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

• Proceedings of the KIEE Conference
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• 2002.04a
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• pp.96-98
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• 2002

This paper proposes the digital pin line checker which can extremely improve the efficiency of the pine line checking using a micro processor. The line checker is designed which can check efficiently up to maximum 2048 pin. Alarm busser is designed ringing real-timely the case that the pin line is connected differently with real node number. Accordingly the comparing and identifying work visually the node number showing on the displaying board with real node number is avoided after the electronic stimulus enforce to the pin of the fixture by the test engineer. The digital line checker is designed based on the 8051. And the effectiveness and accuracy of the proposed line checking strategy is tested by simulating the several error connections for pin lines on the small scale board.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.116-121
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• 2009

Thermosonic flip chip bonding is an important technology for the electronic packaging due to its simplicity, cost effectiveness and clean and dry process. Mechanical properties of the horn and the shank, such as the natural frequency and the amplitude, have a great effect on the bonding capability of the transverse flip chip bonding system. In this research, two kinds of study are performed. The first is the new design of the clamp and the second is the effect of tolerance parameters to the performance of the system. The clamp with a bent shape is newly designed to hold the nodal point of the flip chip. The second is the effect of the design parameters on the vibration amplitude and planarity at the end of the shank. The variation of the tolerance parameters changes the amplitude and the frequency of the vibration of the shank. They, in turn, have an effect on the quantity of the plastic deformation of the gold ball bump, which determined the quality of the flip chip bonding. The tolerance parameters that give the great effect on the amplitude of the shank are determined using Taguchi's method. Error of set-up angle, the length and diameter of horn and error of the length of the shank are determined to be the parameters that have peat effect on the amplitude of the system.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.13-19
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• 1995

A dual purpose robot automation system is developed for both arc welding and spot welding by one robot within a cell. The need for automation of both arc welding and spot welding processes is urgent while the production volume is not so big as to accommodate separate stations for the two processes. Also, space is too narrow for separate stations to be settled down in the factory. A spot welding robot is chosen and the functions for arc welding are implemented in-house at cost of advanced functions. For the spot welding, a single pole type gun is used and the robot has to push down the plate to be wolded, which causes the robot positioning error. Therefore, position error compensation algorithm is developed. The basic functions for the arc welding processes are implemented using the digital I/O board of robot controller, PLC, and A/D conversion PCB. The weaving pattern is taught in meticulously by manual teach. A fixture unit is also developed for dual purpose. The main aspects of the system is presented in this paper especially in the design and implementation procedure. The signal diagrams and sequence logic diagrams are also included. The outcome of the dual purpose welding cell is the increased productivity and good production stability which is indispensable for production volume prediction. Also, it leads to reduction of manufacturing lead time.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.38
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• pp.15.1-15.6
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• 2016

Background: The utilization of a cone-beam computed tomography (CT)-assisted surgical template allows for predictable results because implant placement plans can be performed in the actual surgery. In order to assess the accuracy of the CT-guided surgery, angular errors and shoulder/apex distance errors were evaluated by data fusion from before and after the placement. Methods: Computer-guided implant surgery was performed in five patients with 19 implants. In order to analyze differences of the implant fixture body between preoperative planned implant and postoperative placed implant, angular error and distance errors were evaluated. Results: The mean angular errors between the preoperative planned and postoperative placed implant was $3.84^{\circ}{\pm}1.49^{\circ}$; the mean distance errors between the planned and placed implants were $0.45{\pm}0.48mm$ horizontally and $0.63{\pm}0.51mm$ vertically at the implant neck and $0.70{\pm}0.63mm$ horizontally and $0.64{\pm}0.57mm$ vertically at the implant apex for all 19 implants. Conclusions: It is important to be able to utilize these methods in actual clinical settings by improving the various problems, including the considerations of patient mouth opening limitations, surgical guide preparation, and fixation.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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• pp.2205-2210
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• 2015

