• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.386-393
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• 2008

A position control method for interpolating aspherical grinding and polishing tool path was reviewed and experimented in a nano precision machine. The position-base algorithm was reformed from the time-base algorithm, proposed in the previous study. The characteristics of the algorithm were in the velocity control loop with position feedback. The aspherical surface was divided by an interval at which each velocity and acceleration were calculated. The theoretical velocity was corrected by position error during processing. In the experiment, a machine was constructed and nano-scale linear encoders were installed at each axis. Relation between process parameters and the variation of position error was monitored and discussed. The best result from optimized parameters showed that the accuracy was 150nm and improved from the previous report.

• The Journal of Korean Physical Therapy
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• 제15권4호
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• pp.255-298
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• 2003

The purpose of study was to evaluate effects of a trunk muscle strength training on sitting balance of children with spastic cerebral palsy. Five individuals with spastic cerebral palsy(three females. two males; mean aged 6.6) participated three times a week over 6 weeks. Five individuals with spastic cerebral palsy(three females. two males; mean aged 7.0) who did not receive strength training served as control. BPM(Balance Performance Moniter) was used to measured sitting balance and EMG(electromyograph, NORAXON, USA) was used to measured activities of abdominal and erector spine muscle. The obtain result are as follows. 1. The result of this study were following that maximum perturbation area and perturbation velocity were significantly reduced strength training group compared with control group(p<.05). 2. The result of this study were following that maximum perturbation area and perturbation velocity were significantly reduced after strength training compared with pre strength training in strength training group(p<.05). 3. The result of this study were following that maximum perturbation area and perturbation velocity were not significantly reduced at interval of six week in control group(p<.05). 4. The result of this study were following that abdominal muscle activity was significantly increased strength training group compared with control group(p<.05). 5. The result of this study were following that erector spine muscle activity was significantly increased strength training group compared with control group(p<.05). 6. The result of this study were following that abdominal muscle activity and erector spine muscle were significantly increased after strength training compared with pre strength training in strength training group(p<.05). 7. The result of this study were following that abdominal muscle activity and erector spine muscle were not significantly increased at interval of six week in control group(p<.05). In conclusion, the result of this study suggest that improved sitting balance and increased activities of trunk muscle by trunk strength training in spastic cerebral palsy. The result was proposed that therapeutic approach of spastic cerebral palsy with impaired sitting balance should use trunk strength training.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1694-1699
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• 2003

A windshield wiper system plays a key part in assuring the driver's safety during the rainfall. However, because the quantity of rain and snow vary irregularly according to time and the velocity of the automobile, a driver changes wiper speed and interval from time to time to secure enough visual field in the traditional windshield wiper system. Because a manual operation of windshield wiper distracts driver's sensitivity and causes inadvertent driving, this is becoming a direct cause of traffic accidents. Therefore, this paper presents the basic architecture of a vision-based smart windshield wiper system and a rain sensing algorithm that regulates speed and interval of the windshield wiper automatically according to the quantity of rain or snow. This paper also introduces a fuzzy wiper control algorithm based on human's expertise, and evaluates the performance of the suggested algorithm in an experimental simulator.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.291-297
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• 2000

This paper presents an attitude determination algorithm for the local level strapdown inertial navigation where the body the earth and the transport rate can be calculated separately using a DCM computation scheme, Also presented is a velocity determination algorithm taking into account the attitude variation caused by he change of the navigation frame. The proposed algorithm are implemented using three samples of the velocity and the angle within the integration interval.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 1996년도 제6회 학술강연회논문집
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• pp.209-216
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• 1996

The shape variation of billet was investigated by numerical method and spray forming work with variation of average substrate withdrawal velocity$\bar{V}$, withdrawal velocity change interval $\Delta$t and velocity deviation from average velocity $V_{dev}$. The shape and diameter with large$\bar{V}$, $\Delta$t, $V_{dev}$ vary seriously. When $\bar{V}$, $\Delta$t, $V_{dev}$ are smaller, the shape of billet is more simillar to that of the billet with constant withdrawal velocity. The average diameter of billet is determined by only $\bar{V}$, independent of $\Delta$t, $V_{dev}$. With $\bar{V}$, : 0.2 mm/sec $\Delta$t: 200 sec and $V_{dev}$. : 0.2mm/sec billet of constant diameter 230mm$\times$ height 1000mm were manufactured.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.135-138
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• 1991

In this study, a variety of characteristics is considered when LIM for transit is driven with acceleration and deceleration. From the characteristics of constant voltage, with V/f ratio fixed, slip frequency is derived. With slip frequency of 12[Hz] and objective velocity of 40[km/h], the robust control characteristics which are generated constant thrust and normal force, except for open-loop control interval, are obtained.

• Journal of Biosystems Engineering
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• 제17권3호
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• pp.213-222
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• 1992

To develop the wireless remote opreating system of walking rice transplanter, this study was carried out for manufacturing the wireless remote control system acting upon the transplanter. The first report of this study contained about the construction and operating method of a developed remote control system for 2-row walking type transplanter. It is the second report about the field test for an experimental transplanter being attached a wireless control system and for a conventional transplanter. The test was executed to investigate the characteristics of velocity, rectilinearity, turning time, interval of roots and of rows, and field capacity in accordance with various engine speeds for an experimental transplanter. The measurements of this test were compared with those of the conventional transplanter. The obtained results were as follows : 1. The operating velocity of the experimental transplanter was faster than the conventional one when the high speed range of the engine but the variances were very large. 2. The rectilinearity, interval of raws and of roots, and the turning time of the experimental transplanter was inferior to the conventional one at some speed ranges of the engine. 3. Field capacity of the experimental transplanter was superior to the conventional one at high speed of the engine. 4. There were some disadvantages for the experimental transplanter to operate, because it was constructed without any aid devices, such as float and hydraulic system for instance. But if the remote control system of this study equip at the modern walking transplanter, it will be improved and utilized without defects which was revealed from this test.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.229-232
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• 2000

This research aims at developing a low-cost PC-NC system based on one-CPU and investigating the feasibility of its application to a simple-function lathe. Its hardware consists a two axes motion control board including a 24bit counter, 8253 timer, a 12bit DA converter, DIO board for PLC operation and a PC with Intel Pentium 466MHz. The fundamental real-time MC functions such as G-code interpretation, interpolation, position and velocity control of axes are performed. User programming interface with functions of icon manipulation, tool-path simulation and NC-code generation was implemented. In order to achieve real-time control and safety, axis control, NC interpretation, interpolation and user communication are completely executed during every interrupt interval of I msec.

• International Journal of Precision Engineering and Manufacturing
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• 제7권4호
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• pp.51-56
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• 2006

This paper proposes a control algorithm, which is verified experimentally, for aspherical surface grinding and polishing. The algorithm provides simultaneous control of the position and interpolation of an aspheric curve. The nonlinear formula for the tool position was derived from the aspheric equation and the shape of the tool. The function was partitioned at specific intervals and the control parameters were calculated at each control section. The position, acceleration, and velocity at each interval were updated during the process. A position error feedback was introduced using a rotary encoder. The feedback algorithm corrected the position error by increasing or decreasing the feed speed. In the experimental verification, a two-axis machine was controlled to track an aspherical surface using the proposed algorithm. The effects of the control and process parameters were monitored. The results demonstrated that the maximum tracking error with tuned parameters was at the submicron level for concave and convex surfaces.