• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.410-413
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• 2009

Wafer pre-alignment is to find the center and the orientation of a wafer and to move the wafer to the desired position and orientation. In this paper, an area camera based pre-aligning method is presented that captures 8 wafer images regularly during 360 degrees rotation. From the images, wafer edge positions are extracted and used to estimate the wafer's center and orientation using least square circle fitting. These information are utilized for the proper alignment of the wafer.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.44-47
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• 1997

Building a reliable mobile robot - one that can navigate without failures for long periods of time - requires that the uncertainty which results from control and sensing is bounded. This paper proposes a new mobile robot localization method using artificial landmarks. For a mobile robot localization, the proposed method uses a camera calibration(only extrinsic parameters). We use the FANUC arc mate to estimate the posture error, and the result shows that the position error is less than 1 cm and the orientation error less than 1 degrees.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.492-496
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• 1988

Usually the first three joint variables (major link) and the next three joint variables (minor link) are used to determine the position and the orientation, respectively, of 6 degrees-of-freedom robot manipulators. In this paper, the Jacobians of 20 major links and 6 minor links are calculated to find the positional maneuverability matrices and orientational maneuverability matrices. Then the kinematic characteristics of the major and minor links are examined. Also we gave the measures of maneuverability and the controllability of the links for the figure of merits of robot manipulator design.

• Journal of Biosystems Engineering
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• v.2 no.2
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• pp.37-45
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• 1977

Solar energy is a potential source of power that offers much promise being used for low-temperature applications like drying farm crops, space heating, and water heating for domestic uses. Already much of it are being used for those purpose in foreign countries. However, very little research has been done to determine the possibility of using the solar energy in Korea. This study was conducted to develop the general prediction equation of the total radiation on a horizontal surface in Daejeon area based on 5 years 91972, Jun.1-1976. Dec.31) meteorological data (bright sunshine hours, average total horizontal radiation), and to obtain experimentally the thermal efficiency of solar air and water collectors, which will be used as a basic data of designing flat-plate solar collector system.In addition to the thermal efficiency of the collectorsthe relationship among those factors affecting it such as weather condition, orientation factor, and tilted angle of collector was analyzed. The results of this study were as follows. 1. The general predicted equation of the total radiation on a horizontal surface in Daejeon area based on bright sunshine hours was developed as $H_{av} =(1.546\frac{n}{N}-0.582)H_o$. Predicting the total radiation on a horizontal surface by the above equation was thought to be possible because to values of 0.882 was smaller than any t values at above 0.05 level on the basis of two tailed test of the difference between the calculated and the recorded values. 2.It was observed that optimum tilt angle of the collector in the summer and the autumn drying season was 13 degrees and 51 degrees respectively, these values could be obtained by adding or substracting approximately 25 degrees from the latitude of this area $(36.3^{\circ}N)$ .The relationship between orientation factor and declination of sun at suitable tilt angle of 33 degrees $(s=0.9\O)$ was shown at Fig.4. 3.The thermal efficiency of solar wdter collector was shown 13.4-51. 6% on Aug. 15 (the minimum radiation recorded) and 43.8 ~537% Aug.20 (the maximum radiation recorded), and 13.8~ 46.6 and 44.3~ 49.7 were shown on each corresponding day. 4.The thermal efficiency of the collectors according to the weather condition was shown a big difference of about 10% between the day of the maximum radiation recorded and the minimum, but the differen of efficiency between the air and the water collector was at most 2 ~ 3%. 5. Even if the efficiency of the solar water collector was a little higher than the solar air collector, for drying farm products, the solar air collector was thought to be more effective because the air heated by collector could be directly used for drying them.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.6
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• pp.94-101
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• 1994

About vibration model of Six-degrees-of-freedom(DOF), in mass load, examined results for knowing dynamic interference and response variation is as follows; In case of putting mass load upon the object, experimented results on two-degrees-of-freedom of the translation-1 direction and the rotation-1 direction at open-loop-control system, about 0.19 arcsed in input of the translation-$0.1{\mu}m$ and $0.022{\mu}m$ on input of the rotation-0.5 arcsec, the justicse of motion equation is acknowledged as confirming the appearance of the interference-$0.022{\mu}m$. In establishing calculation of transformation matrix by using analogue circuit, as simulating results that used incomplete differentiation, interference is $1.7{\times}10^{-3}$ arcsec on input of the translation-$0.1{\mu}m$ and $1.4{\times}10^{4}{\mu}m$ on input of the rotation-0.5 arcsec in open-loop-control system. Also it is $4.2{\times}10^{-4}$ arcsec on input of the translation-$0.1{\mu}m$ and $5.6{\times}10^{-5}{\mu}m$ on input of the rotation-0.5 arcesc in closed-loop-control system. As closed-loop-control system is better than open-loop-control system, equivalent accordance is confirmed on original response. Finally, fundamental validity of this theory is acknowledged.

