• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
• /
• pp.73-76
• /
• 1996

An impedance control approach based on an extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parametrization of the null space can be achieved and we can visualize the null space motion explicitly. Based on this formulation, we propose a control method called inertially decoupled impedance controller to control the motion of the end-effector as well as the internal motion expanding the conventional impedance control. Some numerical simulations are given to demonstrate the performance of the proposed control method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.461-465
• /
• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• 대한방사선치료학회지
• /
• 제30권1_2호
• /
• pp.107-116
• /
• 2018

목 적 : IMRT는 일반적인 3차원 방사선 치료방법보다 Prostate 주변 중요장기(OAR)에 대한 방사선 부작용을 줄이고 Prostate Cancer에 더 많은 선량을 투여할 수 있기 때문에 Prostate Cancer Therapy에 광범위하게 사용되었다. 장비 및 치료 기술의 많은 진보로 인하여 최근에는 체적 변조 아크 치료(VMAT)가 널리 사용되어지고 있으며, VMAT은 IMRT에 비해 치료 시간을 최대 55 % 단축시킬 수 있어 치료 중 움직임에 대한 오차를 최소화 할 수 있는 장점이 있다. 대상 및 방법 : 본 실험에서는 Prostate Cancer 환자 10명에 대해 LN가 포함된 치료 Group 5명과, LN가 포함되지 않는 Group 5명으로 1 Arc와 2 Arc 치료 계획 방법을 총 4 Group으로 분류하여 MU, DVH값들을 비교 분석 하였고, ArcCHECK과 MapCHECK을 사용하여 DQA 관련 측정을 수행했다. 결 과 : Prostate patients의 Target과 OAR 선량분포 결과는 다음과 같다. $D_{max}$는 4개 Group이 100~110 % 범위로 나타났으며, Hot spot인 110 % 이상은 보이지 않았다. LN가 없는 Only-Prostate($P_1$, $P_2$)의 Target $D_{98%}$ 분포도는 1 Arc plan($P_1$)보다 2 Arc plan($P_2$)에서 조금 더 좋은 결과 값을 보였다. LN-Prostate($P_{L1}$, $P_{L2}$) Group에서의 Target $D_{98%}$ 분포도는 1 Arc plan($P_{L1}$)보다 2 Arc plan($P_{L2}$)이 더 좋은 결과 값을 보였고, 1 Arc plan($P_{L1}$)에서는 Target $D_{98%}$의 처방 선량 값에 도달하지 못했다. 또한, OAR에서는 Only-Prostate($P_1$, $P_2$) Group에서 1 Arc와 2 Arc Plan 모두 처방 선량 값에 만족했고, LN-Prostate 1 Arc($P_{L1}$) Plan은 OAR의 처방 선량치보다 높은 선량 값을 보였다. DQA 측정에서 계산된 ArcCHECK과 MapCHECK의 Gamma evaluation pass rate는 99 %보다 조금 더 높았고, CC04 Ion-chamber를 이용한 점 선량(Point Dose) 측정값의 평균 오차 범위는 1 % 미만이었다. 결 론 : 본 연구에서 분석한 결과, Only-Prostate($P_1$, $P_2$) Group의 경우는 두 plan의 선량이 비슷했지만, 치료시간과 MU값 등을 고려했을 때 1 Arc 치료 방법($P_1$)이 더 적합하였으며, LN-Prostate($P_{L1}$, $P_{L2}$) Group에서는 Target $D_{98%}$와 OAR의 처방 선량에 만족하는 2 Arc 치료 방법($P_{L2}$)이 더 적합한 결과를 보였다.

• Smart Structures and Systems
• /
• 제17권2호
• /
• pp.275-296
• /
• 2016

This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Prosthetic knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using MR fluid is addressed in which a single rotary disc will act as a brake while MR fluid is activated by magnetic field in different walking gait. The main objective of this study is to investigate a prosthetic knee with one activating rotary disc to accomplish necessary braking torque in walking gait via T-shaped drum with arc surface boundary and implementing of Newton's equation of motion to derive generated torque at the inner surface of the rotary drum. For this purpose a novel configuration of a T-shaped drum based on the effects of a material deformation process is proposed. In this new design, the T-shaped disc will increase the effective areas of influences in between drum and MR fluid together and the arc wall crushes the particles chains (fibrils) of the MR fluid together instead of breaking them via strain in a conventional MR brake. To verify the proposed MR brake, results of the proposed and conventional MR brakes are compared together and demonstrated that the resisting torque of the proposed MR brake is almost two times greater than that of the conventional brake.

