• 전자공학회논문지 IE
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• v.46 no.3
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• pp.33-41
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• 2009

Because the stability of obstacle avoidance ability is important for the safe operation of mobile robots, this paper deals with the analysis of dynamic stability of Limit-cycle navigation method that was proposed by authors. Limit-cycle navigation method is fast and easy to implement for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. The stability of Limit-cycle navigation method is analyzed with a linear model. To demonstrate the effectiveness and applicability, it is applied to the robot soccer Simulations and real experiments ascertain the merits of the proposed method.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.208-216
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• 2003

ISO 14649 (data model for STEP-NC) is a new interface scheme or language for CAD-CAM-CNC chain under established by ISO TC184 SCI. Up to this point, the new language is mainly made for milling and turning, and other processes such as EDM will be completed in the future. Upon completion, it will be used as the international standard language for e-manufacturing paradigm by replacing the old machine-level language, so called M&G code used since 1950's. With the rich information contents included in the new language, various intelligent functions can be made by the CNC as the CNC knows what-to-make and how-to-make. In particular, On-Machine Inspection required for quality assurance in the machine level, can be done based on the information of feature­based tolerance graph. Previously, On-Machine inspection has been investigated mainly for milling operation, and only a few researches were made for turning operation without addressing the data model. In this thesis, we present a feature-based on-machine inspection process by the 4 Tasks: 1) proposing a new schema for STEP-NC data model, 2) converting the conventional tolerance scheme into that of STEP-NC, 3) modifying the tolerance graph such that the tolerance can be effectively measured by the touch probe on the machine, and 4) generating collision-free tool path for actual measurement. Task 1 is required for the incorporation of the presented method in the ISO 14649, whose current version does not much include the detailed schema for tolerance. Based on the presented schema, the tolerance represented in the conventional drafting can be changed to that of STEP-NC (Task 2). A special emphasis was given to Task 3 to make the represented tolerance accurately measurable by the touch probe on the machine even if the part setup is changed. Finally, Task 4 is converting the result of Task into the motion of touch probe. The developed schema and algorithms were illustrated by several examples including that of ISO 14649 Part 12.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.185-193
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• 2002

Most of NC machines are operated by Is06983 standard called G-code, which was developed in the early days of machine tools. This G-code limits hardware performance of the currently developed high-performance hardware & machine tools. By describing only movements of tool, almost all of information of previous production departments is lost, and the machining department cannot exchange information with other departments. For adjusting new hardware environment and direct communication of CNC machines with CAD/CAM software, ISO 14649, STEP -NC is researched. This new standard stores CAD/CAM information as well as operation commands of CNC machines. In this research, the new CNC machine operated by STEP-NC was built and tested. Unlike other STEP-NC milling machines, this system uses the STEP-NC file in form of XML as data input. It makes possible for STEP-NC machines to exchange information to other databases using XML. The mentioned system of this paper loads the XML file, analyzes it, makes tool paths of two5D features with information of STEP-NC, and machines automatically without making G-code. All of software is programmed with Visual C＋＋, and the milling machine is made with table milling machine, step motors, and motion control board for PC that can be directly controlled by C＋＋ commands. All modules of software and hardware were independent, it allows convenient for substitution and expansion of the milling machine. The example 1 in ISP14649-11 that had all information about geometry and machining and the example 2 that has only geometry and tool information were used to test automatic machining by the open-architecture milling machine.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.324-330
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• 2013

This paper describes a novel method to surface large optics mirror with an extremely high hardness, which could replace the high cost of the repetitive off-line measurement steps and the large ultra-precision grinding machine with ultra-positioning control of 10 nm resolution. A lot of diamond pellet to be attached on the convex aluminum base consists of a grinding tool for the concave large mirror, and the tool was pressured down on the large mirror blank. The tool motion at an interval on the spiral path was controlled with each feed rate as the dwell time in the conventional computer-controlled polishing. The shape to be surfaced was measured directly by a touch probe on the machine without any separation of the mirror blank. Total 40 iterative steps of the surfacing and measurement could demonstrate the form error of RMS $7.8{\mu}m$, surface roughness of Ra $0.2{\mu}m$ for the mirror blank with diameter of 1 m and spherical radius of curvature of 5400 mm.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Journal of the Korean earth science society
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• v.26 no.6
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• pp.560-572
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• 2005

This study investigates the characteristics of atmospheric circulation and the heat source $(Q_1)$ related to the winter cold surge in Korea from 1979 to 1999. The occurrence frequency of cold surge is about one event per year and $60\%$ of the total events occurred during the former period, before 1989. During the cold surge, the pressure pattern shows more dominant east-west dipole circulation pattern in the lower troposphere and the effect of upper level trough is stronger than normal cases. Temperature falling pattern over Korea shows that the pattern opposite to the temperature structure over Lake Baikal and temperature change has opposite signs between the low-middle level and upper level, with the boundary at 400 hPa. The analysis of heat source shows that atmospheric cooling by cold advection during the cold surge is balanced by adiabatic warming due to downward motion, indicating that the movement path of cold core is associated with that of heat sink. Therefore, the movement mechanism of the heat source and sink should be well known for understanding the maintenance mechanism of cold surge and predicting cold surges.

