• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.213-216
• /
• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제12권1호
• /
• pp.605-616
• /
• 2020

The construction quality control of hull blocks is of great significance for shipbuilding. The total station device is predominantly employed in traditional applications, but suffers from long measurement time, high labor intensity and scarcity of data points. In this paper, the Terrestrial Laser Scanning (TLS) device is utilized to obtain an efficient and accurate comprehensive construction information of hull blocks. To address the registration problem which is the most important issue in comparing the measurement point cloud and the design model, an automatic registration approach is presented. Furthermore, to compare the data acquired by TLS device and sparse point sets obtained by total station device, a method for key point extraction is introduced. Experimental results indicate that the proposed approach is fast and accurate, and that applying TLS to control the construction quality of hull blocks is reliable and feasible.

• 한국산업융합학회 논문집
• /
• 제25권5호
• /
• pp.909-915
• /
• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• 제어로봇시스템학회논문지
• /
• 제15권3호
• /
• pp.315-322
• /
• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• 한국전기전자재료학회논문지
• /
• 제26권4호
• /
• pp.284-288
• /
• 2013

Power MOSFETs(Metal Oxide Semiconductor Field Effect Transistor) operate as energy control semiconductor switches. In order to reduce energy loss of the device during switch-on state, it is essential to increase its conductance. We have experimental results and explanations on the doping profile dependence of the electrical behavior of the vertical MOSFET. The device is fabricated as $8.25{\mu}m$ cell pitch and $4.25{\mu}m$ gate width. The performances of device with various p base doping concentration are compared at Vth from 1.77 V to 4.13 V. Also the effect of the cell structure on the on-resistance and breakdown voltage of the device are analyzed. The simulation results suggest that the device optimized for various applications can be further optimized at power device.

• 로봇학회논문지
• /
• 제8권3호
• /
• pp.186-196
• /
• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• 제어로봇시스템학회논문지
• /
• 제3권1호
• /
• pp.67-76
• /
• 1997

In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.

• 한국정밀공학회지
• /
• 제23권7호
• /
• pp.59-66
• /
• 2006

In laser welding, automatic seam tracking is important to adjust the laser head position in real time as it moves along the seam. Also if the joint gap is occurred, filling the missing material into the joint gap is necessary to prevent welding defects and bad welding quality. In general, the joint gap width is not constant along the seam due to a variety of reason. So it is essential to control the filler wire speed into the joint gap to acquire good welding quality. This paper describes an intelligent filler wire feeding device which can control 3-dimensional seam tracking and the filler wire speed by measuring the gap position and the joint gap width in laser welding. We call this device as Smart Micro Control system(SMC). To achieve this objective, we assessed weld quality in 2mm sheets of A16061 which had various gap width by using the developed device. From the experimental results, It was found the possibility that the developed device could be used in welding various 3-dimensional structures.

• Journal of Chest Surgery
• /
• 제30권8호
• /
• pp.747-751
• /
• 1997

폐동맥협착을 시행한 환아에서 수술직후 변화하는 혈역학에 대응하기 위하여 피하조직에 위치시켜 쉽게 조절할 수 있는 기구를 개발하였다. stainless steel wire를 이용하여 스프링을 만든후 이것의 표면을 PTFE로 덮은 형태로 제작하였으며 스프링 내부로 wire를 통과시켜 이것을 올가미 형식으로 죄는 방법으로 협착을 할 수 있게 하였으며 협착의 정도를 피하조직으로 통하는 투명한 tube에 1mm간격으로 표시하여 알수 있게 하였다. 6마리의 개의 하행대동맥에 협착을 시행하였다. 수술후 1,2일째에도 이완과 협착을 효과적으로 유도 할수 있었으며 3개월후 어느정도의 혈관손상은 있었으나 큰 협병증 없이 유지함을 보였다. 비록 실험적인 연구이지만 인체에 삽입할수 있는 재료로 쉽게 기구제작이 가능하며 앞으로 피하를 열고 조절가능한 폐동맥협착술에 이용할 수 있으리라 생각된다.

• Journal of information and communication convergence engineering
• /
• 제8권4호
• /
• pp.377-382
• /
• 2010

With the advent of flash memory based new storage device (SSD), there is considerable interest within the computer industry in using flash memory based storage devices for many different types of application. The dynamic index structure of large text collections has been a primary issue in the Information Retrieval Applications among them. Previous studies have proven the three approaches to be effective: In- Place, merge-based index structure and a combination of both. The above-mentioned strategies have been researched with the traditional storage device (HDD) which has a constraint on how keep the contiguity of dynamic data. However, in case of the new storage device, we don' have any constraint contiguity problems due to its low access latency time. But, although the new storage device has superiority such as low access latency and improved I/O throughput speeds, it is still not well suited for traditional dynamic index structures because of the poor random write throughput in practical systems. Therefore, using the experimental performance evaluation of various index maintenance schemes on the new storage device, we propose an efficient index structure for new storage device that improves significantly the index maintenance speed without degradation of query performance.