• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.577-582
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• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.773-776
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• 2005

In this paper, For improving the positioning accuracy of hydrostatic table, relationship between temperature of atmosphere and thermal characteristics of hydrostatic table is analyzed, and influence of thermal characteristics on positioning accuracy is also analyzed experimentally. From the experimental results, it is confirmed that positioning error and repeatability is $0.21{\mu}m\;and\;0.18{\mu}m$ when the laser scale which has $0.01{\mu}m$ of resolution is used as feed-back unit. and also confirmed that thermal deformation of scale and supporter, which occurs by the temperature variation of atmosphere, works as limit of repeatability in long time operation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.261-261
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• 2000

This paper analyzes the characteristics of pre-sliding friction of an X-Y table of CNC machining center at velocity reversal, and presents a simple and effective method of friction compensation based on this characteristics. At velocity reversal, a large position tracking error occurs because of the discontinuous change of friction. The relationship between the occurrence time of maximum position tracking error and the acceleration at zero velocity is analyzed by using the spring-like friction model. Furthermore, the experimental observation verifies this relation. From this, the state transition tine from pre-sliding regime into sliding regime can be predicted. Using the predicted transition time, the friction can be effectively compensated and table experimental results show its effectiveness.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.81-86
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• 1997

It is proposed, for fuzzy combustion control system of refuse incinerator to find the relationship between inputs and outputs and to generate rules to control by using rough set theory. It is not easy to find out the corresponding inputs for each output and the control rules with incomplete or imprecise information consisting expert knowledge, process and manipulator values in the field, and operation manual for the given system. Most decision problems can be formulated employing decision table formalism. A decision table on fuzzy combustion control system for refuse incinerator is simplified and produces control(rules). The I/O realtions and the control rules found by rough set theory are compared with the previous result.

• International Journal of Precision Engineering and Manufacturing
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• 제4권2호
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• pp.57-63
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• 2003

A new method using a transfer function was proposed in the previous paper for analyzing motion errors of hydrostatic tables. The calculated motion errors by the new method, named as the transfer (unction method (TFM), were compared with the results by the conventional multi pad method, and the validity of the proposed method was theoretically verified. In this paper, the relationship between rail form error and motion errors of a hydrostatic table is examined theoretically in order to comprehand so-called 'the averaging effect of an oil film', and the characteristics of the motion errors in a hydrostatic table is tested. The tested hydrostatic table has three single-side pads in the vertical direction and three pairs of double-sides pads in the horizontal direction. The motion errors are tested for three rails which have different form errors. The experimental results are compared with the theoretical results calculated by the TFM, and both results show good agreement. From the results, it is shown that the TFM is very effective to analyze the motion errors of hydrostatic tables.

• Structural Engineering and Mechanics
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• 제17권2호
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• pp.187-201
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• 2004

A shaking table test on a three-story one-bay steel frame model with metallic yield dampers and their parallel connection with oil dampers is carried out to study the dynamic characteristics and seismic performance of the energy dissipation system. It is found from the test that the combined energy dissipation system has favorable reducing vibration effects on structural displacement, and the structural peak acceleration can not evidently be reduced under small intensity seismic excitations, but in most cases the vibration reduction effect is very good under large intensity seismic excitations. Test results also show that stiffness of the energy dissipation devices should match their damping. Dynamic analysis method and mechanics models of these two dampers are proposed. In the analysis method, the force-displacement relationship of the metallic yield damper is represented by an elastic perfectly plastic model, and the behavior of the oil damper is simulated by a velocity and displacement relative model in which the contributions of the oil damper to the damping force and stiffness of the system are considered. Validity of the analytical model and the method is verified through comparison between the results of the shaking table test and numerical analysis.

• 한국소음진동공학회논문집
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• 제17권9호
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• pp.862-873
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• 2007

Energy dissipation devices can be considered as an alternative for the seismic performance enhancement of existing structures based on the strengthened seismic design code. In this study, seismic response mitigation effects of friction dampers are investigated through the shaking table test of a full scale 3 story building structure. Frist, the bilinear force-displacement relationship of a structure-brace-friction damper system and the effect of brace-friction damper on the increase of frequency and damping ratio are identified. Second, frequency, displacement, and torque dependent characteristics of the friction damper are investigated by using harmonic load excitation tests. Finally, the shaking table tests are performed for a full scale 3 story steel frame. System identification results using random signal excitation indicated that brace-friction damper increased structural damping ratio and frequency, and El Centro earthquake test showed that brace-friction damper reduced the peak displacement and acceleration significantly. In particular, it was observed that the damping effect due to friction damper becomed obvious when the structure was excited by more intensive load causing frequent slippage of the friction dampers.

