• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.602-608
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• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

• Korean Journal of Cleft Lip And Palate
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• v.12 no.1
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• pp.41-46
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• 2009

Historically, various techniques to correct the deformity of lip and nose in functional and esthetic ways were developed and applied in dealing the patients with cleft lip. When treating the patients with unilateral cleft lip, many surgeons adopt the rotation-advancement method originally developed by Millard, or the triangular flap technique developed by Tennison, Randall or the modifications of these techniques. Among these, triangular flap technique has its advantage in designing the flap using the patient's anatomic landmarks. It enables less skillful operator to perform this technique relatively easily and produce reasonable results. In this report we present 8 cases of unilateral complete cleft lip and 3 casesof unilateral incomplete cleft lip. They all underwent primary cheiloplasty based on triangular flap technique, and functional, esthetic outcomes were favorable.

• Journal of the Korean earth science society
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• v.28 no.7
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• pp.936-946
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• 2007

Analytical geopotential field in balance with the sectoral mode (the first symmetric mode with respect to the equator) of the Rossby-Haurwitz wave on the inclined rotation axis was derived in presence of superrotation background flow. The balanced field was obtained by inverting the divergence equation with the time derivative being zero. The inversion consists of two steps, i.e., the evaluation of nonlinear forcing terms and the finding of analytical solutions based on the Poisson's equation. In the second step, the forcing terms in the from of Legendre function were readily inverted due to the fact that Legendre function is the eigenfunction of the spherical Laplacian operator, while other terms were solved either by introducing a trial function or by integrating the Legendre equation. The balanced field was found to be expressed with six zonal wavenumber components, and shown to be of asymmetric structure about the equator. In association with asymmetricity, the advantageous point of the balanced field as a validation method for the numerical model was addressed. In special cases where the strength of the background flow is a half of or exactly the same as the rotation rate of the Earth it was revealed that one of the zonal wavenumber components vanishes. The analytical balanced field was compared with the geopotential field which was obtained using a spherical harmonics spectral model. It was found that the normalized difference lied in the order of machine rounding, indicating the reliability of the analytical results. The stability of the sectoral mode of Rossby-Haurwitz wave and the associated balanced field was discussed, comparing with the flrst antisymmetric mode.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.693-699
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• 2016

The simulators for pump operation developed by domestic or overseas research have been developed for dynamic analysis or operator training purposes. However, previous developed simulators focused on the operators so they are unsuitable for logic designers or commissioning engineers who need to change the operation conditions or logics arbitrarily. In addition, the simulator for two or more condensate pumps' operation, which can be used easily by plant designers or operators, has not been developed. Accordingly, this paper suggests a simulation method that can be used easily for plant designers or operators using MATLAB Simulink. This suggestion helps users who can use MATLAB to implement ANSI/ISA S5.2, which is applied mainly for DCS (Distributed Control System). In addition, to implement the logics specified in the CODE, Sub-Systems were created for the block and evaluated to determine if they can be used in the simulator. In the working level stage using the suggested method, all error possibilities that might occur during the three pumps' rotation operation could be verified with the suggested simulator during the design stage or before operation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.956-959
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• 2004

Recently the monitoring system of tool setting in high speed precision machining center is required for manufacturing products that have highly complex and small shape, high precision and high function. It is very important to reduce time to setup tool in order to improve the machining precision and the productivity and to protect the breakage of cutting tool as the shape of product is smaller and more complex. Generally, the combination of errors that geometrical clamping error of fixing tool at the spindle of machining tool and the asynchronized error of driving mechanism causes that the run-out of tool reaches to 3$^{\sim}$20 times of the thickness of cutting chip. And also the run-out is occurred by the misalignment between axis of tool shank and axis of spindle and spindle bearing in high speed rotation. Generally, high speed machining is considered when the rotating speed is more than 8,000 rpm. At that time, the life time of tool is reduced to about 50% and the roughness of machining surface is worse as the run-out is increased to 10 micron. The life time of tool could be increased by making monitoring of tool-setup easy, quick and precise in high speed machining tool. This means the consumption of tool is much more reduced. And also it reduces the manufacturing cost and increases the productivity by reducing the tool-setup time of operator. In this study, in order to establish the concept of tool-setup monitoring the measuring method of the geometrical error of tool system is studied when the spindle is stopped. And also the measuring method of run-out, dynamic error of tool system, is studied when the spindle is rotated in 8,000${\sim}$60,000 rpm. The dynamic phenomena of tool-setup are analyzed by implementing the monitoring system of rotating tool system and the non-contact measuring system of micro displacement in high speed.

