• Korean Journal of Remote Sensing
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• v.9 no.2
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• pp.7-19
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• 1993

In stereo vision, when we use two parallel axis images, small portion of object is contained and B/H(Base-line to Height) ratio is limited due to the size of object and depth information is inaccurate. To overcome these difficulities we take a non-parallel axis image which is rotated $\theta$ about y-axis and match other parallel-axis image. Epipolar lines of non-parallel axis image are not same as those of parallel-axis image and we can't match these two images directly. In this paper, we transform the non-parallel axis image geometrically with camera parameters, whose epipolar lines are alingned parallel. NCC(Normalized Cross Correlation) is used as match measure, area-based matching technique is used find correspondence and 9$\times$9 window size is used, which is chosen experimentally. Focal length which is necessary to get depth information of given object is calculated with least-squares method by CCD camera characteristics and lenz property. Finally, we select 30 test points from given object whose elevation is varied to 150 mm, calculate heights and know that height RMS error is 7.9 mm.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.129-135
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• 2006

In this study, a two-axis ultra-precision stage driven by piezoelectric elements is presented. The stage has a flexure-type parallel linear guide mechanism consisting of quad-symmetric simple parallel linear springs and quad-symmetric double compound linear springs. While the simple parallel linear springs guide the linear motion of a moving plate in the stage, the double compound linear springs follow the motion of the simple parallel linear spring as well as compensate the parasitic motions caused by the simple parallel linear springs. The linear springs are designed by rectangular beam type flexures that are deformed by bending deflection rather than axial extension, because the axial extension is smaller than the bending deflection at the same force. The designed guide mechanism is analyzed by finite element method(FEM). Then two-axis parallel linear stage is implemented by the linear guide mechanism combined with piezoelectric elements and capacitance type displacement sensors. It is shown that the manufactured ultra-precision stage achieves 3 nm of resolution in x- and y-axis within 30 ${\mu}m$ of operating range.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.4
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.864-865
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• 2008

This paper deals with d-q axis inductance measurements of IPMSM considering core loss at low speed. d-q axis inductance measurements generally are conducted at rated speed and parallel core loss model can be used to exclude core loss effects on inductances. Core loss is generally modeled parallel to input terminal of d-q axis equivalent circuit. Therefore, the effect of core loss on inductance calculation can be varied by core loss modeling. In this paper, d-q axis inductance is calculated parallel and series core loss modeling. Calculated inductances are compared to FEA results and it is concluded that series core loss modeling is more closed to FEA results at low speed.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

• Journal of Sensor Science and Technology
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• v.25 no.2
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• pp.110-115
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• 2016

This paper describes the design and fabrication of a three-axis force sensor with three parallel plate structures(PPSs) for measuring force in a finger force measuring system for a spherical object catch. The three-axis force sensor is composed of a Fx force sensor, Fy force sensor and a Fz force sensor, and the elements of Fx force sensor and Fy force sensor are a parallel plate structure(PPS) respectively and Fz force sensor is two PPS. The three-axis force sensor was designed using FEM(Finite Element Method), and manufactured using strain-gages. The characteristics test of the three-axis force sensor was carried out. As a test results, the interference error of the three-axis force sensor was less than 1.32%, the repeatability error of each sensor was less than 0.04%, and the non-linearity was less than 0.04%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.353-364
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• 1998

This paper describes the design processes and evaluation results of a small-sized six-axis force/torque sensor. The new six-axis force/torque sensor including S-type structure has been developed using a parallel plate structure as a basic sensing element. In order tominimize coupling errors, the location of strain gages has been determined based on the finite element analysis and the connections of strain gages have been made such that the bridge circuit with 4 strain gages becomes balanced. Several design modifications result in a similar strain sensitivity for six-axis forces and moments, and the reduced coupling errors of 2.6% FS between each forces and moments. Calibration test results show that the six-axis load cell developed which has light weight of 135g and the maximum capacities of 196 N in forces and 19.6 N.m in moments is estimated to be within 7.1% FS in coupling error.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.100-107
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• 2014

Currently, there are many power transmission devices, including gears, friction wheels, chains, and belts. Because the power transmission of gears is most certainin these devices, gears are widely used in different power transmission fields and environments. In accordance with the gear shape, gears can be classified as cylindrical gears and conical gears. A cylindrical gear, which provides a means of power transmission under parallel axis and skewed axis conditions, contains a spur gear, a helical gear and a worm gear. A conical gear, which can be used on a skewed axis as well as parallel and crossed axes, includes a bevel gear(e.g., straight bevel, spiral bevel, hypoid gear) and a conical involute gear(or a bevel oid gear). In this paper, a conical involute gear which utilizes the fabrication method of other involute gears such as spur and helical gears using a CNC hobbing machine is discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.125-126
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• 2010

• International Journal of Automotive Technology
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• v.6 no.1
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• pp.65-70
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• 2005

Pressure ripples, which are inevitably generated by a fluctuation of flow rate caused by a pump mechanism, include noises and vibrations in hydraulic pipeline. These noises and vibration deteriorate the stability and accuracy of hydraulic systems. The accumulator and hydraulic attenuator are normally used to reduce the pressure ripples. In this study, a parallel line is introduced to the hydraulic pipeline for the hydraulic system with a bent-axis piston pump as a method to reduce the pressure ripples. The dynamic characteristics of the hydraulic pipeline with a parallel line are analyzed by a transfer matrix in the frequency domain. The usefulness of the hydraulic pipeline with a parallel line was ascertained by experiment and simulation. The results from the experiment and simulation show that the hydraulic pipeline with a parallel line were effective in reducing the pressure ripples.