• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.223-225
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• 2006

A ball moving on a beam is a typical nonlnear dynamic system, which is often adopted to proof test diverse control schemes. Ball and plate system is the extension of the traditional ball and beam problem that moves a metal ball on a rigid plate. In this paper, a trajectory planning and tracking problem is proposed for ball and plate system, which is to control the ball from a point to another without hitting the obstacles. Our scheme is composed of three controllers, TS type optimal path tracking controller, mandani type obstacle avoidance controller and trajectory planning controller that determines the desired trajectory. But this type of construction can give rise to chattering executions. Because the difference of contributions from concurrent controllers can cause behaviors unsmoothly. We propose fuzzy pid supervision control1er to handle this problem.

• Journal of the Korea Society of Computer and Information
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• v.22 no.10
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• pp.1-7
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• 2017

In this paper, the separation force measuring system is developed. The separation force aries due to adhesive strength between semiconductor epoxy molding compound(EMC) and the metal plate in semiconductor formed plate. In general, when removing the metal plate in semiconductor formed plate from semiconductor epoxy molding compound, excessive strength can result in a increase in semiconductor defect rates, or conversely, if too little force is exerted on the metal plate in semiconductor formed plate, the semiconductor production rates can decrease. In this study, the design criteria for the selection of the AC servo motor, the role of the ball screw, the relationship between the load cell and the ball screw, and the rate of deceleration are given. In addition, minimizing the reject rate of semiconductors and maximizing the semiconductor production rate are achieved through the standardization of the collected separation force data measured by the proposed system.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1995.06a
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• pp.25-30
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• 1995

본 연구에서는 건식 구름접촉시 발생하는 tribological한 현상들을 plate on ball tester를 이용하여 실험적으로 고찰하였다. 실험의 주된 관심은 각 열처리 방법으로 제작한 시편에 대하여 건식 구름접촉시 cycle수에 따른 plate의 표면 거칠기, 트랙의 형상, 졍도 및 구름저항의 변화이며 이런 자료를 토대로 열처리공정의 차이에서 오는 정도수명 및 피로수명에 대한 상대평가를 통해 마찰, 마멸의 저감에 적합한 열처리방법을 제시하고자 한다.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.192-194
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• 2002

We present the results on the calibration of iso-center positions using the quality assurance system established at PMRC for determination of center position in X-ray and proton irradiation fields. Details on the system are presented in another presentation in this session. The equipment in the system is mounted on a patient treatment bed in each proton exposure room, G1 or G2. A center of a stainless ball on the equipment is set at a cross of laser markers located around the iso-center and fixed on the room and on the snout in the gantry. A proton beam or an X-ray beam is exposed onto the ball through a brass collimator of 100 mm ${\times}$ 100 mm and projected onto the imaging plate set at I cm behind the ball. On the axis perpendicular to the thrust axis of the gantry on the imaging plate, a distance between a center of the collimator image and a center of the ball image varies as a cosine function of gantry angles unless the ball is set on the iso-center. An amplitude of the cosine curve shows the distance between the ball and the iso-center, an offset the offset of the collimator, and a phase shift at a zero crossing point the ball direction viewed from the iso-center. We present the relation among the iso-center position, the laser maker position, and the center of proton and X-ray irradiation fields. Its stability and its reproducibility are discussed.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.189-191
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• 2002

In the proton therapy using a gantry system, periodical verification of iso-center position is very important to assure precision of patient positioning system at any gantry angles in proton treatment. In the gantry system, there are three different types of iso-center; 1) in a geometrical view, 2) in an X-ray beam's eye view, 3) in a proton beam's eye view. Idealistically, they would be an identical point. They could, however, be different points. It may be a source of errors in patient positioning. At PMRC, we have established a system of verification for iso-center positions using a stainless ball of 2-cm in diameter and an imaging plate. This system provides the relation among a center of a patient target position, a center of proton irradiation field, and/or a center of X-ray field in accuracy of 50$\square$m in the 2) and 3) views, as images of a center of the stainless ball and a center of a 100 mm${\times}$100 mm-aperture brass collimator recorded on the imaging plate, which is setup at 1-cm behind the ball. In addition, it provides simultaneously the images of the ball and the collimator on an imaging intensifier (II), which is setup downstream of the proton or X-ray beam. We present a method of quality assurance (QA) for calibration of iso-center position in a rotation gantry system at PMRC and the performance of this system. A proton beam position on the 1$\^$st/ scatterer in the nozzle of the gantry affects less sensitive (reduced by a factor of 1/5) to the results of the iso-center position. The effect is systematically correctable. The effect of the nozzle (or the collimator) position is less than 0.5 mm at the maximum extraction (390 mm).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.865-868
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• 2002

This study investigated the shape deformation of ball projectile(5.56mn) under the low energy impact by the use of the drop weight impact tester. ball projectile(5.56mm) consisted of the copper face with a lead core. The impact conditions were changed with the variations of the mass and the drop height of the impact tup. Shape deformation of ball projectile(5.56mm) after low velocity impact was measured using a video microscope and CCD camera. The test result showed that impact energy by changing of drop height of the impact tup affected shape deformation of ball projectile(5.56mm). So, it is important to study the relativity between shape deformation of ball projectile(5.56mm) and ballistic protection of plate(such as hybrid composite laminates) under the high velocity impact.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.160-166
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• 1997

The spindle motor in a computer hard disk drive can be modeled as a rotor-bearing system supported by the base plate. Ball bearing is the crucial element to determine the stiffness of the spindle motor, and its design parameters and operating conditions determine the dynamic characteristics of the spindle motor. In the analysis of a rotor-bearing system with a short shaft like a spindle motor, the stiffness of the base plate as well as ball bearings must be considered accurately to analyze the dynamic charateristics of a spindle motor. In this paper, the lateral and the axial vibration of the spindle motor were analyzed by the transfer matrix method for the dual-shaft rotor-bearing model and by d.o.f lumped parameter model, respectively. The simulation results had good agreements with the experimental modal testing. The dynamic characteristics were fully investigated for the change of the major design parameters of the spindle motor, i.e. the preload of ball bearings and the rotational speed.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.3 s.22
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• pp.101-110
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• 2005

In this paper, the experiments have been conducted to measure the residual velocity for 3.5g steel ball perforating light weight metal plates of aluminum alloy and magnesium alloy. Non-contact electro-magnetic sensors were used to measure the velocity of steel ball before/after perforating plates. The thicknesses of specimens used were about 2.8mm and 4.8mm. The impact velocities of steel ball were from 662m/s to 3594m/s. With same conditions, numerical analysis using Autodyn 2D has been conducted. The results of numerical analysis corresponded with those of experiments. Also, It is suggested that the difference between the residual velocity of experiment or numerical analysis and that of THOR experimental equation of BRL grew smaller as the impact velocity were increased.