• The Journal of Engineering Geology
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• v.13 no.3
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• pp.321-334
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• 2003

This study is aimed at the effective measurement plan of discontinuity orientation on rock mass. The discontinuity orientation is expressed as three methods. strike/dip. dipdirection/dip (a three digit number / a two digit number) and right hand rule. Generally, strike/dip is measured with clinometer. and dipdirection/dip with silva compass(type15). A sign of strike/dip. discontinuity orientation is used to geological survey. and dipdirection/dip to engineering. Dipdirection/dip converted by strike/dip measured with clinometer is useful on the statistical analysis of a lot of data. To measure the azimuth of the dip with clinometer and to change strike/dip to dipdirection/dip may have potential errors in each person. The newly designed apparatus, clinometer equipped by a rotational azimuth plate and an arrow to measuring strike and dipdirection, has been developed to measure effectively the discontinuity orientation with two method (strike/dip and dipdirection/dip). The measuring method of discontinuity orientation with clinometer having newly designed apparatus is effective one for accurate measurement of strike as well as dipdirection which is degrees counted clockwise from true north. Used by clinometer with newly designed apparatus, concurrent measuring strike/dip and dipdirecton/dip of discontinuity is possible. In application to measuring discontinuity orientation on rock slope, it has been recognized that the newly designed method, unambiguously, led to drop measuring errors comparing with existing measuring apparatuses. Therefore, it is considered that measuring method of discontinuity orientation (strike/dip and dipdirecton/dip) by the newly designed apparatus is useful to one in geological engineering investigation of road design, and to unskilled investigator.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2006.06a
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• pp.147-152
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• 2006

Restoration of historical documents and arts has become important to inherit cultural properties. Most of historical documents were recorded on paper. Therefore, restoration of ancient papers is demanded and techniques for this purpose must be developed and sophisticated. In our study, several nondestructive methods for analyzing ancient paper have been developed. Image analysis using fast Fourier transform with suitable modifications was applied to optical micrographs of traditionally-handmade Korean and Japanese papers. This analysis determines the angle and anisotropy of fiber orientation of paper surfaces. Fiber orientation of traditionally-handmade Korean and Japanese papers was found to show their own characteristics in accordance with the motion of a papermaking screen made of bamboo splints. Consequently, the information on fiber orientation was found to be possible to distinguish the flow-sheet forming typical of Japanese paper and still-sheet forming typical of Korean paper. Moreover, the anisotropy was always higher for the screen side than for the top side, thus meaning that surface fiber orientation is possible to distinguish the two sides of paper of which papermaking history is unknown. An application of this technique to actual historical documents evidenced that wrapping papers were used as envelops with a lateral side up, namely, after rotating 90 degrees. A variety of cultural habits in writing letters was revealed by discrimination of the two sides.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.670-673
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• 1999

In this paper, we present a robust motion controller based on Adaptive-Fuzzy technique is proposed that multifunctional vehicle(MVR) for two DOF mobile robot can perform detailed inspection of physical conditions of sewage pipes as well as can effectively repair the damaged portions of the inner walls. The main difficulties in controlling this multifunctional robot vehicles lie in the fact that vehicles usually have three degrees of freedom in position and orientation in spite of having only two degrees of freedom for motion control in tracking mode. Decomposition of error between the reference posture and the current posture makes control of speed and steering possible. The Gyro compass part and Inclonometer of the robot is configured in order to realize position of robot. The proposed Adaptive-Fuzzy motion controller has two main characteristics: The one guarantees that the MVR follows the reference trajectory; the other one compensates the dynamics of the MVR. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• Structural Engineering and Mechanics
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• v.3 no.2
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• pp.121-133
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• 1995

It is well known that two-dimensional simplified third-order theories satisfy the layer interface continuity of transverse shear strains, thus these theories violate the continuity of transverse shear stresses when two consecutive layers differ either in fibre orientation or material. The third-order theories considered herein involve four/or five dependent unknowns in the displacement field and satisfy the condition of vanishing of transverse shear stresses at the bounding planes of the plate. The objective of this investigation is to examine (i) the flexural response prediction accuracy of these third-order theories compared to exact elasticity solution (ii) the effect of layer interface continuity conditions on the flexural response. To investigate the effect of layer interface continuity conditions, three-dimensional elasticity solutions are developed by enforcing the continuity of different combinations of transverse stresses and/or strains at the layer interfaces. Three dimensional twenty node solid finite element (having three translational displacements as degrees of freedom) without the imposition of any of the conditions on the transverse stresses and strains is also employed for the flexural analysis of the laminated plates for the purposes of comparison with the above theories. These shear deformation theories and elasticity approaches in terms of accuracy, adequacy and applicability are examined through extensive numerical examples.