• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.12
• /
• pp.1267-1271
• /
• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1122-1129
• /
• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• Journal of the Korean Society of Safety
• /
• v.30 no.1
• /
• pp.47-51
• /
• 2015

In the study, a new non-open cut tunnel steel pipe method using slot hole has been developed. As is overcomes shortcomings of conventional methods, it is applied to the field. The main concept of the new method is the steel pipe pumping system with slot holes which, by means of formation slot holes between each steel pipe, applied to the magnitude of the relaxed earth pressure caused by excavation to the ground to prevent ground displacement. The stability of the support members and effect of displacement control of the new method were verified through several ways as numerical analysis and site test. The new method was applied to the construction of a 11.5m wide, 7.4m high and 50m long section that passes side subway and large buildings in inner city. By applying the new method, tunnel construction was successfully completed in 6 months. It decreases the construction period to 30% compared to that of conventional methods, and ground was almost negligible.

• Journal of Drive and Control
• /
• v.10 no.2
• /
• pp.13-22
• /
• 2013

It is difficult to analytically derive a volumetric displacement formula of gerotor hydraulic pump/motor because geometric shape of rotors is complicated. An analytical method about the volumetric displacement is proposed in this work, which is relatively easy and based upon two physical concepts. The first one is energy conservation between hydraulic energy of the pump/motor and mechanical input/output energy. The second concept is torque equilibrium with respect to inner and outer rotors. The formula about the volumetric displacement is derived for the common case of inner and outer rotors rotate with respect to fixed axes. The formula is verified by comparing another analytical displacement formula, and it is numerically verified by comparing numerical results, which is calculated for geometric specification of a motor. The numerical displacement is calculated through CAD software program and MATLAB program. The proposed analytical formula can be utilized in analysis and design of hydraulic gerotor motors.

• Computational Structural Engineering
• /
• v.10 no.2
• /
• pp.139-148
• /
• 1997

A finite element method is programmed to analyse the nonlinear behavior of axisymmetric structures. The lst order Mindlin shell theory which takes into account the transversal shear deformation is used to formulate a conical two node element with six degrees of freedom. To evade the shear locking phenomenon which arises in Mindlin type element when the effect of shear deformation tends to zero, the reduced integration of one point Gauss Quadrature at the center of element is employed. This method is the Updated Lagrangian formulation which refers the variables to the state of the most recent iteration. The solution is searched by Newton-Raphson iteration method. The tangent matrix of this method is obtained by a finite difference method by perturbating the degrees of freedom with small values. For the moment this program is limited to the analyses of non-linear elastic problems. For structures which could have elastic stability problem, the calculation is controled by displacement.

• Steel and Composite Structures
• /
• v.24 no.3
• /
• pp.339-349
• /
• 2017

In this paper, a conventional refined plastic hinge analysis is improved to account for the effects of local buckling and lateral-torsional buckling. The degradation of flexural strength caused by these effects is implicitly considered using practical LRFD equation. The second-order effect is captured using stability functions to minimize modeling and solution time. An incremental-iterative scheme based on the generalized displacement control method is employed to solve the nonlinear equilibrium equations. A computer program is developed to predict the second-order inelastic behavior of space steel frames. To verify the accuracy and efficiency of the proposed program, the obtained results are compared with the existing results and those generated using the commercial finite element package ABAQUS. It can be concluded that the proposed program proves to be a reliable and effective tool for daily use in engineering design.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2005.05a
• /
• pp.35-39
• /
• 2005

This paper presents a method to reduce hysteresis in multilayer ceramic actuator by connecting the actuator with a capacitor in a series circuit. The change in hysteresis with respect to the capacitor was examined. $0.2Pb(Mg_{1/3}Nb_{2/3})O_3-0.8Pb(Zr_{0.475}Ti_{0.525})O_3$ ceramic material was used as a piezoelectric material for the actuator. Displacement of the actuator was measured in a capacitive gap sensor measuring system. In case of inserting a capacitor in a total circuit, hysteresis became dramatically decreased, and then finally the hysteresis value can be reduced below $0.2\%$. It was found in this present study that reducing the hysteresis in the actuator is dependent upon the characteristics of the capacitor in total circuit and also operating frequency.

• Structural Engineering and Mechanics
• /
• v.34 no.1
• /
• pp.97-107
• /
• 2010

Nonlinear thermoelastic static response characteristics of laminated composite conical panels are studied employing finite element approach based on first-order shear deformation theory and field consistency principle. The nonlinear governing equations, considering moderately large deformation, are solved using Newton-Raphson iterative technique coupled with the adaptive displacement control method to efficiently trace the equilibrium path. The validation of the formulation for mechanical and thermal loading cases is carried out. The present results are found to be in good agreement with those available in the literature. The adaptive displacement control method is found to be capable of handling problems with multiple snapping responses. Detailed parametric study is carried out to highlight the influence of semicone angle, boundary conditions, radius-to-thickness ratio and lamination scheme on the nonlinear thremoelastic response of laminated cylindrical and conical panels.

• Imaging Science in Dentistry
• /
• v.51 no.1
• /
• pp.17-25
• /
• 2021

Purpose: This study was performed to investigate mandibular canal displacement in patients with ameloblastoma using a 3-dimensional mirrored-model analysis. Materials and Methods: The sample consisted of computed tomographic scans of patients with ameloblastoma (n=10) and healthy controls (n=20). The amount of mandibular canal asymmetry was recorded as a continuous variable, while the buccolingual (yaw) and supero-inferior (pitch) directions of displacement were classified as categorical variables. The t-test for independent samples and the Fisher exact test were used to compare groups in terms of differences between sides and the presence of asymmetric inclinations, respectively (P<0.05). Results: The length of the mandibular canal was similar on both sides in both groups. The ameloblastoma group presented more lateral (2.40±4.16 mm) and inferior (-1.97±1.92 mm) positions of the mental foramen, and a more buccal (1.09±2.75 mm) position of the middle canal point on the lesion side. Displacement of the mandibular canal tended to be found in the anterior region in patients with ameloblastoma, occurring toward the buccal and inferior directions in 60% and 70% of ameloblastoma patients, respectively. Conclusion: Mandibular canal displacement due to ameloblastoma could be detected by this superimposed mirrored method, and displacement was more prevalent toward the inferior and buccal directions. This displacement affected the mental foramen position, but did not lead to a change in the length of the mandibular canal. The control group presented no mandibular canal displacement.

• Nuclear Engineering and Technology
• /
• v.50 no.1
• /
• pp.170-181
• /
• 2018

Because of the design and construction requirements, the nuclear structures need to maintain the structural integrity under both design state and extreme earthquake shaking. The base-isolation technology can significantly reduce the damages of structures under extreme earthquake events, and effectively protect the safeties of structures and internal equipment. This study proposes a base-isolation design for the AP1000 nuclear shield building on considering the performance requirements of the seismic isolation systems and devices of shield building. The seismic responses of isolated and nonisolated shield buildings subjected to design basis earthquake (DBE) shaking and beyond-design basis earthquake (BDBE) shaking are analyzed, and three different strategies for controlling the displacements subjected to BDBE shaking are performed. By comparing with nonisolated shield buildings, the floor acceleration spectra of isolated shield buildings, relative displacement, and base shear force are significantly reduced in high-frequency region. The results demonstrate that the base-isolation technology is an effective approach to maintain the structural integrity which subjected to both DBE and BDBE shaking. A displacement control design for isolation layers subjected to BDBE shaking, which adopts fluid dampers for controlling the horizontal displacement of isolation layer is developed. The effectiveness of this simple method is verified through numerical analysis.