• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.881-886
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• 2009

This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1779-1784
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• 1991

The problem of fine manipulation is considered in this paper. By fine manipulation, we mean the positioning of the object relative to the palm as opposed to gross manipulation by the arm. The compliance in the fingers and the object is modeled by linear springs. It is shown that the motion of the fingers and object can be predicted by minimizing a quadratic objective function. A method for simulating position control algorithms is developed.

• Journal of Korean Society of Forest Science
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• v.107 no.1
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• pp.43-49
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• 2018

This study was conducted to investigate the effects of warming and precipitation manipulation on seasonal changes in fine root production (FRP) and fine root mortality (FRM) of 33-month-old Pinus densiflora seedlings for two years. The seedlings in warmed plots were warmed with $3.0^{\circ}C$ higher using infrared heaters. The air temperature of warmed (TW) plots was set to increase by $3^{\circ}C$ compared to temperature control (TC) plots, and the three precipitation manipulation consisted of precipitation decrease (-30%; PD), precipitation increase (+30%; PI) and precipitation control (0%; PC). FRP ($mm\;mm^{-2}\;day^{-1}$) was significantly altered by only precipitation manipulation (PC: 3.57, PD: 4.59, PI: 3.02), while warming had no significant effect on the FRP and FRM. Meanwhile, interactions between warming and precipitation manipulation and seasonal changes had no significant effects on FRP and FRM. However, the influences of seasonal changes in soil temperature and soil moisture on FRP and FRM were different according to warming. In TW plots, FRP showed a positive relationship with soil temperature, and FRM showed a negative relationship with soil moisture. On the other hand, in the TC plots, FRP showed a positive relationship with soil moisture, and there were no relationships between FRM and soil temperature and moisture. These results indicate that the climate factors that affect FRP and FRM might vary as the warming progresses.

• MALSORI
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• no.60
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• pp.97-108
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• 2006

The purpose of this study is to observe how Korean listeners detect a target phoneme with 'Focus' represented by prosodic prominence and question-induced semantic emphasis, and with intonational manipulation. According to the automated phoneme detection task using E-Prime, the Korean listeners detected phoneme targets more rapidly when the target-bearing words were in prominence position and in question-induced position. However, the presence of question-induced semantic emphasis reduced the prominence effect, so two effects interacted: when question-induced emphasis were primarily given as a cue, prominence which was given as secondary cue affected less to fine the new information. Besides, the intonation with manipulation was responded to faster than without manipulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.463-463
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• 2000

A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.193-199
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• 2011

In this paper, we propose a novel manipulator intended for the needs of telerobotic micromanipulation. We designed an original manipulator capable of performing fine motion with an accuracy greater than $2{\mu}m$, while remaining simple in design and easy in control. Preliminary calculations of manipulator accuracy have been conducted, and the device has been designed and manufactured accordingly. The accuracy of the proposed manipulator has been verified during the series micro-positioning experiments under different types of controllers, and the results proved that the manipulator is suitable for micromanipulation applications as a part of telerobotic system. The proposed manipulator has been compared to existing analogues by several parameters, and both its advantages and disadvantages have been discussed.

• ETRI Journal
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• v.27 no.2
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• pp.140-152
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• 2005

In this paper, we present design features, implementation, and validation of a satellite simulator subsystem for the Korea Multi-Purpose Satellite-2 (KOMPSAT-2). The satellite simulator subsystem is implemented on a personal computer to minimize costs and trouble on embedding onboard flight software into the simulator. An object-oriented design methodology is employed to maximize software reusability. Also, instead of a high-cost commercial database, XML is used for the manipulation of spacecraft characteristics data, telecommand, telemetry, and simulation data. The KOMPSAT-2 satellite simulator subsystem is validated by various simulations for autonomous onboard launch and early orbit phase operations, anomaly operation, and science fine mode operation. It is also officially verified by successfully passing various tests such as the satellite simulator subsystem test, mission control element system integration test, interface test, site installation test, and acceptance test.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.656-659
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• 1996

An universal NURBS interpolation for an open architectured CNC controller is proposed in order to unify internal data structure and algorithm of different interpolations such as linear, circular and spline, and to intelligently interface CAD database of the various workpiece contour. Furthermore, NURBS interpolation may result in better surface roughness and high speed machining due to the continuous generation of cutter movement. The mathematical manipulation of NURBS is presented and the practical implementation on the CNC controller of a lathe is discussed for real machining. The comparison between a computer design and workpieces machined on a lathe shows the feasibility of the NURBS interpolation format as an universal interpolation scheme.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.33 no.4
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• pp.297-306
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• 2007

Distraction osteogenesis was pioneered by Ilizarov in the treatment of injured extremities. Its subsequent application to Oral and Maxillofacial Surgery has opened a new chapter in the treatment of facial deformity. Careful monitoring of the period of distraction and consolidation of the callus is important and has been well described. Complications, such as infection, haematoma and premature ossification, are difficult to diagnose and can compromise the outcome after the surgery. Too slow rate of distraction results in premature fusion of cortices and too rapid information of bone 'cyst' within the callus distraction. I experienced 2 patients of congenital unilateral mandibular hypoplasia, so called Hemifacial Microsomia. After distraction surgery, I evaluated callus formation of mandibular distraction with Ultrasound Sonography during distraction and consolidation period. Plain radiography, although it enables accurate measurement of the distraction gap, did not give sufficient detail to allow assessment of early stages of bone formation, But, ultrasound monitoring could enable continuous monitoring of the distraction gap without exposure to ionizing radiation and allow detection of fine detail, which may influence manipulation of the callus.