• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.962-966
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• 2004

Ball screw feed drive systems have been broadly used in machine tools or precision automatic feed systems. Recently, modern machine tools require high speed and high precision and drive system to achieve high productivity. Unfortunately, a feed drive system, even though it was optimum designed, may experience severe transient vibrations during high-speed operation if its feed rate control is unsuitable. A rough feed rate curve having discontinuity in its acceleration profile causes a serious vibration problem in the feed slide system. This paper presents a feed rate optimization of a machine tool feed slide system, which is driven by a ball screw, for its minimum vibrations. Firstly, a 6-degree-of-freedom lumped parameter model was proposed for the vibration analysis of a ball screw driven machine tool feed drive system. Next, a feed rate optimization of the feed slide was carried out for minimum vibrations. The feed rate curve optimization strategy is to find out the most appropriate acceleration profile having finite jerk. Of course, the optimized feed rate should approximate to the desired one as possible. A genetic algorithm with variable penalty function was used in this feed rate optimization.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.6 no.1
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• pp.37-47
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• 2005

This Paper proposes a practical design and implementation methodology for a disturbance rejection controller. In a 2 Degree-Of-Freedom (DOF) structure, disturbance rejection performance can be improved without a high gain in forward-loop controller which might cause unwanted side-effects in conventional controller. But, since design methodology of 2 DOF controller is originally derived from the 2 DOF theory, it is not easy to utilize fer various industrial applications. Disturbance observer is a simple, but very effective 2 DOF controller. In this paper, practical issues are discussed from basic idea of DOB to technical procedure for design and implementation. Additionally, a methods and their examples of experimental modeling are explained. The proposed method is demonstrated by two examples of linear-type motor systems.

• Journal of Powder Materials
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• v.30 no.2
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• pp.140-145
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• 2023

Although the Ti-6Al-4V alloy has been used in the aircraft industry owing to its excellent mechanical properties and low density, the low formability of the alloy hinders broadening its applications. Recently, laser-powder bed fusion (L-PBF) has become a novel process for overcoming the limitations of the alloy (i.e., low formability), owing to the high degree of design freedom for the geometry of products having outstanding performance used in high-tech applications. In this study, to investigate the effect of bulk shape on the microstructure and mechanical properties of L-PBFed Ti-6Al-4V alloys, two types of samples are fabricated using L-PBF: thick and thin samples. The thick sample exhibits lower strength and higher ductility than the thin sample owing to the larger grain size and lower residual dislocation density of the thick sample because of the heat input during the L-PBF process.

• Journal of Magnetics
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• v.21 no.3
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• pp.387-392
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• 2016

Lower flux leakage designs have become important in the development of microspeakers used in thin and miniaturized mobile phones. We propose four methods to reduce the flux leakage of the magnetic circuit in a microspeaker. Optimization was performed based on the proposed approach by using the response surface method. Electromagnetic analyses were conducted using the finite element method. Experimental results are in good agreement with the simulated results obtained in one degree-of-freedom analysis from 100 to 5 kHz. Both the simulated and experimental results confirm that one of the proposed methods is much more effective in reducing flux leakage than the other methods. In the optimized method, compared with a default approach, the average radial flux density in the air gap decreased only by 5.5%, the maximum flux leakage was reduced by 28.6%, and the acoustic performance at primary resonance decreased by 0.45 dB, which gap is indiscernible to the human ear.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.207-212
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• 2010

This paper presents a spiral descending path and a landing guidance law for net-recovery of a fixed-wing unmanned aerial vehicle. The net-recovery landing flight is divided into two phases. In the first phase, a spiral descending path is designed from an arbitrary initial position to a final approaching waypoint toward the recovery net. The flight path angle is controlled to be aligned to the approaching direction at the end of the spiral descent. In the second phase, the aircraft is guided from the approaching waypoint to the recovery net using a pseudo pursuit landing guidance law. Six degree-of-freedom simulation is performed to verify the performance of the proposed landing guidance law.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.67-74
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• 2005

This paper concerns attitude controller design for a 3-staged launch vehicle which has movable nozzle TVC systems for all stages as its control systems. The PD-type control gains are determined by shaping the corresponding closed-loop natural frequencies for the purpose of guaranteeing the required stability margin. Bending filters are also designed to stabilize the bending modes by using parametric optimization method. The designed controllers are verified using six degree of freedom flight simulations in MATLAB.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2022.06a
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• pp.1241-1244
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• 2022

최근 K-Pop 을 위시한 예술공연 콘텐츠에 몰입형 미디어를 접목한 온택트 (Ontact) 미디어 스트리밍 서비스가 주목받고 있는 가운데, 본 논문은 일반적으로 사용되는 2D 디스플레이 또는 HMD (Head-Mounted Display) 기반 VR (Virtual Reality, VR) 서비스에서 탈피하여, 대형 가상현실 공연장을 위한 360 도 VR 비디오 스트리밍 시스템을 제안한다. 제안된 시스템은 Phase 1, 2, 3 의 연구개발 단계를 밟아 6DoF (Degrees of Freedom) 시점 자유도를 지원하는 360 도 VR 비디오 스트리밍 시스템을 개발하는 것을 최종목표로 하고 있으며, 현재는 Phase 1: 대형 가상현실 공연장을 위한 3DoF 360 도 VR 비디오 스트리밍 시스템 프로토타입의 개발까지 완료되었다. 구현된 스트리밍 시스템 프로토타입은 서브픽처 기반 Viewport-dependent 스트리밍 기술이 적용되어 있으며, 기존 방식과 비교하였을 때 약 80%의 비트율 감소, 약 543%의 영상 디코딩 속도 향상을 확인하였다. 또한, 단순 구현 및 성능평가에서 그치지 않고, 실제 미국 UCSB 에 위치한 대형 가상현실 공연장 AlloSphere 에서의 시범방송을 수행하여, 향후 Phase 2, 3 연구단계를 위한 연구적 기반을 마련하였다.

• Wind and Structures
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• v.6 no.6
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• pp.451-470
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• 2003

The classical two-degree-of-freedom (2-d-o-f) "sectional model" is of common use to study the dynamics of suspension bridges. It takes into account the first pair of vertical and torsional modes of the bridge and describes well global oscillations caused by wind actions on the deck, yielding very useful information on the overall behaviour and the aerodynamic and aeroelastic response; however, it does not consider relative oscillations between main cables and deck. On the contrary, the 4-d-o-f model described in the two Parts of this paper includes longitudinal deformability of the hangers (assumed linear elastic in tension and unable to react in compression) and thus allows to take into account not only global oscillations, but also relative oscillations between main cables and deck. In particular, when the hangers go slack, large nonlinear oscillations are possible; if the hangers remain taut, the oscillations remain small and essentially linear: the latter behaviour has been the specific object of Part I (Sepe and Augusti 2001), while the present Part II investigates the nonlinear behaviour (coexisting large and/or small amplitude oscillations) under harmonic actions on the cables and/or on the deck, such as might be generated by vortex shedding. Because of the discontinuities and strong nonlinearity of the governing equations, the response has been investigated numerically. The results obtained for sample values of mechanical and forcing parameters seems to confirm that relative oscillations cannot a priori be excluded for very long span bridges under wind-induced loads, and they can stimulate a discussion on the actual possibility of such phenomena.