• Ocean and Polar Research
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• v.39 no.3
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• pp.205-211
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• 2017

This paper seeks to provide a dynamic analysis of a 150 ton winch based on ocean environmental data. The winch model that was subjected to analysis was modeled from CAD to each subsystem by the commercial software DAFUL. The winch model has tree brake systems (disk brake, band brake and ratchet brake). The rotation motion of the motor and contact elements of the brake are applied to the winch model in order to analyze its dynamic characteristics. In addition, a crane-barge was modeled to apply ocean environmental data. The motion data of the crane-barge was produced by means of the RAO(Response Amplitude Operator) of the barge and wave spectrum. The reaction force of the translational joint was measured instead of the tension of the cable. The brake performance of the winch was produced and assessed based on the operating motion of the crane-barge.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.297-302
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• 2007

Vibrating test of vehicle component can be possible in lab-based simulators instead of field testing owing to the development of technology in control algorithm as well as computational process. Currently, Multi-Axial Simulation Table(MAST) is recommended as a vibrating equipment, which excites a target component for 3-directional translation and rotation motion simultaneously and hence, vibrational condition can be fully approximated to that of real road test. But, the vibration-free performance of target component is not guaranteed with MAST system, which is only simulator subjective to the operator. Rather, the reliability of multi-axial vibration test is dependent on the quality of input profile which should cover the required severity of vibrating condition on target component. In this paper, multi-axial vibration testing methodology of vehicle component is presented here, from data acquisition of vehicle accelerations to the obtaining the input profile of MAST using severe data at proving ground. To compare the severity of vibration condition, between real road test and proving ground one, energy principle of equivalent damage is proposed to calculate energy matrices of acceleration data and then, it is determined the optimal combination of special events on proving ground which is equivalent to real road test at the aspects of vibration fatigue using sequential searching optimal algorithm. To explain the vibration methodology clearly, seat and door component of vehicle are selected as a example.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1066-1069
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• 2004

Recently the monitoring system of tool setup in high speed precision machining tool is required for manufacturing products that have highly complex and small shape, high precision and high function. It is very important to reduce time to setup tool in order to improve the machining precision and productivity and to protect the breakage of cutting tool as the shape of product is smaller and more complex. Generally, the combination of errors that geometrical clamping error of fixing tool at the spindle of machining center and the asynchronized error of driving mechanism causes that the run-out of tool reaches to 3∼20 times of the thickness of cutting chip. And also the run-out is occurred by the misalignment between axis of tool shank and axis of spindle and spindle bearing in high speed rotation. Generally, high speed machining is considered when the rotating speed is more than 8,000 rpm. At that time, the life time of tool is reduced to about 50％ and the roughness of machining surface is worse as the run-out is increased to 10 micron. The life time of tool could be increased by making monitoring of tool-setting easy, quick and precise in high speed machining center. This means the consumption of tool is much more reduced. And also it reduces the manufacturing cost and increases the productivity by reducing the tool-setup time of operator. In this study, in order to establish the concept of tool-setting monitoring the measuring method of the geometrical error of tool system is studied when the spindle is stopped. And also the measuring method of run-out, dynamic error of tool system, is studied when the spindle is rotated in 8,000 ∼ 60,000 rpm. The dynamic phenomena of tool-setup is analyzed by implementing the monitoring system of rotating tool system and the noncontact measuring system of micro displacement in high speed.

• Journal of Information Processing Systems
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• v.14 no.2
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• pp.469-486
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• 2018

We propose an enhanced version of the local binary pattern (LBP) operator for texture extraction in images in the context of image retrieval. The novelty of our proposal is based on the observation that the LBP exploits only the lowest kind of local information through the global histogram. However, such global Histograms reflect only the statistical distribution of the various LBP codes in the image. The block based LBP, which uses local histograms of the LBP, was one of few tentative to catch higher level textural information. We believe that important local and useful information in between the two levels is just ignored by the two schemas. The newly developed method: gradual locality integration of binary patterns (GLIBP) is a novel attempt to catch as much local information as possible, in a gradual fashion. Indeed, GLIBP aggregates the texture features present in grayscale images extracted by LBP through a complex structure. The used framework is comprised of a multitude of ellipse-shaped regions that are arranged in circular-concentric forms of increasing size. The framework of ellipses is in fact derived from a simple parameterized generator. In addition, the elliptic forms allow targeting texture directionality, which is a very useful property in texture characterization. In addition, the general framework of ellipses allows for taking into account the spatial information (specifically rotation). The effectiveness of GLIBP was investigated on the Corel-1K (Wang) dataset. It was also compared to published works including the very effective DLEP. Results show significant higher or comparable performance of GLIBP with regard to the other methods, which qualifies it as a good tool for scene images retrieval.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.6
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• pp.452-459
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• 2015

It is important to use bench test results in the design process of anti-rolling tanks. Traditional bench tester is usually designed to perform only roll motions about a fixed axis and relatively small so that the viscous effects may not be neglected. Novel bench tester which could adjust the motion center to realize the coupled motion of sway and roll has been devised and manufactured therefore, large scaled bench tester could be utilized for designing the passive anti-rolling tanks. The time history of the reference signal from the rotation sensor of the bench tester have been recorded and processed to determine the phase angle to derive the Response Amplitude Operator(RAO) of the stabilized ship. The breadth of ART tank model should be large up to 2 m to diminish viscous scale effect and the vertical position of the tank can be varied with the ship's center of motion. The periods and the amplitude of roll motion can be varied from 1.5 sec to 5 sec and up to ±20°, respectively. The components of the tester was expressed in three dimensional digital mockup (DMU) and assembled together in the CAD space. The final configuration of the bench tester has been determined by confirming the smooth operation of the moving parts without interference through the animation in CAD space. New analytic logic are introduced for the determination of hydrodynamic moment and phase difference due to fluid motion in ART and verified through the test. The developed bench tester is believed to be effective and accurate for the verification of stabilization effect of ART taking into the consideration of the sway effect in the design stage.