• Title/Summary/Keyword: On-machine Measurement

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Effective Policy Search Method for Robot Reinforcement Learning with Noisy Reward (노이즈 환경에서 효과적인 로봇 강화 학습의 정책 탐색 방법)

  • Yang, Young-Ha;Lee, Cheol-Soo
    • The Journal of Korea Robotics Society
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    • v.17 no.1
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    • pp.1-7
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    • 2022
  • Robots are widely used in industries and services. Traditional robots have been used to perform repetitive tasks in a fixed environment, and it is very difficult to solve a problem in which the physical interaction of the surrounding environment or other objects is complicated with the existing control method. Reinforcement learning has been actively studied as a method of machine learning to solve such problems, and provides answers to problems that robots have not solved in the conventional way. Studies on the learning of all physical robots are commonly affected by noise. Complex noises, such as control errors of robots, limitations in performance of measurement equipment, and complexity of physical interactions with surrounding environments and objects, can act as factors that degrade learning. A learning method that works well in a virtual environment may not very effective in a real robot. Therefore, this paper proposes a weighted sum method and a linear regression method as an effective and accurate learning method in a noisy environment. In addition, the bottle flipping was trained on a robot and compared with the existing learning method, the validity of the proposed method was verified.

Evaluation of the Vickers hardness on denture acrylic resins by glaze color (글레이즈 컬러를 적용한 의치상 레진의 비커스 경도 평가)

  • Yong-Woon Im
    • Journal of Technologic Dentistry
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    • v.44 no.4
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    • pp.111-117
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    • 2022
  • Purpose: This study was conducted to compare the Vickers hardness on the denture acrylic resins using the glaze color system. Methods: The specimens (20×2 mm) were prepared by mixing according to the manufacturer's protocols through thermal polymerization and self-polymerization. The surface roughness was measured using a testing machine after water-soaking for 48 hours. For the Vickers hardness measurement, the completed specimen was soaked in water for 48 hours and then applied at 200 gf for 30 seconds. Was the specimen immersed after being soaked in water for 48 hours at temperatures of 5℃ and 55℃, respectively, for 30 seconds for the thermos-cycling treatment, and it was carried out 5,000 times. Results: Surface roughness was higher in the more glazing group than in the control group. A significant difference was observed in all groups, except for the Retec Don 2000 and Luciton 199 groups (p<0.05). As a result of measuring the Vickers hardness, the treatment by glaze color showed slightly lower but the thermo-cycling treatment group appeared higher than control group in all. Conclusion: Therefore, the glaze color was found to affect the surface roughness and showed a significant difference. The surface glaze color showed a very high Vickers hardness after the thermo-cycling treatment, indicating that the surface-strengthening effect is greater in the oral environment.

Implementation and performance estimation of interferometer-type linear scale with high-resolution (고분해능을 갖는 간섭계형 리니어 스케일 제작 및 성능 평가)

  • 김수진;은재정;최평석;권오영
    • Journal of the Institute of Convergence Signal Processing
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    • v.2 no.3
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    • pp.86-92
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    • 2001
  • Position controls are very important in semiconductor manufacturing devices, machine tools, precision measuring instruments, etc. to measure the distance of movement of moving objects in minute units and the accuracy of measurement for the moving distance in these devices affect the performance of the whole devices. Therefore, in those precision instruments, a sensing device that can measure the distance of movement with high-precision resolution is required. Thus an optical encoder that has such advantages as easy digital interface, economical price, and a resolution similar to that of laser interferometers can be used. In this paper, a interferometer-type linear scale with easy digital interface and high-resolution has been set up and measured the distance of movement based on the diffraction principle. Interference signals produced in this optical setup of the linear scale have beers digitalized through fabricated photodetectors and designed signal processing circuits. A resolution of 0.5${\mu}{\textrm}{m}$ is acquired from the experimental interferometer-type linear scale without for the movement of scales any additional dividing circuits. It is shown that from this experiment a high-resolution distance measurement device can be designed by a simple optical setup.

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Effect of Modified Fiber Tip on Joint Angle Measurement (광섬유 종단각도 효과를 이용한 관절각 측정)

  • Jung, Gu-In;Kim, Ji-Sun;Lee, Tae-Hee;Choi, Ju-Hyeon;O, Han-Byeol;Kim, A-Hee;Jun, Jae-Hoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.63 no.7
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    • pp.929-933
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    • 2014
  • The measurement of joint angle is important to evaluate the patient's disability. The modified fiber tip and light propagation of the developed fiber sensor were investigated to increase the range of angle detection. Different shapes of fiber tips were manufactured with a polishing machine to deliver light signal in various patterns. Output signals were analyzed to obtain joint angle change with inverse polynomial models. The measured joint angles were displayed with LabVIEW program and the reliability was tested by comparing with a commercial angle sensor. This method can be used in rehabilitation field to determine patient's progress.

