A Study on Development of Off-Line Path Programming for Footwear Buffing Robot
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- 제어로봇시스템학회:학술대회논문집
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- 2004.08a
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- pp.1469-1473
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- 2004
We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.
Currently, cultivation of mushrooms using the Information and Communication Technology (ICT)-based smart farming technique is increasing rapidly. The main environmental factors for growth of mushrooms are temperature, humidity, carbon dioxide (CO2), and light. Among all the mentioned factors, currently, only temperature has been maintained under automatic control. However, humidity and ventilation are controlled using a timer, based on technical experience.Therefore, in this study, a Pleurotus eryngii first-generation smart farm model was set up that can automatically control temperature, humidity, and ventilation. After installing the environmental control system and the monitoring device, the environmental condition of the mushroom cultivation room and the growth of the fruiting bodies were studied. The data thus obtained was compared to that obtained using the conventional cultivation method.In farm A, the temperature during the primordia formation stage was about 17℃, and was maintained at approximately 16℃ during the fruiting stage. The humidity was initially maintained at 95%, and the farm was not humidified after the primordia formation stage. There was no sensor for CO2 management, and the system was ventilated as required by observing the shape of the pileus and the stipe. It was observed that, the concentration of CO2 was between 700 and 2,500 ppm during the growth period. The average weight of the mushrooms produced in farm A was 125 g, and the quality was between that of the premium and the first grade.In farm B. The CO2 sensor was in use for measurement purposes only; the system was ventilated as required by observing the shape of the pileus and the stipe. During the growth period, the CO2 concentration was observed to be between 640 and 4,500 ppm. The average weight of the mushrooms produced in farm B was 102 g.These results indicate that the quality of the king oyster mushroom is determined by the environmental conditions, especially by the concentration of CO2. Thus, the data obtained in this study can be used as an optimal smart farm model, where, by improving the environmental control method of farm A, better quality mushrooms were obtained.
To preserve and restore tidal flats and prevent safety accidents, it is necessary to construct tidal flat topographic information including the exact location and shape of tidal creeks. In the tidal flats where the field surveying is difficult to apply, airborne LiDAR surveying can provide accurate terrain data for a wide area. On the other hand, we can economically obtain relatively high-resolution data from UAV (Unmanned Aerial Vehicle) surveying. In this study, we proposed the methodology to generate high-resolution topographic information of tidal flats effectively by integrating airborne LiDAR and UAV point clouds. For the purpose, automatic ICP (Iterative Closest Points) registration between two different datasets was conducted and tidal creeks were extracted by applying CSF (Cloth Simulation Filtering) algorithm. Then, we integrated high-density UAV data for tidal creeks and airborne LiDAR data for flat grounds. DEM (Digital Elevation Model) and tidal flat area and depth were generated from the integrated data to construct high-resolution topographic information for large-scale tidal flat map creation. As a result, UAV data was registered without GCP (Ground Control Point), and integrated data including detailed topographic information of tidal creeks with a relatively small data size was generated.
This study focuses on the verification of a rapid protection automation system using an inflatable structure. The inflatable structure is an automatic rapid protection system against human and material damage when the subsea tunnel is flooded. Especially, it is essential for construction and operation of subsea tunnels. In this study, we have experimentally verified the rapid protection automation system using the inflatable structure designed for this problem. In order to verify this, a model tunnel with a 40: 1 reduction ratio was constructed, and air pressure of 0.1 bar and 0.15 bar was injected to divide the tunnel according to the expansion rate at 10 sec and 20 sec. According to the results of the study, the protection efficiency was better at 0.15 bar than 0.1 bar when the expansion structure was expanded, and the protection efficiency and influent control efficiency were different according to the pneumatic injection time of the inflating structure. As a result of this study, it was found that the higher the internal air pressure of the inflated structure and the faster the inflation of rate, the more effectively the inflated structure was inflated. As a result of this study, it is necessary to further study the wedge type structure which is useful for the storage method of expansion structure, shape and expansion derivative, inhibition of expansion structure during protection and control of inflow water.
Collimator has important functions with control primary X-ray that decrease radiation exposure dose for patients and reduce scatter ray and make better quality of image. But there are no regulations for X-ray mammography device of collimator, so widely used device adopt rectangularly controlled collimator. Though digital X-ray mammography device expand supply recently, rectangularly controlled collimator of film/screen mode still used. After searching for real condition of beam field with digital mammography, we made a multi-leaf collimator which is able to adjust the beam field in accordance with size and shape of breast, and we measuring up the transitions of image quality, average glandular dose(AGD) and, Dose area product(DAP). There are no significant differences between rectangularly controlled collimator and multi-leaf collimator, and DAP value decreased by 50.72%. As conclusion, there needs to expand the use of multi-leaf collimator for optimum adoption of beam field in digital mammography, and also need to develop an automatic regulation of beam field for reduce of exposure dose to patients.
Dimensions, operation conditions and improvement items for round roof windows were investigated in arch shape single-span plastic greenhouse with roof vents, and natural ventilation performance was analyzed based on the ventilation theory. Diameter of round roof windows was mostly 60 cm, and chimney height projected on roof was average 30 cm. Installation space was mostly 5 to 6 m but farmhouse of 10 m and over was 16.7% also. A round roof window which has 60 cm diameter was installed to 6 m space generally and 80 cm diameter was installed to 10 m space, but correct standards did not exist. There were a lot of opinions that ventilation effect of round roof windows is fairly good and user satisfaction is generally excellent. It is problem that there is few effects in summer and that vinyl around each vent tears well and rainwater leaks, and improvement hope item required development of automatic control system. In the wind speed of 0.3 m/s, it was estimated that natural ventilation rates were 0.69, 0.55, 0.50 and 0.48 volumes per minute in case of 2, 4, 6 and 8 m installation space for round roof windows, respectively. It was analyzed that the ratio of ventilation due to buoyancy out of total ventilation were 65.2, 41.9, 29.9 and 22.8% in case of 2, 4, 6 and 8m installation space, respectively. By the round roof windows installed at space of 6 m, ventilation rate was estimated to 0.5 volumes per minute, and we can expect the increase in ventilation rate of 30%. In order to meet the recommended ventilation rate for summer season, we have to install the round roof windows at space of 1 to 2 m. However, it is difficult to apply those installation space because of falling productivity due to lower light transmittance as well as rising costs. It is estimated that the installation space of 6m is appropriate for spring or fall season. Therefore it is necessary to encourage installing the roof windows in single-span plastic greenhouses.
In the manufacturing process of the LQFP/TQFP (Low-profile Quad Flat Package/Thin Quad Flat Package), the requirement of a 3 dimensional inspection is increasing rapidly and a 3D inspection of the shape of a chip has become an important report of quality control. This study developed a 3 dimensional measurement system based on PMP (Phase Measuring Profilometry) for an inspection of the LQFP/TQFP chip and image processing algorithms. The defects of the LQFP/TQFP chip were classified according to the dimensions. The 2 dimensional optical system was designed by the dorm illumination to achieve constant light distribution, In the 3 dimensional optical system, PZT was used for moving 90 degree in phase. The problem of 2 ambiguity was solved from the measured moir? pattern using the ambiguity elimination algorithm that finds the point of ambiguity and refines the phase value. The proposed 3D measurement system was evaluated experimentally.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70