• 전기의세계
• /
• 제26권4호
• /
• pp.54-60
• /
• 1977

The feedback sources of oculomotor control system consist of three types of feedback path originating from retinal image displacement, in the proprioceptive fibers of the extraocular muscles, in the efference copy within the C.N.S. From above feedback loops, the retinal image feedback path is a main subject in this experiment. The electrical output of eye ball motion detecting with a photo-electric matrix method is fed into galvanometer through the external feedback path, and the stability was also examined.

• 한국정밀공학회지
• /
• 제17권1호
• /
• pp.45-51
• /
• 2000

In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

• Restorative Dentistry and Endodontics
• /
• 제40권1호
• /
• pp.85-90
• /
• 2015

This report introduces a novel technique that allows a safe and predictable canal negotiation, creation of a glide path and canal preparation with reciprocating nickeltitanium or stainless steel engine-driven instruments in canals where the use of rotary and the newly developed reciprocating instruments is contraindicated. In this novel technique, the instruments are used in reciprocating motion with very small angles. Hand files are not used regardless of the complexity of the canal anatomy. It also allows achieving predictable results in canal negotiation and glide path creation in challenging canals without the risk of instrument fracture.

• ETRI Journal
• /
• 제35권6호
• /
• pp.1029-1037
• /
• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• Journal of Mechanical Science and Technology
• /
• 제18권1호
• /
• pp.92-105
• /
• 2004

A new algorithm for planning a collision-free path based on algebraic curve is developed and the concept of collision-free Path Space (PS) is introduced. This paper presents a Geometry Mapping (GM) based on two straight curves in which the intermediate connection point is organized in elliptic locus ($\delta$, $\theta$). The GM produces two-dimensional PS that is used to create the shortest collision-free path. The elliptic locus of intermediate connection point has a special property in that the total distance between the focus points through a point on ellipse is the same regardless of the location of the intermediate connection point on the ellipse. Since the radial distance, a, represents the total length of the path, the collision-free path can be found as the GM proceeds from $\delta$=0 (the direct path) to $\delta$=$\delta$$\_$max/(the longest path) resulting in the minimum time search. The GM of elliptic workspace (EWS) requires calculation of interference in circumferential direction only. The procedure for GM includes categorization of obstacles to .educe necessary calculation. A GM based on rectangular workspace (RWS) using Cartesian coordinate is also considered to show yet another possible GM. The transformations of PS among Circular Workspace Geometry Mapping (CWS GM) , Elliptic Workspace Geometry Mapping (EWS GM) , and Rectangular Workspace Geometry Mapping (RWS GM), are also considered. The simulations for the EWS GM on various computer systems are carried out to measure performance of algorithm and the results are presented.

• 한국정밀공학회지
• /
• 제12권7호
• /
• pp.32-45
• /
• 1995

In this paper, we present a new method to tool path planning problem for rough cut of pocket milling operations. The key idea is to formulate the tool path problem into a TSP (Travelling Salesman Problem) so that the powerful neural network approach can be effectively applied. Specifically, our method is composed of three procedures: a) discretization of the pocket area into a finite number of tool points, b) neural network approach (called SOM-Self Organizing Map) for path finding, and c) postprocessing for path smoothing and feedrate adjustment. By the neural network procedure, an efficient tool path (in the sense of path length and tool retraction) can be robustly obtained for any arbitrary shaped pockets with many islands. In the postprocessing, a) the detailed shape of the path is fine tuned by eliminating sharp corners of the path segments, and b) any cross-overs between the path segments and islands. With the determined tool path, the feedrate adjustment is finally performed for legitimate motion without requiring excessive cutting forces. The validity and powerfulness of the algorithm is demonstrated through various computer simulations and real machining.

• 한국융합학회논문지
• /
• 제10권4호
• /
• pp.39-43
• /
• 2019

표면실장장비(SMD)의 겐트리는 부품을 피더에서 기판으로 옮기는 역할을 한다. 이 때 겐트리의 이동 시간은 생산량에 영향을 미친다. 따라서 본 논문에서는 겐트리의 이동 시간을 단축시키기 위해 부품의 흡착에서 실장까지 가장 빠른 경로를 제시한다. 이 경로는 겐트리의 특성상 카메라 앞에서의 속도가 2인 경우이다. 따라서 이때의 궤적 그래프를 시뮬레이션을 통해 작성하고 이동 시간을 계산하였다. 그 결과 현재 사용 중인 stop-motion방법보다 본 논문에서 제시한 moving-motion방법의 이동 시간이 20%단축된 것을 알 수 있다.

• 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.

• 로봇학회논문지
• /
• 제2권4호
• /
• pp.304-309
• /
• 2007

This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.

• 농업과학연구
• /
• 제37권1호
• /
• pp.113-121
• /
• 2010

Land consolidation ratio for rice paddy fields reached to 64.7% as of 2008 in Korea, and this also accelerated automation of field machinery. Especially, research on autonomous tractors has been continuously conducted. Tillage is one of the labor-, energy-, and time-consuming field operations. Most important requirements for autonomous tractors would be travelling path planning and electronic system to control the tractor to follow the path. The instruction of computer was required to conduct the tillage operation in field with unmanned traveling tractor. This instruction was coincidently used in the control of the traveling path and the motion of tractor. The objectives of the study were 1) to characterize and model tillage operating sequence, turning pattern, and 2) to develop tillage path formation programs for autonomous tractor and evaluate the performance.