Modern Paper Quality Control

  • Olavi Komppa
    • Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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    • 2000.06a
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    • pp.16-23
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    • 2000
  • The increasing functional needs of top-quality printing papers and packaging paperboards, and especially the rapid developments in electronic printing processes and various computer printers during past few years, set new targets and requirements for modern paper quality. Most of these paper grades of today have relatively high filler content, are moderately or heavily calendered , and have many coating layers for the best appearance and performance. In practice, this means that many of the traditional quality assurance methods, mostly designed to measure papers made of pure. native pulp only, can not reliably (or at all) be used to analyze or rank the quality of modern papers. Hence, introduction of new measurement techniques is necessary to assure and further develop the paper quality today and in the future. Paper formation , i.e. small scale (millimeter scale) variation of basis weight, is the most important quality parameter of paper-making due to its influence on practically all the other quality properties of paper. The ideal paper would be completely uniform so that the basis weight of each small point (area) measured would be the same. In practice, of course, this is not possible because there always exists relatively large local variations in paper. However, these small scale basis weight variations are the major reason for many other quality problems, including calender blacking uneven coating result, uneven printing result, etc. The traditionally used visual inspection or optical measurement of the paper does not give us a reliable understanding of the material variations in the paper because in modern paper making process the optical behavior of paper is strongly affected by using e.g. fillers, dye or coating colors. Futhermore, the opacity (optical density) of the paper is changed at different process stages like wet pressing and calendering. The greatest advantage of using beta transmission method to measure paper formation is that it can be very reliably calibrated to measure true basis weight variation of all kinds of paper and board, independently on sample basis weight or paper grade. This gives us the possibility to measure, compare and judge papers made of different raw materials, different color, or even to measure heavily calendered, coated or printed papers. Scientific research of paper physics has shown that the orientation of the top layer (paper surface) fibers of the sheet paly the key role in paper curling and cockling , causing the typical practical problems (paper jam) with modern fax and copy machines, electronic printing , etc. On the other hand, the fiber orientation at the surface and middle layer of the sheet controls the bending stiffness of paperboard . Therefore, a reliable measurement of paper surface fiber orientation gives us a magnificent tool to investigate and predict paper curling and coclking tendency, and provides the necessary information to finetune, the manufacturing process for optimum quality. many papers, especially heavily calendered and coated grades, do resist liquid and gas penetration very much, bing beyond the measurement range of the traditional instruments or resulting invonveniently long measuring time per sample . The increased surface hardness and use of filler minerals and mechanical pulp make a reliable, nonleaking sample contact to the measurement head a challenge of its own. Paper surface coating causes, as expected, a layer which has completely different permeability characteristics compared to the other layer of the sheet. The latest developments in sensor technologies have made it possible to reliably measure gas flow in well controlled conditions, allowing us to investigate the gas penetration of open structures, such as cigarette paper, tissue or sack paper, and in the low permeability range analyze even fully greaseproof papers, silicon papers, heavily coated papers and boards or even detect defects in barrier coatings ! Even nitrogen or helium may be used as the gas, giving us completely new possibilities to rank the products or to find correlation to critical process or converting parameters. All the modern paper machines include many on-line measuring instruments which are used to give the necessary information for automatic process control systems. hence, the reliability of this information obtained from different sensors is vital for good optimizing and process stability. If any of these on-line sensors do not operate perfectly ass planned (having even small measurement error or malfunction ), the process control will set the machine to operate away from the optimum , resulting loss of profit or eventual problems in quality or runnability. To assure optimum operation of the paper machines, a novel quality assurance policy for the on-line measurements has been developed, including control procedures utilizing traceable, accredited standards for the best reliability and performance.

Accuracy of Ultrasonography in Early Pregnancy Diagnosis in Doe

  • Singh, N.S.;Gawande, P.G.;Mishra, O.P.;Nema, R.K.;Mishra, U.K.;Singh, Mohan
    • Asian-Australasian Journal of Animal Sciences
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    • v.17 no.6
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    • pp.760-768
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    • 2004
  • The present study was undertaken to evaluate the accuracy of ultrasonography in early pregnancy diagnosis in goats. Ultrasonographic scanning with real time B-mode ultrasound machine having 5 MHz linear array transducer was performed on gravid uterus (n=24) obtained from slaughterhouse (Group I). Crown rump length (CRL) measured by ultrasound was found significantly different (p<0.05) with actual CRL measured after dissection in early pregnancy. However, age predicted by ultrasound through the measurement of CRL was found highly correlated (r=0.92) with age measured after dissection through CRL and the weight of fetus. Ages predicted by ultrasound through the measurement of trunk diameter (TD) and uterine diameter (UD) and ages measured after dissection were found highly and equally correlated (r=0.98) and did not differ significantly. Data from six does synchronized (Group II) with PGF2$\alpha$ (Estrumate) at 11 days apart were collected through ultrasound from 17 to 42 days post breding. The correlation between CRL and gestational age was high (r=0.97) in day 30 to 42 post breeding. A high coefficient of correlation (r=0.98) was also observed between predicated age by ultrasound and actual age calculated after kidding. The correlation between CRL and gestational age by the formula Y=(a+bX) i.e. Y=24.42+0.39 X where Y=gestational age and X=CRL, was recorded very high (r=0.99). Accuracy of ultrasonography was lowest on day 17 to 19 (66%) and reached 100% on day 34. Data from 30 does (group III) randomly subjected to only one time ultrasounds scanning to assess the accuracy of pregnancy diagnosis were also obtained. Ages predicted by TD and UD measurements were observed to be non-significantly different with actual age obtained after kidding and correlation between ages predicted by TD and UD measurement with actual age after kidding was found equally and highly correlated (r=0.98). The operator's accuracy in the whole experiment including all three groups was found to be 92%. The sensitivity was 93% and specificity was 86%. From the present study, it was observed that CRL was the most reliable parameter to find out gestational age in early pregnancy and the new formula derived was found very accurate to find out gestational age. TD and UD were also found to be equally reliable parameter to find out gestational age in mid and late stage of pregnancy through ultrasonography. It was concluded that ultrasonography by real time B mode with 5 MHz transrectal transducer was found to be reliable, safe and accurate and practicable means in diagnosing early pregnancy diagnosis as early as 25 days post breeding.

