• 생물환경조절학회지
• /
• 제23권1호
• /
• pp.26-30
• /
• 2014

본 연구에서는 과수의 형태, 거리에 따라 약대가 항상 적정 살포 거리를 유지하며 작업을 진행할 수 있도록 초음파 센서의 신호를 실시간으로 받아 약대를 제어하였고, 또한 약대의 보호를 위하여 진행 방향에 장애물이 존재할 경우 회피할 수 있도록 프로그래밍 하였다. 제작된 시스템으로 현장에서 비 자동제어 상태와 자동제어 상태로 실험을 수행하였다. 실험은 과수의 기둥과 잎 부위에 감수지를 일정간격으로 설치하고 시스템을 이용하여 분사한 후 감수지의 영상을 스캔하여 영상처리를 통해 분석하는 방법으로 이루어졌다. 상 방향 분사 실험에서는 시스템과 대상의 거리가 0.9m~1.1m로 설정해둔 적정거리를 벗어나지 않았기 때문에 비 자동제어와 자동제어 상태 모두 양호한 결과를 보였다. 하지만 측 방향 분사 실험에서는 비 자동제어 시 우측 열은 98.09%의 분사율을 보였으나 좌측 열은 69.25%로 낮게 나타났다. 이는 실험이 수행된 배 과원의 경우 과수의 좌측 열이 수평하게 식재되어 있지 않았기 때문으로 비자동제어 상태에서는 좌측열의 과수에 분사되는 양이 줄어들었으나 자동제어 상태에서는 좌, 우측열의 과수에 분사되는 양이 각각 92.66%, 94.64%로 균일하게 나타났다. 시스템의 제어 속도를 측정하기 위하여 방향 별 약대의 속도를 측정하였고 각각의 속도는 수직방향 100mm/s, 수평 방향 100mm/s, 각 변화 3o/s로 측정되었다. 초기 목적했던 바와 같이 과수의 형태, 거리에 따라 약대가 적정 거리를 유지하며 작업을 진행함으로 인해서 균일한 살포량을 유지 할 수 있음을 확인하였다.

• 한국구조물진단유지관리공학회 논문집
• /
• 제17권5호
• /
• pp.77-86
• /
• 2013

본 연구는 물-결합재 비 (W/B)와 잔골재-결합재 비 (F/B)에 따른 알칼리 활성화 슬래그 시멘트 (AASC)의 기초 특성에 관한 연구이다. W/B 비는 0.35, 0.40, 0.45, 그리고 0.50를 선정하였다. 그리고 F/B 비는 1.00에서 3.00까지 0.25 크기로 고려하였다. 알칼리 활성화제는 2M과 4M의 NaOH를 사용하였다. 실험은 플로우, 흡수율, 압축강도, 초음파 속도 그리고 건조수축을 측정하여 비교하였다. 플로우, 압축강도, 흡수율, 초음파 속도 그리고 건조수축 모두 W/B 비가 증가하면 감소하였다. 압축강도는 동일 W/B 비에서 F/B 비가 증가할수록 감소하였다. 또한 특정 F/B 비에서 강도가 증가하는 것을 볼 수 있었다. 그리고 S2 (river sand 2)는 S1 (river sand 1)보다 낮은 물리적 특성을 나타냈는데, 이는 조립률 때문으로 판단된다. 본 실험의 결과 AASC의 공학적 특성은 W/B 비와 F/B 비가 영향을 주는 것으로 판단된다. 최적의 F/B 비는 각 W/B 비에 대해 1.75~2.50 인 것으로 생각된다. 또한 W/(B+F) 비가 0.13과 0.14 사이일 때 AASC 모르타르의 배합설계가 효과적일 것으로 판단된다.

• Restorative Dentistry and Endodontics
• /
• 제45권4호
• /
• pp.45.1-45.8
• /
• 2020

Objective: The aim of this study was to introduce a gelatin/bovine serum albumin (BSA) tissue standard, which provides dissolution properties identical to those of biological tissues. Further, the study evaluated whether the utilization of endodontic activating devices led to enhanced phantom dissolution rates. Materials and Methods: Bovine pulp tissue was obtained to determine a benchmark of tissue dissolution. The surface area and mass of samples were held constant while the ratio of gelatin and BSA were varied, ranging from 7.5% to 10% gelatin and 5% BSA. Each sample was placed in an individual test tube that was filled with an appropriate sodium hypochlorite solution for 1, 3, and 5 minutes, and then removed from the solution, blotted dry, and weighed again. The remaining tissue was calculated as the percent of initial tissue to determine the tissue dissolution rate. A radiopaque agent (sodium diatrizoate) and a fluorescent dye (methylene blue) were added to the phantom to allow easy quantification of phantom dissolution in a canal block model when activated using ultrasonic (EndoUltra) or sonic (EndoActivator) energy. Results: The 9% gelatin + 5% BSA phantom showed statistically equivalent dissolution to bovine pulp tissue at all time intervals. Furthermore, the EndoUltra yielded significantly more phantom dissolution in the canal block than the EndoActivator or syringe irrigation. Conclusions: Our phantom is comparable to biological tissue in terms of tissue dissolution and could be utilized for in vitro tests due to its injectability and detectability.

