• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.2
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• pp.22-28
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• 2019

In this study, we describe the mechanical design of the cylindrical workpiece inspection system which that can inspect the workpiece machined in the CNC lathe. The workpiece automatic measuring device is composed of a workpiece aligning mechanism, a workpiece diameter measuring mechanism, and a workpiece height measuring mechanism. If the workpiece machined on the CNC lathe is placed on the pedestal of the cylindrical workpiece inspection system, the workpiece aligning mechanism moves the workpiece to the diameter-measuring position and the height- measuring positions, and the diameter-measuring mechanism and the height- measuring mechanisms sequentially measure the diameter and the height of the workpiece. The cylindrical workpiece inspection system was designed and manufactured. The characteristic experiment was conducted to confirm the operation of the machine tool of the cylindrical workpiece inspection system. As a The result of the characteristic test shows that, the workpiece automatic measuring device operated safely.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.599-603
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• 2003

This paper present an error compensation system and On-Machine Measurement(OMM) system for improving the machining accuracy of ultra-precision lathe. The Fast-Tool-Servo(FTS) driven by a piezoelectric actuator is applied for error compensation system. The controller is implemented on the 32bit DSP for feedback control of piezoelectric actuator. The control system is designed to compensates three kinds of machining errors such as the straightness error of X-axis slide, the thermal growth error of the spindle. and the squareness between spindle and X-axis slide. OMM is preposed to measure the finished profile of workpiece on the machine-tool using capacitive sensor with highly accurate ruby tip probe guided by air bearing. The data acquisition system is linked to the CNC controller to get the position of each axis in real-time. Through the experiments, it is founded that the thermal growth of spindle and tile squareness error between spindle and X-axis slide influenced to machining error more than straightness error of X-axis slide in small travel length. These errors were simulated as a sinusoidal signal which has very low frequency and the FTS could compensate the signal less than 30 m. The implemented OMM system has been tested by measuring flat surface of 50 mm diameter and shows measurement error less than 400 mm

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of Aerospace System Engineering
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• v.16 no.5
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• pp.26-34
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• 2022

The propulsion system of geostationary orbiting satellites is typically used to raise the orbit into a transfer orbit, maintain the orbital position in the south/north, east/west direction in regular operation, and accumulate momentum in the south/north and east/west direction. Recently, when an electric propulsion system is used in a geostationary orbit satellite, the payload capacity can be increased by about 40% compared to a chemical propulsion system. However, despite these advantages, using an electric propulsion system has several limitations that should apply to all geostationary orbiting satellites. This paper discusses the operational constraints to consider when developing an indigenous geostationary satellite using a fully electric propulsion, radiation exposure, and control mechanism design due to unit displacement and floating ground-design. A high-voltage control unit for electric drives were analyzed.

• Journal of the Korean Society of Radiology
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• v.6 no.2
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• pp.143-149
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• 2012

Today each hospital is trend that change rapidly by up to date, digitization and introducing newest medical treatment equipment. So, we introduce new CR system and supplement film system's shortcoming and PACS, EMR, RTP system's network that is using in hospital harmoniously and accomplish quality improvement of medical treatment and service elevation about business efficiency enlargement and patient Accordingly, we wish to introduce our case that integrate reflex that happen with radiation oncology here upon to PACS using CR system and estimate the availability. We measured that is Gantry, Collimator Star Shot, Light vs. Radiation, HDR QA(Dwell position accuracy) with Medical LINAC(MEVATRON-MX) Then, PACS was implemented on the digital images on the monitor that can be confirmed through the QA. Also, for cooperation with OCS system that is using from present source and impose code that need in treatment in each treatment, did so that Order that connect to network, input to CR may appear, did so that can solve support data mistake (active Pinacle's case supports DICOM3 file from present source but PACS does not support DICOM3 files.) of Pinacle and PACS that is Planning System and look at Planning premier in PACS. All image and data constructed integration to PACS as can refer and conduct premier in Hospital anywhere using CR system. Use Dosimetry IP in Filmless environment and QA's trial such as Light/Radition field size correspondence, gantry rotation axis' accuracy, collimator rotation axis' accuracy, brachy therapy's Dwell position check is available. Business efficiency by decrease and so on of unnecessary human strength consumption was augmented accordingly with session shortening as that integrate premier that is neted with radiation oncology using CR system to PACS. and for the future patient information security is essential.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.4
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• pp.19-28
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• 1999

In order to control thermal deformation of the machine origin of machine tools a empirical model and a compensation system have been developed, Prior to empirical modeling the volumetric error considering shape errors and joint errors of slides is formulated through the homogeneous transformation matrix (HTM) and kinematic chain. Simulation results of the HTM method show that the thermal error of the machine origin is more critical than position-dependent errors. In order to make a stable and effective software error compensation system the GMDH (Group Method of Data Handling) models are constructed to estimate the thermal deformation of the machine origin by measuring deformation data and temperature data. A test bar and gap sensors are used to measure the deformation data. In order to compensate the estimated error the work origin shift method is developed by implementing a digital I/O interface board between a CNC controller and an IBM PC. The method shifts the work origin as much as the amounts which are calculated by the pre-established thermal error model. The experiment results for a vertical machining center show that the thermal deformation of the machine origin is reduced within $\pm$5$mu extrm{m}$.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1246-1253
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• 2009

This paper presents derived a calculating form of fuzzy inference, based on decomposition of $\alpha$-level sets. Based on the calculating form it is propose that fuzzy logic circuits of PI+PD controller are a body from fuzzy inference to defuzzificaion in cases where the command variable u directly is generated PWM. The effect of quantization on $\alpha$-levels is investigated. with input/out characteristics of fuzzy controller by simulation. It is concluded that 4 quantization levels are sufficient result for fuzzy control performance of DC servo system. Simulation and experimental results demonstrated that the hardware implementation of the proposed controller can successfully provide good performance on the position control of DC servo system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.81-86
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• 2015

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1167-1172
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• 2015

This paper describes the implementation of wearable AHRS for an electromagnetic motion capture system that can trace and analyze human motion on the principal nine axes of inertial sensors. The module provides a three-dimensional (3D) attitude and heading angles combining MEMS gyroscopes, accelerometers, and magnetometers based on the extended Kalman filter, and transmits the motion data to the 3D simulation via Wi-Fi to realize the unrestrained movement in open spaces. In particular, the accelerometer in AHRS is supposed to measure only the acceleration of gravity, but when a sensor moves with an external linear acceleration, the estimated linear acceleration could compensate the accelerometer data in order to improve the precision of measuring gravity direction. In addition, when an AHRS is attached in an arbitrary position of the human body, the compensation of the axis of rotation could improve the accuracy of the motion capture system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.738-744
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• 2016

In this paper, a robust visual odometry system has been proposed and implemented in an environment with dynamic illumination. Visual odometry is based on stereo images to estimate the distance to an object. It is very difficult to realize a highly accurate and stable estimation because image quality is highly dependent on the illumination, which is a major disadvantage of visual odometry. Therefore, in order to solve the problem of low performance during the feature detection phase that is caused by illumination variations, it is suggested to determine an optimal threshold value in the image binarization and to use an adaptive threshold value for feature detection. A feature point direction and a magnitude of the motion vector that is not uniform are utilized as the features. The performance of feature detection has been improved by the RANSAC algorithm. As a result, the position of a mobile robot has been estimated using the feature points. The experimental results demonstrated that the proposed approach has superior performance against illumination variations.