn't have general tendency. The insoluble dietary fiber(IDF), soluble dietary fiber(SDF) and total dietary fiber(TDF) contents of cotyledon were no significantly different from 20.01%, 1.45%, 21.46% at 1st day to 22.75%, 2.07%, 24.82% at 7th day on dry basis. In axis those contents increased from 23.19%, 1.97%, 25.16% at 1st day to 32.78%, 3.02%, 35.80% at 7th day, respectively. The neutral detergent fiber(NDF) contents of cotyledon and axis increased from 4.35% to 6.39% and from 6.44% to 26.60% respectively on dry basis. The acid detergent fiber (ADF) contents of cotyledon and axis increased from 2.84% to 4.91% and from 2.5% to 4.7%, but there were no significantly different in the hemicellulose and lignin contents on dry basis. The hemicellulose and lignin contents of axis increased with culture periods from 1.70% to 4.41% and from 0.20% to 2.11%, respectively. The cellulose contents increased from 4.54% to 20.35% on dry basis.

• Asian-Australasian Journal of Animal Sciences
• /
• v.20 no.7
• /
• pp.1156-1168
• /
• 2007

The somatotropic (GH-IGF-I) axis consists of many hormonal and nutritional factors that control GH release from the somatotrophs in the anterior pituitary. The GH-releasing substances are GHRH and GHS (GHRP or ghrelin), while the GH release-inhibiting substances are somatostatin (SRIF), insulin-like growth factor-I (IGF-I), leptin and glucocorticoids. However, there is evidence showing that nutrition is involved in the control of the somatotropic axis. In addition, weaning is a drastic event for neonates because their alimentary and endocrine circumstances are changed due to the switch, even if gradual, from a liquid milk diet to one composed of such solids as hay and grains. The biological role of ghrelin is one of the hormonal factors that have been focused on ever since ghrelin was discovered at the end of the last century. A 27-amino acid peptide that is mainly synthesized and released from the abomasum epithelium, ghrelin has not been fully evaluated in relation to the somatotropic axis of the ruminant. It has also proven difficult even to investigate the cellular mechanisms of ghrelin action, because this hormone exerts animal-species-dependent actions via a complex set of intracellular signaling pathways. This is also the case for the action of leptin. Another substance, IGF-I, shows a partial inhibitory action on GH secretion in the ruminant. The effect of nutrition is also different among animal species. This is evident by the fact that undernutrition suppresses the circulating GH levels in rodents, but increases it in ruminants and humans. Recently, weaning has been shown to change the postprandial GH responses in ruminants; milk feeding increases, but hay and concentrate feeding suppress, the postprandial circulating GH levels. Even if the postprandial GH level is increased, the ghrelin level is decreased by milk feeding. Macronutrients also possess stimulatory and inhibitory actions on GH secretion in vivo and in vitro. These findings indicate the complexity of the control mechanisms of the somatotropic axis. In the present review, we summarize recent findings on the factors controlling the axis of the ruminant.