• 한국정밀공학회지
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• 제18권2호
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.

• 한국전자파학회논문지
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• 제23권3호
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• pp.410-413
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• 2012

2차원 레이다 간섭계에서 표적의 공간 도달 각도를 추정하는 방법 중에서 1차원 알고리즘과 디지털 빔 포밍알고리즘, 위상차의 최소 자승 오차 알고리즘들의 각도 모호성 해소 성능을 비교한다. 위상 비교 모노 펄스 알고리즘의 경우, 2차원 레이다 간섭계에 적용하기 위해 방위각 방향과 고각 방향으로 각각 적용하였다. 성능 비교를 위해 Monte carlo 시뮬레이션 방법을 이용하여 2차원 레이다 간섭계에서 각도 추정 알고리즘 별 각도 모호성 해소 확률과 수행 시간을 비교하였다. 각도 모호성 해소 확률과 수행 시간을 고려할 때 위 여러 방법 중에서 위상 비교 모노 펄스 알고리즘이 실시간 신호 처리 분야에 가장 효율적임을 보여준다.

• 한국정밀공학회지
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• 제24권3호
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

• 한국정보전자통신기술학회논문지
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• 제7권2호
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• pp.111-116
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• 2014

본 연구는 무선통신에서 선형 배열 안테나를 이용하여 원하는 목표물의 도래 방향을 추정 한다. 도래방향 추정은 수신기 배열 안테나에 입사하는 신호들 중에서 원하는 신호를 추정하는 것이다. 본 연구에서는 도래방향 추정을 위한 최적 가중치와 고 분해능 적응 빔 형성 알고리즘과 회소행렬을 사용하여 목표물에 대한 도래방향을 추정 정확도를 향상 시켰다. 모의실험을 통하여 목표물 도래 방향 추정에서 기존의 적응 빔 형성 알고리즘과 제안 알고리즘의 성능을 비교 분석 하였다. 목표물 도래 방향 추정에서 제안한 알고리즘이 기존의 빔형성 알고리즘보다 도래 방향추정 능력이 향상되었다.

• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• 디지털산업정보학회논문지
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• 제10권4호
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• pp.71-78
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• 2014

Method a target estimation in spatial are mobile wireless communication using network cell and GPS. It have much error that mobile wireless communication depend on cell size. GPS method can't find a target in shadow and inner area. In this paper, we estimate a target as direction of arrival method using adaptive array antenna system. Adaptive array antenna system can obtain desired signal to remove other signal This paper studied digital beamforming method in order to estimation a target. Proposed method is modified optimum weight and antenna error correction to estimation an optimal receive signal. Digital beamforming method decided a signal phase and amplitude from received signal on array antenna element. But if it is not to do error correction of received signal, system performance have decreased. Firstly, we proposed modified optimum weight in order to finding desired target. Secondly, we are error correction of antenna incident signals by optimal weight before digital beamforming method. Thirdly, throughly simulation, we showed that system performance of proposed method compare proposal method with general method. It have improved resolution of estimation target to good performance more proposed method than general method.

• 한국안전학회지
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• 제21권1호
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• pp.96-104
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• 2006

This study is to find out how the sawdust-mixed RC beam with holes acts compared to two case of normal one with sawdust without hole, without sawdust. variables are ED3H1, ED3H2, ED3H1UB, ED3H2L, ED5H1, ED5H1UB, ED5H2, ED5H2L, Normal with sawdust PLA without sawdust. All sand, aggregate, cement are in accordance with KS. mixing design is also in accordance with KS and done at D remicon company in order to decrease any error in mixing manually. ED3H1 showed 7tone of maximum load capacity having only minor tensile deformation around hole, compared to the center of the beam. ED5H2L showed almost same shape of tensile strain between hole area and center of two beam length, while having 9.5 tone load capacity, incase of two holes being in the longitudinal axis. But ED5H2 in case of two holes being in same forcing direction showed 8.4tone of load capacity while having minor tensile chape around hole and normal tensile shape in the center of beam length. Two diameter 3cm hole in longitudinal axis give more effective behavior than the other case, practically. Capacity decrease between 5cm and 3cm in eccentric position form the longitudinal axis is less than percents. There is minor capacity difference between hole diameter 3cm hole, but 13tone difference of load capacity between hole diameter 5cm.

• 대한치과교정학회지
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• 제49권1호
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• pp.41-48
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• 2019

Objective: This in-vivo study aimed to compare landmark identification errors in anteroposterior (AP) and posteroanterior (PA) cephalograms generated from cone-beam computed tomography (CBCT) scan data in order to examine the feasibility of using AP cephalograms in clinical settings. Methods: AP and PA cephalograms were generated from CBCT scans obtained from 25 adults. Four experienced and four inexperienced examiners were selected depending on their experience levels in analyzing frontal cephalograms. They identified six cephalometric landmarks on AP and PA cephalograms. The errors incurred in positioning the cephalometric landmarks on the AP and PA cephalograms were calculated by using the straight-line distance and the horizontal and vertical components as parameters. Results: Comparison of the landmark identification errors in CBCT-generated frontal cephalograms revealed that landmark-dependent differences were greater than experienceor projection-dependent differences. Comparisons of landmark identification errors in the horizontal and vertical directions revealed larger errors in identification of the crista galli and anterior nasal spine in the vertical direction and the menton in the horizontal direction, in comparison with the other landmarks. Comparison of landmark identification errors between the AP and PA projections in CBCT-generated images revealed a slightly higher error rate in the AP projections, with no inter-examiner differences. Statistical testing of the differences in landmark identification errors between AP and PA cephalograms showed no statistically significant differences for all landmarks. Conclusions: The reproducibility of CBCT-generated AP cephalograms is comparable to that of PA cephalograms; therefore, AP cephalograms can be generated reliably from CBCT scan data in clinical settings.

• 한국통신학회논문지
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• 제30권7A호
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• pp.603-610
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• 2005

기지국에서 추정된 채널 정보를 바탕으로 빔 성형을 하는 방식은 FDD 시스템과 같이 상/하향링크의 반송파 주파수가 일치하지 않을 경우 지향벡터가 어긋나게 되어 성능 저하가 발생하게 된다. 또한 수신 신호로부터 역방향 링크의 지향벡터를 얻는 blind 추정 기법 역시 하드웨어의 복잡도가 증가하는 단점이 있다. 이와 같은 문제점 해결을 위해 본 논문에서는 사용자의 입사각 추정을 통해 얻어진 상향링크의 무게함수를 하향링크에 적합한 형태로 보정함으로써 원하는 방향으로 빔 성형이 될 수 있도록 다수의 사용자 신호에 대해 공간 푸리에 변환을 수행함으로써 사용자 수의 증가에 따른 빔 성형의 복잡도 증가 문제를 개선해 주는 스마트 안테나 알고리즘을 제안하였다. 제안된 알고리즘은 CDMA 시스템의 하향링크 송신기에 적용한 후 수신 측에서 프레임 에러율로써 그 성능개선을 확인하였다. 그 결과 주파수 분할 방식의 시스템에서 제안된 알고리즘에 의한 성능 개선이 기존의 스마트안테나 시스템과 동일함을 확인 할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.490-493
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• 2003

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures forces Fx. Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction. and perform the control using the measured forces and moments. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My. Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed, and the result shows that interference errors or the developed sensor are less than 3%. Thus, the developed small 6-axis force/moment sensor may be used for robot's gripper.