• 한국정보과학회논문지:소프트웨어및응용
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• 제27권4호
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• pp.432-440
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• 2000

본 연구에서는 촬상단면 내의 평행이동에 기인한 MRI 아티팩트를 제거하는 새로운 알고리즘으로서, 수렴에 대한 보증이 없는 기존의 반복적인 위상탐색에 의한 알고리즘과는 달리, MRI 촬상원리에 근거한 체동량을 탐색하기 위한 직접적인 방법이 제안된다. 기존의 접근방법에는 x(read out) 방향과 y(phase encoding) 방향의 체동이 동시에 탐색되었다. 하지만 x 방향과 y 방향에 대한 각각의 체동특성이 서로 다르기 때문에 본 방법에서는 이들의 체동특성의 해석에 기초해서 두 단계의 서로 다른 알고리즘을 적용함으로써 x 방향과 y 방향의 각 체동이 제거된다. 우선, x 방향의 체동은 MRI 신호의 x 방향 스펙트럼 변위에 해당하고, 그 스펙트럼의 비제로 영역(non-zero area)은 밀도함수의 x축 투영영역과 일치함에 주목한다. 따라서 체동은 스펙트럼의 비제로 영역과 제로영역(zero area)의 경계를 검출함으로써 추정되며, x 방향의 체동은 역방향으로 스펙트럼을 변위시킴으로써 제거된다. 그 다음으로, y 방향의 체동은 그 체동성분과 실제의 화상성분을 분리할 수 있는 구속조건을 적용함으로써 제거된다. 최종적으로 phantom 화상을 사용한 시뮬레이션을 통해서 본 방법의 유효성을 확인하였으며, 그 결과 제안한 방법이 기존의 방법에 비해 포괄적으로 사용할 수 있음을 알 수 있었다.

• 한국생산제조학회지
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• 제22권4호
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• pp.735-739
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• 2013

The error motion of a machine tool spindle directly affects the surface errors of machined parts. Spindle motion errors such as three translational motions and two rotational motions are undesirable. These are usually due to the imperfectness of bearings, stiffness of spindle, assembly errors, and external force or unbalance of rotors. The error motions of the spindle need to be reduced for achieving the desired performance. Therefore, the level of error motion needs to be estimated during the design and assembly process of the spindle. In this study, an estimation method for five degree-of-freedom (5 DOF) error motions for a spindle with an angular contact ball bearing is suggested. To estimate the error motions of the spindle, the waviness of the inner-race of bearings and an external force model were used as input data. The estimation model considers the geometric relationship and force equilibrium of the five DOFs. To calculate the error motions of the spindle, not only the imperfections of the shaft and bearings but also driving elements such as belt pulley and direct driving motor systems are considered.

• 한국해양공학회지
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• 제26권1호
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• pp.70-77
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• 2012

In this study, a numerical analysis of offshore installation using a floating crane with heave compensator is carried out in time domain. The motion analysis of crane vessels is based on floating body dynamics using convolution integral and the crane wire is treated as simple spring. The lifted structure is assumed as a rigid body with 3 degree-of-freedom translational motion. The heave compensator is numerically modelled by the generalized spring-damper system. Firstly, forced motion simulations of crane wire system are carried out to figure out the basic principle of heave compensator. The transfer function of crane wire system is obtained and effective wave period of heave compensator are found. Then, coupled analysis of crane vessel, crane wire, and lifted structure are performed in regular and irregular sea conditions. Two different crane vessels and two lifted structures (suction pile and manifold) are considered in this study. Through a series of numerical calculations, the effective zone of heave compensator is investigated with respect to wave period and crane wire length.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.540-545
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• 2004

This article describes the time delay control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, develops time delay control algorithm [1]. The developed control algorithm is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.249-254
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• 1993

In order to respond to the increasing demands of ultraprecision positioning mechanism in the field of precision engineering, more accurate stages are needed whose positioning uncertainty should be in the unprecedented level of nanometers, while maintaining a long travek range. For this application, most conventional stage mechanisms are found not suitable, so the concept of dual servo, which uses two different servos, is one of the new design and control strategies being extensively investigated these days, This paper presents a fine motion mechanism as a part of research on the dual servo control. The stage is made of a single structure of elastic flexure, whose xy .theta. motions are induced in the form of elastic deformation activated by three piezoelectric actuators. Experimental results show that the translational and rotational motions of the stage can be controlled with resolutions of 5 nm and 0.1 arcsec, respectively.

• 대한의용생체공학회:의공학회지
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• 제25권4호
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• pp.301-307
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• 2004

보행 중 각 관절의 모멘트를 계산하기 위한 역동역학 모델을 개발하였다. 모델은 1개의 상체와 3개의 체절로 하지를 구성하였고 3개의 병진 조인트와 12개의 회전조인트로 각 체절을 연결하고 뉴턴-오일러 방법으로 역동역학 해를 구하였다. 입력자료로서의 기구학적 사료는 3차원 동작분석 시스템에서 추출하였고 외력으로서 지면 반발력은 동기화한 힘측정판에서 구했다. 개발된 모델을 이용하여 비대칭 모델이나 질량중심의 이동을 포함한 해석 등 다양한 인체운동 해석이 가능하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1723-1728
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• 2005

This article describes the fuzzy control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, describes the design of the fuzzy controller, which does not require the computation time to optimize the distribution of cable tension. The developed controller is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 한국생산제조학회지
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• 제7권4호
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• pp.28-34
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• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 추계종합학술대회 논문집(3)
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• pp.181-184
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• 2000

This paper presents an experimental system, where an object extracted from an image sequence is embedded into the desired position in a scene. First, a moving object is detected and the 3-D structure is obtained by SFM analysis of comer trajectories. We constrained the motion to translational motion only. Extracted objects are classified by matching with 3-D models and then the structure of the occluded part is restored. Camera calibration is performed for the background scene which will embed the object. Finally, the object is embedded into the scene. In the experiments, we used synthetic image sequences generated with OpenGL library for easy evaluation of the 3-D structure estimation.