• 대한간호
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• 제13권6호통권74호
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• pp.52-53
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• 1974

• 대한간호
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• 제13권6호통권74호
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• pp.54-56
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• 1974

• 대한간호
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• 제13권6호통권74호
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• pp.57-66
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• 1974

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2641-2647
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• 2003

Conventional DLLs estimate the delay times of satellite signals individually and feed back these measurements to the VCO independently. But VDLL estimates delay times and user position directly and then estimate the feedback term for VCO using the estimated position changes. In this process, input measurements are treated as vectors and these vectors are used for navigation. First advantage of VDLL is that noise is reduced in all of the tracking channels making them less likely to enter the nonlinear region and fall below threshold. Second is that VDLL can operate successfully when the conventional independent parallel DLL approach fails completely. It means that VDLL receiver can get enough total signal power to track successfully to obtain accurate position estimates under the same conditions where the signal strength from each individual satellite is so low or week that none of the individual scalar DLL can remain in lock when operating independently. To operate VDLL successfully, it needs to know the initial user dynamics and position and prevents total system from the divergence. The suggested integration method is to use the inertial navigation system to provide initial dynamics for VDLL and to maintain total system stable. We designed the GPS/INS integrated navigation system. This new type of integrated system contained the vector pseudorange format generation block, VDLL signal processing block, position estimation block and the conversion block from position change to delay time feedback term aided by INS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.237-240
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• 2003

Gas turbines are extensively used in flight propulsion, electrical power generation, and other industrial applications. During its life span, a turbine blade is taken out periodically for repair and maintenance. This includes re-coating the blade surface and re-drilling the cooling holes/channels. A successful laser re-drilling requires the measurement of a hole within the accuracy of ${\pm}0.15mm$ in position and ${\pm}3^{\circ}$ in orientation. Detection of gas turbine blade/vane cooling hole position and orientation thus becomes a very important step for the vane/blade repair process. The industry is in urgent need of an automated system to fulfill the above task. This paper proposes approaches and algorithms to detect the cooling hole position and orientation by using a vision system mounted on a robot arm. The channel orientation is determined based on the alignment of the vision system with the channel axis. The opening position of the channel is the intersection between the channel axis and the surface around the channel opening. Experimental results have indicated that the concept of cooling hole identification is feasible. It has been shown that the reproducible detection of cooling channel position is with +/- 0.15mm accuracy and cooling channel orientation is with +/$-\;3^{\circ}$ with the current test conditions. Average processing time to search and identify channel position and orientation is less than 1 minute.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 춘계학술대회논문집
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• pp.270-273
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• 2003

The strain measurement of the panel in the sheet metal forming is essential work which provides experimental data needed to die design, process design, and product inspection. To measure efficiently the complex geometry strain, the 3-dimensional automative strain measurement system, which has high accuracy in theory, but has some 3∼5% errors in practice, is often used. The object of this study is to develop the error compensation technology to eliminate the strain, errors resulted when formed panels are measured using an automated strain measurement system. To achieve the study object, the position error calibration method correcting coordinates of the grid node recognized by a camera using error functions is suggested. Then the position errors were found by calculating the difference in the position of the cube node between real coordinates and measured coordinates in toms of node coordinates and the error calibration equations were derived by regressing the position errors. In order to show the validation of the suggested position error calibration method, finite element analysis and current calibration method was performed for the initial-blankformed.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.497-502
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• 1997

In this study an automatic rolling-coil labeling system using robot vision system and peripheral mechanism is proposed and implemented, which instead of the manual labor to attach labels Rolling-coils in a steel mill. The binary image process for the image processing is performed with the threshold, and the contour line is converted to the binary gradient which detects the discontinuous variation of brightness of rolling-coils. The moments invariant algorithm proposed by Hu is used to make it easy to recognize even when the position of the center are different from the trained data. The position error compensation algorithm of six degrees of freedom industrial robot manipulator is also developed and the data of the position of the center rolling-coils, which is obtained by floor mount camera, are transferred by asynchronous communication method. Therefore, even if the position of center is changed, robot moves to the position of center and performs the labeling work successfully. Therefore, this system can be improved the safety and efficiency.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.680-684
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• 1996

Welding systems cannot adapt to changes in the joint geometry which may occur due to a variety of reason. Automatic seam tracking technigue is essential to adjust the welding torch position in real time as it moves along the seam. Automatic tracking system must keep the welding speed constant unrelation to the change of the welding path. Therefore, the information from the laser displacement sensor must be converted into the input to operate the X-Y table and to rotate the desired torch position by proposed algorithm. In this research, laser displacement sensor is used as a seam finder in the automatic tracking system. X-Y moving table manipulated by ac servo motor controls the position and velocity of the torch-and-sensor part. DC motor controls the position and velocity of the torch. X-Y table controls the position of sensor and relative position of torch is controlled by dc motor which is mounted at sensor-and-torch part. Sensor is always ahead of torch to preview the weld line. From the experimental results, we could see the possiblity that the laser displacement sensor can be used as a seam finder in welding process and that the seam tracking system controlled by proposed algorithm is well done.

• 경영과학
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• 제34권2호
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• pp.103-113
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• 2017

The artillery is a key element of the ground forces operation during wartime, and the military engineers support the artillery position development operation to support the smooth operation of the artillery. In establishing the artillery position development operation plan, the commander requires more than his intuition to find the best option reflecting a number of elements of the battlefield situation which changes every minute. Moreover, the number of available equipment is smaller than the number of required position developments, and the effective equipment operation becomes essential element of this issue. This study quantified the capability of the available engineering equipment, organized a number of teams enabling equipment to put out the maximum capacity based on the quantified figures, and formed the model which allocates the team to the developing points to minimize the developing time. The goal programming method was applied to resolve the problem. The developed model was applied to compare the total mission duration following the number of teams, the variable for commander's decision, and the result of this study can be used as the quantitative data for commander's decision making process in establishing the artillery position development support operation through effective equipment management.

• 대한정형도수물리치료학회지
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• 제22권2호
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• pp.15-20
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• 2016

Background: The purpose of this study was to compared of scapular position between operation side and non-operation side to the rotator cuff surgery. Methods: This study was carried out with a total 34 patients: male (n=14), female (n=20). Shoulder range of motion (ROM), the quadruple visual analogue scale (QVAS), the shoulder pain and disability index (SPADI), and the scapular index (SI) were used to assess shoulder posture and function. SI was the resting position of the scapular was determined by measuring the distance from the mid-point of the sternal notch (SN) to the medial aspect of the coracoid process (CP) and the horizontal distance from the posterolateral angle of the acromion (PLA) to the thoracic spine (TS) with a soft tape measure. The SI was calculated using the equation: [(SN to CP/PLA to TS) ${\times}$ 100]. Results: There were no significant difference in ROM, QVAS to rotator repair patients according to SI (p>.05). There were significant differences in SI between the operation side and the non-operation side (p<.01). Conclusions: Scapular position was operation side more internal rotation, protraction, abduction than non-operation side. Therefore, health professionals managing for rotator cuff tear repair patients should consider scapular position.