3D Modeling of Automobile Part Using Pattern Scanner and Efficiency Analysis (패턴스캐너를 이용한 자동차부품의 3차원모델링 및 효용성분석)

  • Han Seung-Hee
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.24 no.1
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    • pp.1-8
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    • 2006
  • Effective three dimensional modeling becomes essential in a wide range of drawings, such as construction, machinery and design. In particular, it has been developed as the tool enabling reverse design. Three dimensional modeling requires rapidity, accuracy and tangibility. Data acquisition methods for modeling including contact type coordinate measurement machine, LASER scanner, pattern scanner and digital photogrammetry. In this study, we try to analyze modeling techniques as well as introduce three dimensional modeling using pattern scanner. In addition, this study conducts three dimensional modeling using OPTO-Top pattern scanner with distinguished accuracy and rapidity, and then compare efficiency with digital photogrammetry. And, this study attempts to form environment that enables to turn around models on web in three dimensional ways.

Analysis of Return Current Effect for AF Non-insulated Track Circuit in ITX Vehicle Operation (ITX 차량 운행에 의한 AF 무절연 궤도회로의 귀선전류 영향 분석)

  • Beak, Jong-Hyen;Kim, Yong-Kyu;Yoon, Yong-Ki;Jang, Dong-Wook;Shin, Dong-Ho
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.62 no.4
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    • pp.584-590
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    • 2013
  • Depending on the operating characteristics, track circuit is installed for the purpose of control directly or indirectly of the signal device, point switch machine and other security device. These are mainly used for train detection, transmission of information, broken train detection and transmission of return current. Especially, the return current is related to signal system, power system and catenary line, and track circuit systems. It is one of the most important component shall be dealt for the safety of track side staff and for the protection of railway-related electrical system according to electrification. Therefore, an accurate analysis of the return current is needed to prevent the return current unbalance and the system induced disorder and failure due to an over current condition. Also, if the malfunction occurred by the return current harmonics, it can cause problems including train operation interruption. In this paper, we presented measurement and analysis method at return current and it's harmonics by train operation. By the test criteria, we evaluated for safety. Hereafter, it is expected to contribute to the field associated with it.

Development of Sensor and Signal Duplicator for Building Automation (빌딩 자동제어용 센서 및 신호의 듀플리케이터(Duplicator) 개발)

  • Jang, Kyeong-Uk;Lee, Yong-Min;Lee, Seung-Ho
    • Journal of IKEEE
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    • v.20 no.2
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    • pp.184-187
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    • 2016
  • In this paper, we propose the sensor and the signal duplicator for the automatic building control. Developed duplicator realizes the sensor data collection apparatus and mimics the measured data and, thus, reduces the construction cost by using logical communication layer. Furthermore, the system supports the open protocols and can be associated with HMI(Human Machine Interface) used on the market. Developed duplicator is proved to be functional within the real environment. Measurement error rate, operating temperature, and operating humidity show very good results by the certified testing apparatus and organization.

Similarity Measurement of 3D Shapes Using Ray Distances (Ray distance를 이용한 3차원 형상의 유사성 판단)

  • 황태진;정지훈;오헌영;이건우
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.1
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    • pp.159-166
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    • 2004
  • Custom-tailored products are meant by the products having various sizes and shapes to meet the customer's different tastes or needs. Thus fabrication of custom-tailored products inherently involves inefficiency. To minimize this inefficiency, a new paradigm is proposed in this work. In this paradigm, different parts are grouped together according to their sizes and shapes. Then, representative shape of each group is derived and it will be used as the work-piece from which the parts in the group are machined. Once a new product is ordered, the optimal work-piece is selected through making similarity comparisons of new product and each representative shape. Then an effective NC tool-path is generated to machine only the different portions between the work-piece and the ordered product. The efficient machining conditions are also derived from this shape difference. By machining only the different portions between the work-piece and the ordered product, it saves time. Similarity comparison starts with the determination of the closest pose between two shapes in consideration. The closest pose is derived by comparing the ray distances while one shape is virtually rotated with respect to the other. Shape similarity value and overall similarity value calculated from ray distances are used for grouping. A prototype system based on the proposed methodology has been implemented and applied to the grouping and machining of the shoe lasts of various shapes and sizes.