• 한국정밀공학회지
• /
• 제29권8호
• /
• pp.879-886
• /
• 2012

The ultrasonic horn used for bonding of flip chip has been designed to vibrate at a natural frequency. The ultrasonic horn must be manufactured accurately in physical terms, because the small change of mechanical properties may result in the significant change of natural frequency. Therefore, tight tolerance is inevitable to keep the natural frequency in acceptable range. However, since tightening of the tolerance increases the manufacturing cost significantly, trade-off between the cost and accuracy is necessary. In this research, an attempt was made to design the ultra sonic horn within acceptable natural frequency while the manufacturing cost was kept as low as possible. For this purpose, among the 18 tolerances of physical terms of the ultrasonic horn, the most important 4 factors were selected using Taguchi method. The equation to relate those main factors and the natural frequency was made using response surface method. Finally, optimal design scheme for minimum manufacturing cost without a loss of performance was determined using SQP method.

• 한국인터넷방송통신학회논문지
• /
• 제9권2호
• /
• pp.45-50
• /
• 2009

청소로봇이나 경비로봇과 같이 실내에서 이동하며 작업하는 로봇에서는 센서를 통한 환경의 인식이 필수적이다. 사무실 빌딩이나 공동주택의 경우 기본적인 환경이 동일하므로 설계도와 같은 공통된 지도를 이용하면 개별 환경마다 지도를 재작성하는 것보다 유리한 점이 있다. 이때 가구나 장애물 등 위치가 바뀔 수 있는 대상의 정보는 제거하고, 벽, 문, 창 등 불변의 대상을 인식하는 것이 중요하다. 이 논문에서는 사무실이나 가정환경에서 사용할 수 있는 실험용 이동로봇을 구현하고, 레이저스캐너의 정보와 세그먼트의 방향, 위치에 의한 히스토그램 방법을 이용하여 이와 같은 불변의 특징을 추출한다. 로봇에는 레이저스캐너, 자이로 센서, 초음파 센서, 적외선 센서 등이 탑재되며 제어프로그램은 C 프로그램으로 작성되었다.

• 제어로봇시스템학회논문지
• /
• 제7권9호
• /
• pp.774-782
• /
• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• 한국정밀공학회지
• /
• 제19권8호
• /
• pp.147-154
• /
• 2002

In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

• Tribology and Lubricants
• /
• 제22권4호
• /
• pp.218-224
• /
• 2006

The sludge oils were produced necessarily in the ships operation, so that it will be the best way to manage the sludge oils inside ship itself from a viewpoint of the prevention of marine oil pollution. The ultra-sonic breaking system which recycle the sludge oil from ship into usable oil to be brunt is recognized as a most possible recycling device. In this regards, the purpose of this study is to examine erosion damage,on the SS400 specimen by cavitation and the effect of impact pressure generated from the demolition of the cavity of ultrasonic vibration in the marine sludge oil environment.. The erosion damage of specimen was investigated mainly on weight loss, weight loss rate and maximum erosion rate with variation of the oil temperature as well as the change of space between transducer hem and specimen. The experimental results showed that as the space between ultrasonic vibrator horn and specimen disk increased, the weight loss and weight loss rate decreased and the values were larger in SFO than in SLO. The experimental results can be useful to the development of sludge oil disposing systems and to consider a countermeasure for the prevention of erosion damages by cavitation.

• 센서학회지
• /
• 제28권6호
• /
• pp.395-401
• /
• 2019

This paper proposes a method for estimating the location of a magnetized tip that is inside a non-transparent space or body by using arrayed giant magnetoresistance (GMR) sensors. In general, an object located in such an opaque space can be detected using X-rays, magnetic fields, ultra-sonic sensors, etc., depending on its characteristics. X-ray is mostly used for medical purposes but frequent exposure to it could cause harm to patients as well as doctors. In this study, how well a GMR sensor is applicable instead of an X-ray is investigated. The sensor's voltage output is experimentally fitted to distance with a relationship of 3rd degree polynomial. To detect a small magnetized tip with 900 Oe inside a human body, a 2×2 arrayed GMR sensor and a location estimation algorithm based on information acquired from four sensors is developed. Evaluation tests show that the suggested method is applicable to limited cases with a distance less than 33-55 mm, and the location of a magnet tip is estimated relatively well with an error less than 1.5 mm.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1668-1672
• /
• 2005

This paper presents the wall following control of a small indoor airship (blimp). The purpose of the wall following control is that a blimp maintains its position and pose and flies along the wall. A blimp has great inertia and it is affected by temperature, atmospheric pressure, disturbance and air flow around blimp. In order to fly indoors, a volume of blimp should be small. The volume of a blimp becomes small then the buoyancy of a blimp should be smaller. Therefore, it is difficult to attach additional equipments on the blimp which are necessary to control blimp. For these reasons, it is difficult to control the pose and position of the blimp during the wall following. In our research, to cope with its defects, we developed new blimp. Generally, a blimp is controlled by using rudders and elevators, however our developed blimp has no rudders and elevators, and it has faster responses than general blimps. Our developed blimp is designed to smoothly follow the wall by using low-cost small ultra sonic sensors instead of high-cost sensors. Finally, the controller is designed to robustly control the pose and position of the blimp which could control in spite of arbitrary disturbance during the wall following, and the effectiveness of the controller is verified by experiment.