• Proceedings of the KIEE Conference
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• 1996.07c
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• pp.1446-1449
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• 1996

Thin films of diamond-like carbon(DLC) have been deposited using a magnetron plasma-enhanced chemical vapor deposition(PECVD) method with an rf(13.56 MHz) plasma of $C_{3}H_{8}$. From the Langmuir probe I-V characteristics, it can be observed that increasing the magnetic field yields an increase of the temperature($T_e$) and density($N_e$) of electron. At a magnetic field of 82 Gauss, the estimated values of $T_e$ and $N_e$ are approximately $1.5\;{\times}\;10^5$ K(13.5 eV) and $1.3\;{\times}\;10^{11}\;cm^{-3}$, respectively. Such a highly dense plasma can be attributed to the enhanced ionization caused by the cyclotron motion of electrons in the presence of a magnetic field. On the other hand, the negative dc self-bias voltage($-V_{sb}$) decreases with an increasing magnetic field, which is irrespective of gas pressure in the range of $1{\sim}7$ mTorr. This result is well explained by a theoretical model considering the variation of $T_e$. Deposition rates of DLC films increases with a magnetic field. This may be due to the increased mean free path of electrons in the magnetron plasma. Structures of DLC films are examined by using various techniques such as FTIR and Raman spectroscopy. Most of hydrocarbon bonds in DLC films prepared consist of $sp^3$ tetrahedral bonds. Increasing the rf power leads to an enhancement of cross-linking of carbon atoms in DLC films. At approximately 140 W, the maximum film density obtained is about 2.4 $g/cm^3$.

• Asian-Australasian Journal of Animal Sciences
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• v.24 no.2
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• pp.181-189
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• 2011

Cryopreservation protocols induce partially irreversible damage to mammalian sperm plasma membranes. Previous studies have indicated that adding cholesterol to the plasma membrane, as cholesterol-loaded-cyclodextrins, improves cryosurvival of sperm. Therefore, the purpose of this study was to determine if treating sperm of Markhoz bucks with cholesterol-loaded-cyclodextrins (CLC) (0, 0.75, 1.5, 2.25 and 3 mg/ml diluted $240{\times}10^6$ sperm/ml) in Tris-citric acid-glucose diluents with and without egg yolk (containing 5% glycerol) would improve the post-thaw sperm quality. The motion characteristics were evaluated with a Computer Assisted System Analyzer (CASA); acrosome integrity and vitality were measured with the triple-stain technique. Samples were recovered before and after freezing by means of putting straws into $37^{\circ}C$ water for 30 sec and then parameters were assessed. The results showed that the treatments significantly affected motility, progressive motility, recovery rate, curvilinear velocity, beat cross frequency, live sperm with reacted acrosome, live sperm with unreacted acrosome, dead sperm with reacted acrosorne, and dead sperm with unreacted acrosome during freezing (p<0.05). However; no significant differences were found for average path velocity, straight line velocity, amplitude of lateral head displacement, straightness and linearity (p>0.05). The best results were observed for extender containing 2.25 mg/ml ($240{\times}10^6$ sperm/ml) CLC supplemented with 2.6% egg yolk. In conclusion, the findings of this study indicate improved Markhoz sperm viability and motility following treatment in the presence of egg yolk.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.6
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• pp.648-657
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• 2014

This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed and test for 10m waterproofness. The closed-form solution for the robot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equation including the damping force due to the mechanical seal for waterproofness is derived using Newton-Euler method. Using derived dynamics equation, a sliding mode controller is designed to track the desired path of the developed robot arm, and its performance is verified through a simulation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.10B
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• pp.891-899
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• 2006

Generally, a geographical area consists of many regions called cells in wireless networks. Each mobile host(MH) in a cell communicates with a base station(BS) located in the center of the cell. The BSs are connected to each other by a static wired network. Since users are expected to move around during communication sessions, one of the most important QoS factors is related to the handoff. But, the handoff could fail due to unavailability of sufficient bandwidth in the next cell. As the individual cell size gradually shrinks to accommodate increasing the number of MHs, the probability of successful handoffs can be dropped. In this paper, we suppose a bandwidth reservation method to guarantee MHs against connection failure in case of frequent handoffs. This method predicts the mobility based on the geographical information and assigns the bandwidth reservation in proportion to the speed of MHs' motion. As a result, we can expect more exact moving path of MH and to reduce the waste of bandwidth.