• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.386-393
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• 2008

A position control method for interpolating aspherical grinding and polishing tool path was reviewed and experimented in a nano precision machine. The position-base algorithm was reformed from the time-base algorithm, proposed in the previous study. The characteristics of the algorithm were in the velocity control loop with position feedback. The aspherical surface was divided by an interval at which each velocity and acceleration were calculated. The theoretical velocity was corrected by position error during processing. In the experiment, a machine was constructed and nano-scale linear encoders were installed at each axis. Relation between process parameters and the variation of position error was monitored and discussed. The best result from optimized parameters showed that the accuracy was 150nm and improved from the previous report.

• 한국정밀공학회지
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• 제20권4호
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• pp.68-75
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• 2003

This paper introduces the development of hydraulic cylinder with magnetic sensors detecting absolute and precise position for automation of excavator. The system which is developed can detect absolute position with a little displacement by using algorithm for recognizing datum points, 114 divider algorithm and high precision algorithm improved position precision. We alse evaluate the developed system under the load disturbance and add band pass filter to the previous's signal process circuit for the protecting magnetic sensors's saturation.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• 한국항공우주학회지
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• 제45권6호
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• pp.463-472
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• 2017

관성항법장치(Inertial Navigation System)는 항법 수행 전 동체 좌표계(body frame)와 항법 좌표계(navigation frame)사이의 좌표 변환 행렬(Direction Cosine Matrix: DCM)을 결정하여 초기자세를 구하는데 이 과정을 정렬(alignment)이라 한다. 정렬을 시작하기 위해서는 INS의 초기 위치 정보가 필요한데 해당 정보가 INS에 미리 입력되어 있지 않거나 당장에 초기위치를 모를 경우 이로 인해 INS에 전원이 인가된 후 정렬에 진입하기까지의 대기시간이 존재한다. 이러한 대기시간을 제거하기 위하여 본 논문에서는 INS 전원 인가 즉시 현재위치와 상이한 가상의 초기위치 값을 장입하여 스트랩다운 INS 정렬을 시작하고 추후에 정확한 위치를 INS에 입력하여 자세오차를 보상하는 정렬 알고리즘을 제시하였다. 항법 좌표계에서의 INS 센서 오차가 시간이 지남에 따라 자세오차에 미치는 영향성을 분석하여 가상의 초기위치 값 입력 시 발생하는 자세오차 만큼을 보상하는 폐루프 정렬 알고리즘의 성능을 검증하였다.

• 한국기계가공학회지
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• 제17권6호
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• pp.136-143
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• 2018

Recently, with the rapid development of virtual reality technology, there have been more and more applications of virtual reality technology in various fields. In order to realize a virtual reality, a method of implementing a visualization environment through an HMD (Head Mounted Display) is widely used. However, in the current visualization environment through the HMD, the user feels dizziness when worn, It has the disadvantage of imposing restrictions on. In this study, it is aimed to realize virtual reality visualization environment through multi-screen environment which improves the experience effect of virtual environment by using existing screen instead of visualization through HMD, and compensates for shortcomings of HMD method. In order to realize a multi-screen environment as a highly visualized environment, a technique for matching the spatial position of the multi-screen with the spatial position of the virtual environment is required. To do this, we need an efficient method to precisely measure the position of the space, and we propose a spatial position compensation methodology that can efficiently and precisely measure the position of the real space and reflect it in the virtual environment.

• 자동차안전학회지
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• 제14권2호
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• 대한전자공학회논문지SD
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• 제45권4호
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• pp.72-77
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• 2008

본 논문에서는 Embedded resistor 적용을 위한 오개닉 기판 위에 캐버티(Cavity) 공정에 의해서 형성된 균일한 두께를 갖는 저항체의 제조 방법과 저항편차에 대해서 조사했다. 기존의 스크린 프린팅에 의해서 발생하는 PCB의 위치에 따른 저항값의 편차를 개선하기 위하여 캐버티 공정을 소개했다. 원하는 모양과 부피를 갖는 저항은 스크린 프린팅과 페이스트를 이용하여 cavity 공정에 의해 정확하게 형성되어 졌다. 이 방법은 PCB의 생산 공정시간을 줄일 수 있고, 스크린 프린팅의 정밀도에 의한 큰 영향 없이 빠르게 공정 조건을 배치할 수 있으므로써 생산량을 개선시킬 수 있다.

• Korean Chemical Engineering Research
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• 제49권1호
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• pp.47-55
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• 2011

K사의 고무 사출성형에 있어서 애로사항인 등속조인트 부트(boots)의 크 (crack) 발생 등의 문제점을 해결하기 위하여, 상용 CAE 프로그램인 MOLDFLOW(Ver. 5.2)를 이용한 전산모사를 수행하여 적정금형설계를 도출하고 적정작업조건을 구축하였다. 그 결과 크 의 발생 원인은 크 이 발생하는 위치에 형성되는 weld 및 meld line의 형성 때문이고, 또한 크 이 발생하는 위치에서의 가류(curing)가 불완전한 것이 확인되었다. 이와 같은 weld 및 meld line의 형성을 방지하기 위해서 게이트(gate)의 위치를 변경하고 최적위치에 설계함으로써, 유동선단(melt front)의 충돌 또는 수지흐름의 만남을 최소화하는 충전패턴(fill pattern)을 형성하고 부트 안쪽 하단의 크 발생을 방지하였다. Weld 및 meld line과 에어트랩(air trap) 불량이 가장 큰 게이트 위치는 각각 최적 게이트위치를 기준으로 서로 정반대 방향임이 관찰 되었다. 한편 몰드(mold)의 온도를 $170^{\circ}C$로 유지하게 함으로써 크 이 발생했던 위치에 가류조건을 만족시켰다.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2001년도 춘계학술대회 논문집
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• pp.77-80
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• 2001

IC lead frame needs the precision shape for good efficiency. In the blanking process, there are many parameter effected the dimensional accuracy : lead width, blanking order, striper force, tool clearance etc. In this research, the4 undesirable defects appeared in the final blanking process. so we measured the deflection of lead according to the stripper force using $PAM-STAMP_{TM}$. In the result, the deflection was decreased by increasing the stripper force properly. and we changed the blanking order on the test model. In the blanking order, deflection is good from the outer line position blanking to center line position. so we can design the precision die without tryout by the prediction of the lead deflection.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집B
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• pp.698-703
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• 2000

The characteristics of NOx emission in reburning process have been experimentally studied. The design point of burner is creative of three distinct reaction zones; a primary flame zone that NOx producted, reburn zone to reduce the primary zone NOx and burnout zone. Liquefied Petroleum Gas(LPG) was used as main and reburn fuels. Process parameters investigated included main/reburn fuel ratio, primary/secondary air ratio, reborn fuel injector position and different designed quarl. The NOx emission characteristic of aerodynamic designed burner relied on reborn fuel ratio and was slightly affected by a reburn fuel injector position and quarl shape.