• Journal of Astronomy and Space Sciences
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• 제21권4호
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• pp.361-370
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• 2004

본 연구에서는 행성간 탐사선의 정밀궤도결정에 필수적인 심우주 추적망(Deep Space Network, DSN) 관측모델을 개발하였다. DSN 관측모델은 DSN 관측시 발생하는 오차를 모델링하여 실제 DSN 관측값과 동일한 관측값을 생성하는 역할을 수행한다. 본 연구의 목적은 행성간 탐사선 정밀궤도결정 과정의 일환인 DSN 관측모델을 개발하는 것이다. DSN 관측모델에는 대류층, 이온층과 안테나 옵셋 오차 모델을 포함시켰으며 임무에 따라 변하는 파라미터 값도 적용하였다. 또한 DSN 관측모델을 3개의 DSN 지상국에서 방위각-고도 마운트를 사용하는 모든 안테나에 대해 구현하였다. 고려한 오차모델의 결과값과 JPL 결과값을 비교해 본 결과, 모든 오차모델 값이 JPL에서 제시한 허용오차 범위인 $10\%$ 내에 있음을 확인하였다. 오차모델과 파라미터를 고려하여 실제 관측과 동일한 DSN 관측값을 생성하였으며, 이를 통해 본 연구에서 개발된 관측모델이 향후 우리 나라 행성간 탐사 임무시 정밀궤도 결정을 위한 관측모델로 활용 가능함을 확인하였다.

• 한국정밀공학회지
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• 제19권6호
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• pp.62-69
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• 2002

For improving the motion accuracy of hydrostatic table, corrective machining algorithm is proposed in this paper. The algorithm consists of three main processes. reverse analysis is performed firstly to estimate rail profile from measured linear and angular motion error, in the algorithm. For the next step, corrective machining information is decided as referring to the estimating rail profile. Finally, motion errors on correctively machined rail are analized by using motion error analysis method proposed in the previous paper. These processes can be iterated until the analized motion errors are satisfied with target accuracy. In order to verify the validity of the algorithm theoretically, motion errors by the estimated rail, after corrective machining, are compared with motion errors by true rail assumed as the measured value. Estimated motion errors show good agreement with assumed values, and it is confirmed that the algorithm is effective to acquire the corrective machining information to improve the accuracy of hydrostatic table.

• 연구논문집
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• 통권34호
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• pp.101-112
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• 2004

In order to analyze the motion errors of the aerostatic stage, it is necessary to consider the influence of the moment variation occurredinside the pads. In this paper, a motion error anaysis method utilizing the transfer functions on the reaction force and moment is proposed, and general characteristics of the transfer functions are discussed. Calculated motion errors by the proposed method show good agreement with the ones calculated by Multi Pad Method, which is considered the entire table as an analysis object. Also, by the introduction of the transfer function of motion errors, which represent the relationship between the spatial frequency components of the rail form error and motion errors, motional characteristics of the porous aerostatic stage can be generalized. In detail, the influence of the spatial frequencies is analyzed quantatively, and the patterns of the insensitive frequencies which almost do not affect the linear motion error or angular motion error according to the rail length ratio and the number of the pad are verified. The relationship between the moment variation occurred inside the pads and the motion errors is also verified together.

• 한국정밀공학회지
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• 제21권7호
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• pp.185-194
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• 2004

In order to analyze the motion errors of the aerostatic stage, it is necessary to consider the influence of the moment variation occurred inside the pads. In this paper, a motion error analysis method utilizing the transfer functions on the reaction force and moment is proposed, and general characteristics of the transfer functions are discussed. Calculated motion errors by the proposed method show good agreement with the ones calculated by Multi fad Method, which is considered the entire table as an analysis object. Also, by the introduction of the transfer function of motion errors, which represent the relationship between the spatial frequency components of the rail form error and motion errors, motional characteristics of the porous aerostatic stage can be generalized. In detail, the influence of the spatial frequencies is analyzed qualitatively, and the patterns of the insensitive frequencies which almost do not affect the linear motion error or angular motion error according to the rail length ratio and the number of the pad are verified. The relationship between the moment variation occurred inside the pads and the motion errors is also verified together.

• 대한치과의사협회지
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• 제47권5호
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• pp.282-290
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• 2009

The purpose of this study was to evaluate the measurement error between conventional films, digital cephalographs and hardcopy. The material consisted of 29 cephalographs which used image modality of Asahi CX-90SP in the Kyung Hee University Dental Hospital. One observer measured fiducial measurements at an interval of four weeks. Measurement error was tested by Dahlberg's formula. A paired t-test was used to detect it between each modality. The results are as follows; 1. The monitor-displayed digital image showed enlargement compared with the conventional image. The cephalometric measurements of the monitor-displayed digital image and conventional image were no statistically significant difference except SNB. 2. In conventional image, measurement errors of linear and angular measurements were 0.23mm, $0.36^{\circ}$, respective. In monitor-displayed digital image, measurement errors of linear and angular measurements were 0.63mm, $0.48^{\circ}$ respective. 3. The reduction ratio of hardcopy was 1.01% compared to the monitor-displayed digital image. Based on the results, it indicates that the digital cephalographs and hardcopy using storage phosphor digital radiography showed the same accuracy as the conventional films in clinical use.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.541-546
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• 2005

Tracking control of an automatic pipe cutting robot (APCROMB) is studied. Using magnetic force APCROMB, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROMB varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performance against the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROMB and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROMB the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROMB. The tracking performances of APCROMB with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angular displacement measurement and the accelerometerbased angular displacement measurement is included.