• 대한용접접합학회:학술대회논문집
• /
• 대한용접접합학회 1996년도 특별강연 및 추계학술발표 개요집
• /
• pp.139-141
• /
• 1996

Among various welding parameters, the welding current which is inversely proportional to the tip-to-workpiece distance in GMAW is an essential parameter to monitor the GMAW process of horizontal fillet joints. For the case of weld defect such as overlap in horizontal fillet welding, therefore, the signal processing for process monitoring or automatic seam tracking should be modified by considering the weld pool surface geometry including the corresponding weld defect. In other words, the adequate signal processing algorithm is indispensible to improve the performance of the arc sensor. However, arc sensor algorithm already developed usually focus on weld seam tracing but do not considering the weld qualities. In this paper, various experiments were carried out to investigate the tendencies of the weld defects when weaving motion is added, and the experimental method based on 2$^n$ factorial design was proposed for deriving the mathematical model between the leg length and the various welding conditions. Moreover, a signal processing method based on the artificial neural network(Adaptive Resonance Theory) was proposed far discriminating the current signal of sound weld beads from that of weld beads with overlap. Finally, the algorithm for weld seam tracking combined with the mathematical modeling and the signal processing method was carried out to track the weld line in conjunction with the improvement of the weld qualities. The reliability of the proposed algorithms were evaluated through various experiments, which showed that the proposed algorithms could be effectively used for arc welding automation.

• 지구물리
• /
• 제9권3호
• /
• pp.249-262
• /
• 2006

The 29 May 2004 offshore Uljin, Korea earthquake was predominantly thrust-faulting at a depth of approximately 12 (±2) km. The mainshock attained the seismic moment of M0 =5.41 (±1.87)  1016 N m (Mw = 5.1). The focal mechanism indicates a subhorizontal P-axis trending 264° and plunging 2°. The orientation of P- and T-axis is consistent with the direction of absolute plate motion generally observed within the plates, hence the cause of the May 29 shock is the broad-scale stress pattern from the forces acting on the downgoing slab along the Japan trench and inhibiting forces balancing it. The 29 May 2004 earthquake occurred along a deep seated (~12 km), pre-existing feature that is expressed on the surface as the basement escarpment along the western and southern slopes of the Ulleung basin. The concentrated seismicity along this basement escarpment suggests that this feature may qualify as a seismic zone - the Ulleung basement escarpment seismic zone (UBESZ).

• Structural Engineering and Mechanics
• /
• 제5권5호
• /
• pp.529-539
• /
• 1997

This paper deals with the bending problem of a variable-are-length elastica under moment gradient. The variable are-length arises from the fact that one end of the elastica is hinged while the other end portion is allowed to slide on a frictionless support that is fixed at a given horizontal distance from the hinged end. Based on the elastica theory, exact closed-form solution in the form of elliptic integrals are derived. The bending results show that there exists a maximum or a critical moment for given moment gradient parameters; whereby if the applied moment is less than this critical value, two equilibrium configurations are possible. One of them is stable while the other is unstable because a small disturbance will lead to beam motion.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.446-450
• /
• 1993

In this paper we propose an arc welding robot system, where two robots works coordinately and employ the vision sensor. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. The vision sensor consists of two laser slit-ray projectors and one CCD TV camera, and is mounted on the top of one robot. The vision sensor detects the 3-dimensional shape of the groove on the target work which needs to be weld. And two robots are moved coordinately to trace the grooves with accuracy. In order to realize fast image processing, totally five sets of high-speed parallel processing units (Transputer) are employed. The teaching tasks of the coordinated motions are simplified considerably due to this vision sensor. Experimental results reveal the applicability of our system.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.80-82
• /
• 2005

This paper presents the dynamic characteristics of a linear brushless DC(BLDC) motor with permanent magnet excitation for the precision conveyor according to the load condition. In order to investigate the accurate dynamic performance of tile linear BLDC motor driving with 6 step inverter- fed, finite element techniques coupling with external circuit models, together with the simultaneous simulation of motion of the mover system, arc proposed. The results of finite element analysis arc compared to the experimental ones.

• Journal of Welding and Joining
• /
• 제11권1호
• /
• pp.73-79
• /
• 1993

The phenomenon of metal transfer has been investigated for different transfer modes using a digital high speed motion analyzer and an arc shadow-graphing system based on a laser source and related optical system. It was observed that the pinch instability phenomenon did not occur for the globular transfer mode, since the liquid globule was then spherical rateher than a cylindrical liquid bar. On increasing the ratio of carbon dioxide to argon, the transition current from globular to spray transfer generally increased, but it is interesting that the transition was observed to occur at the lowest current in a 5% CO$_{2}$-95% argon gas mixture. For pure carbon dioxide and helium shielding gases, the drop frequency increased slowly with increasing current. At high currents or an argon based shielding gas, the length of liquid bar decreased as the carbon dioxide content increased. The acceleration of a droplet within the arc was determined using the gas drag force theory and was found to be greater than the experimental results.