• 한국정밀공학회지
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• 제23권9호
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• pp.200-207
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• 2006

In this paper a new approach which combines implicit surface scheme and NURBS surface interpolation method is proposed in order to generate a complete surface model from unorganized point cloud data. In the method a base surface was generated by creating smooth implicit surface from the input point cloud data through which the actual surface would pass. The implicit surface was defined by a combination of shape functions including quadratic polynomial function, cubic polynomial functions and radial basis function using adaptive domain decomposition method. In this paper voxel data which can be extracted easily from the base implicit surface were used in order to generate rectangular net with good quality using the normal projection and smoothing scheme. After generating the interior points and tangential vectors in each rectangular region considering the required accuracy, the NURBS surface were constructed by interpolating the rectangular array of points using boundary tangential vectors which assure C$^1$ continuity between rectangular patches. The validity and effectiveness of this new approach was demonstrated by performing numerical experiments for the various types of point cloud data.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• 한국정밀공학회지
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• 제14권5호
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• pp.85-91
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• 1997

Air grinding time in grinding process has a great effect on its efficiency due to low feedrate. This paper presents a reduction methos of air grinding time in cylindrical plunge grinding operation. Tje reduction of air grinding time is accomplished by finding the distance between contact point and rising point of ultra- sonic signal of the grinding wheel to workpiece. It uses a variation of sound signal generated by the flow of coolant when the grinding wheel approaches to workpiece. The ultrasonic sensor with 23 kHz center fre- quency and 8 kHz bandwidth is used to find the nearest approaching point(NAP). Monitoring and control system of the grinding conditions is implemented with CNC controller to control feedrate override and ultrasonic sensor to find NAP. The experimental result shows that the ultrasonic signal is a good measure- ment to find NAP. But it needs the considerations for the effect of the relationship between flowrate of coolant and diameter of workpiece.

• 스마트미디어저널
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• 제11권7호
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• pp.94-103
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• 2022

Weeds bring disadvantages to crops since they can damage them, and a clean treatment with less pollution and contamination should be developed. Artificial intelligence gives new hope to agriculture to achieve smart farming. This study delivers an automated weeds growth point detection using deep learning. This study proposes a combination of semantic graphics for generating data annotation and U-Net with pre-trained deep learning as a backbone for locating the growth point of the weeds on the given field scene. The dataset was collected from an actual field. We measured the intersection over union, f1-score, precision, and recall to evaluate our method. Moreover, Mobilenet V2 was chosen as the backbone and compared with Resnet 34. The results showed that the proposed method was accurate enough to detect the growth point and handle the brightness variation. The best performance was achieved by Mobilenet V2 as a backbone with IoU 96.81%, precision 97.77%, recall 98.97%, and f1-score 97.30%.

• 방송공학회논문지
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• 제28권1호
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• pp.21-30
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• 2023

컴퓨터 생성 홀로그래피는 일반 이미지에 비해 연산 부하와 메모리 요구량이 크다. 본 논문은 정밀도를 낮추어 연산속도를 높이는저정밀도(low-precision) 및 혼합정밀도(mixed precision) 연산 방법을 회절연산에 적용하여, 정밀도에 따른 홀로그램의 생성 속도와 품질의 변화를 분석한다. 본 논문은 배정밀도, 단정밀도, bfloat16 정밀도에서의 회전 연산을 비교하였으며, bfloat16의 회절연산의 속도가 배정밀도에 비해 최대 5.94배, 단정밀도에 비해 1.52배 빠른 것을 확인하였다. 또한, MSE, PSNR, SSIM을 기준으로 회절 연산의오차를 측정하였으며, 정밀도가 낮아질수록 홀로그램 품질이 낮아지는 것을 확인했다. 하지만, 정성적인 이미지 품질에는 유의미한 영향이 없는 것을 확인했다. 이러한 결과는, bfloat16등 낮은 정밀도 연산의 홀로그램 연산으로의 적용 가능성을 보여준다.

• 한국정밀공학회지
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• 제21권12호
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• pp.140-145
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• 2004

In this study, the design and analysis of a butterfly valve disk was performed to minimize the rubbing between the disk and the seat at opening and closing. The butterfly valve has double eccentric structure and the contact surface between the disk and the seat is a conical surface. At the instant of opening and closing the valve by the rotation of disk, the positions of zero contact point are changed. Also, if the cone surface is cut in the perpendicular direction to the rotation axis of the valve, the contour of cutting section is hyperbolic. Therefore minimum distance between the origin of the eccentric axis and the hyperbolic curve goes to the position of zero contact point. In order to consider the interferences between the disk and the seat, the thermal-structure coupled field analysis was performed by ANSYS.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.623-627
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• 1995

This paper deals with the process which automatically straightens the shaft whose straightness is over the tolerance. The developed straightening process is composed of the measuring module and the control module. In the measuring module, the deflection of each measuring point is automatically measured, and the press point and the reference press stroke is determined. In the control module, the springback is predicted by the observer using the calculated reference press stroke and on-line-measured force and deflection. Through a series of experiments, the validity of the proposed process was verified.

• 한국정밀공학회지
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• 제19권8호
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• pp.77-83
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• 2002

This research aimed at from the establishment of theory on micro electrochemical machining mechanism to the implementation of a practical fabrication system of micro parts. In detail, the mechanism of micro-ECM was investigated with potentiodynamic method and the optimal condition for micro-ECM was selected by voltage-current-time curve with potentiostatic method. From the experimental result, the micro part which has extremely fine surface could be fabricated by use of micro-ECM with point electrode method.