• 대한치과교정학회지
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• 제30권1호
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• pp.53-66
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• 2000

본 연구는 측모두부방사선사진 촬영시 발생될 수 있는 두부회전이 측정된 선, 각계측치들에 어느 정도의 투사오차를 야기시키는지 알아보기 위해 조선대학교 의과대학 해부학교실에 소장중인 건조두개골 중 비교적 상태가 양호하고 특별한 비대칭이 없는 영구치열기의 건조두개골 17개를 표본으로 선택하여 시행하였다. 각각의 건조두개골을 수직축(Z축)을 중심으로 기준위치($0^{\circ}$)에 대해 $1^{\circ}$ 간격으로 ${\pm}15^{\circ}$ 까지 실험적으로 회전시켜 총 527장의 측모두부방사선사진을 촬영하였다. 이를 근거로 기준위치($0^{\circ}$)에서의 계측치와 각 회전각에서의 계측치들 사이에 paired t-test를 시행하여 측모두부방사선사진 계측치간의 차이를 규명하였으며, 이를 통해 추사오차의 관점에서 교정학적으로 유용한 측모두부방사선 계측항목을 구한 결과 다음과 같은 결론을 얻었다. 1. 각계측항목이 선계측항목에 비해 투사오차가 작았다. 2. 각계측항목은 정중시상면에 위치한 기준점들을 많이 포함할수촉 투사오차가 작았다. 3. 수평 선계측항목의 길이는 필름방향으로 회전됨에 따라 점진적으로 감소되었으나, 초점 방향으로 회전됨에 따라서는 증가되다가 감소되었으며 상대적으로 그 변화양이 작았다. 4. 두부회전에 따른 투사오차는 수직선계측항목에 비해 수평선계측항목에서 컸다. 5. 수직선계측항목은 회전축으로부터 거리가 증가함에 따라 투사오차가 증가하였다. 이상을 종합해 볼 때 두부회전에 따른 측모두부방사선사진 계측치의 투사오차를 최소로 하기 위해서는 선계측항목보다는 각계측항목을 사용하는 것이 유용할 것으로 사료된다.

• 한국항공우주학회지
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• 제41권4호
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• pp.284-290
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• 2013

위성의 각속도를 추정하고 반작용 휠의 고장을 검출하기 위하여 비선형 미지입력 관측기를 제안하였다. 위성의 각속도 추정을 위해서 입력 값을 필요로 하는데, 구동기에 고장이 발생하는 경우에 정확한 각속도 추정이 어렵다. 미지입력 관측기는 미지의 고장에 영향을 받지 않으면서 상태추정이 가능하다. 본 논문에서는 SDRE 기법을 적용하여 비선형 미지입력 관측기를 설계하였고, 시뮬레이션을 이용하여 제안한 방법을 검증하였다. 다양한 형태로 동시에 고장이 발생하더라도, 각속도 추정 및 고장 검출이 가능하였다.

• 한국정밀공학회지
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• 제14권12호
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• pp.114-120
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• 1997

For compensating the error motion of hydrostatic tables, we have introduced a way that the clearance of table is controlled corresponding to the amount of eror with the actively controlled variable capillary, named as ACC. In previous paper, through the basic test, it was confirmed that by the use of ACC, the error motion within 2.7$\mu$ m of a hydrostatic table could be compensated with the resolution of 27nm, 1/100 contollable range, and with the frequency bandwidth of 5.5Hz, structurally. In this paper, we performed practical compensation of the linear and angular motion error of hydrostatic table using ACC. For improving the compensated motion accuracy, iterative control method is put into the control system. The experimental results show that by the simultaneous compensation of error, the linear and angular motion error are improved upto 0.25$\mu$ m and 0.4arcsec, which are about 1/10 and 1/3 of the non-compensated motion errors respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2526-2531
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• 2005

A practical pinch torque estimator based on the Kalman filter is proposed for low-cost anti-pinch window control systems. To obtain the accurate angular velocity from Hall-effect sensor measurements, the angular velocity calculation algorithm is executed with additional procedures for removing the measurement noises. Apart from the previous works using the angular velocity estimates and torque estimates for detecting the pinched condition, the torque rate is augmented to the system model and the proposed pinch estimator is derived by applying the steady-state Kalman filter recursion to the model. The motivation of this approach comes from the idea that the bias errors in torque estimates due to the motor parameter uncertainties can be almost eliminated by introducing the torque rate state. For detecting the pinched condition, a systematic way to determine the threshold level of the torque rate estimates is also suggested via the deterministic estimation error analysis. Simulation results are given to certify the pinch detection performance of the proposed algorithm and its robustness against the motor parameter uncertainties.