• Structural Engineering and Mechanics
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• 제20권4호
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• pp.421-434
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• 2005

In this paper, the finite element method is applied to investigate the effect of the lateral boundary in homogenous soil on the seismic response of a superstructure. Some influencing factors are presented and discussed, and several parameters are identified to be important for conducting soil-structure interaction experiments on shaking tables. Numerical results show that the cross-section width L, thickness H, wave propagation velocity and lateral boundaries of soil layer have certain influences on the computational accuracy. The dimensionless parameter L/H is the most significant one among the influencing factors. In other words, a greater depth of soil layer near the foundation should be considered in shaking table tests as the thickness of the soil layer increases, which can be regarded as a linear relationship approximately. It is also found that the wave propagation velocity in soil layer affects the numerical accuracy and it is suggested to consider a greater depth of the soil layer as the wave propagation velocity increases. A numerical study on a soil-structure experimental model with a rubber ring surrounding the soil on a shaking table is also conducted. It is found the rubber ring has great effect on the soil-structure interaction experiments on shaking table. The experimental precision can be improved by reasonably choosing the elastic parameter and width of the rubber ring.

• 한국정밀공학회지
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• 제27권11호
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• pp.98-105
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• 2010

In this paper, double ball-bar is used to estimate the geometric errors of a rotary table, which includes one-axial motion, two-radial motions and two-tilt motions, except the angular positioning error. To simplify the measurement procedures, three measurement steps have been designed and developed. At each measurement step, one end of the double ball-bar is fixed at the nose of spindle and the other end is located on the rotary table. And specific circular test path is planned to keep the distance between two balls as constant at ideal case. The relationship including the geometric errors of a rotary table and the measured distance between two balls which is distorted by the geometric errors is defined by using ball-bar equation. Each geometric error is modeled as $4^{th}$ order polynomial considering $C^1$-continuity. Finally the coefficients of polynomial are calculated by least-square method. Simulation is done to check the validation of the suggested method considering set-up errors and measurement noise. Suggested method is applied to estimate geometric errors of a rotary table of a 5-axis machine tool.

• 대한안전경영과학회지
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• 제17권4호
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• pp.381-396
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• 2015

The study proposes multiple TRIZ contradiction solution strategies for addressing PC (Physical Contradiction) and TC (Technical Contradiction) by implementing TRIZ cause-and-effect tree. The problem associated with TC of the ends is solved by PC of means which employs a causal relationship between causes and effects. The TRIZ contradiction solution strategies demonstrated in this research are classified into 3 types of combined strategy as follows: 1. To-Be PC and AS-Is PC, 2.To-Be PC and As-Is TC, 3.As-Is PC and To-Be TC. The combined strategy of To-Be PC and As-Is PC is similar to a divide-and-conquer technique. This strategy adopts parallel strategies using 4 separation principles in time, in space, between parts and the whole, and upon condition of two reversed-PCs. Moreover, its application elucidates the conflict relationship of two TCs from the study. The integrated 4 separation principles and 40 inventive principles present an effective synergy effect from the combination, and further addresses the problems in the TRIZ contradiction resolution strategies. Combined strategy of To-Be PC and As-Is TC implements the 40 inventive principles that To-Be PC of the means resolves the As-Is TC of the ends. Combined strategy of As-Is PC and To-Be TC also uses inventive principles to the As-Is PC of the means to solve the To-Be TC of the ends. In addition, propositional and logical relationship of necessary and sufficient conditions between TC and PC is used to support the validity of 3 TRIZ contradiction solution strategies. In addition, 3 other strategies of necessary and sufficient conditions validate the contraposition relationship of the truth table. This study discusses TRIZ case studies from National Quality Circle Contest from the years between 2011 and 2014 to provide the usage guidelines of TRIZ contradiction solutions for quality purposes. Examining analysis from the case studies and investigating combined strategies allows the users to obtain comprehensive understanding.