Experimental studies have been carried out to study the principle operation of the conductive type wire-mesh tomography sensor and analyse the wire-mesh tomography sensor for the liquid/gas two-phase flow interface and void fraction distribution in a process column. The measurement of the two-phase flows in the process column is based on the cross-sectional local instantaneous conductivity. The sensor consists of two planes of parallel electrode wires with 16 electrodes each and was placed orthogonally with each plane. The sensor electrode wires were made of tinned copper wire with an outer diameter of 0.91 mm which stretched over the sensor fixture. Therefore, this result in the mesh grid size with 5.53×5.53mm². The wire-mesh sensor was tested in a horizontal liquid/gas two-phase flows process column with nominal diameter of 95.6 mm and the sampling frequency of 5882.3529 Hz. The tomogram results show that the wire-mesh tomography provides significant results to represent the void fraction distribution in the process column and estimation error was found in the liquid/gas interface level

• Journal of Aerospace System Engineering
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• v.15 no.5
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• pp.98-105
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• 2021

This study presented the results of the static load tests conducted to verify the structural robustness of the composite oxidant tank for a space launch vehicle. First, we introduced the test equipment used in the static load test of the composite oxidant tank, and then described the test requirements that the composite oxidant tank must satisfy. In addition, we presented a test set-up diagram consisting of the static load test fixture, hydraulic pressure, control equipment, and data acquisition equipment, and the load profile of the static load test of the composite oxidant tank consisting of shear, equivalent compression, bending, and combination tests. As a result of load control, we verified the reliability of this test by showing the errors between the input load and the feedback load in each channel according to the increase of the test load, and the feedback error between the channel A and channel B of load cell in each load actuator. As a result of the static load test, the load of the actuator was properly controlled within the allowable error range in each test, and we found that the test specimen did not cause damage or buckling that causes significant structural defects in the required load.

• Journal of Aerospace System Engineering
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• v.16 no.1
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• pp.97-103
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• 2022

An aircraft component can only be mounted on an aircraft if it has been certified to have a structural robustness under flight load conditions. Among the major components of the aircraft, a pylon is a structure that connects external equipment such as an engine, and external attachments with the main wing of an aircraft and transmits the loads acting on it to the main structure of the aircraft. In civil aircraft, when there is an incident of fire in the engine area, the pylon prevents the fire from spreading to the wings. This study presents the results of structural static tests performed to verify the structural robustness of a fuel pylon used to mount external fuel tank in an aircraft. In the main text, we present the test set-up diagram consisting of test fixture, hydraulic pressure unit, load control system, and data acquisition equipment used in the structure static test of the fuel pylon. In addition, we introduce the software that controls the load actuator, and provide a test profile for each test load condition. As a result of the structural static test, it was found that the load actuator was properly controlled within the allowable error range in each test, and the reliability of the numerical analysis was verified by comparing the numerical analysis results and the strain obtained from the structural test at the main positions of the test specimen. In conclusion, it was proved that the fuel pylon covered in this study has sufficient structural strength for the required load conditions through structural static tests.

• The Journal of Korean Society for Radiation Therapy
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• v.25 no.2
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• pp.115-121
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• 2013

Purpose: Latest linear accelerator and the introduction of new measurement equipment to the agency that the introduction of this equipment in the future, by analyzing the process of confirming the usefulness of the preparation process for applying it in the clinical causes some problems, should be helpful. Materials and Methods: All measurements TrueBEAM STX (Varian, USA) was used, and a file specific to each energy, irradiation conditions, the dose distribution was calculated using a computerized treatment planning equipment (Eclipse ver 10.0.39, Varian, USA). Measuring performance and cause errors in MapCHECK 2 were analyzed and measured against. In order to verify the performance of the MapCHECK 2, 6X, 6X-FFF, 10X, 10X-FFF, 15X field size $10{\times}10$ cm, gantry $0^{\circ}$, $180^{\circ}$ direction was measured by the energy. IGRT couch of the CT values affect the measurements in order to confirm, CT number values : -800 (Carbon) & -950 (COUCH in the air), -100 & 6X-950 in the state for FFF, 15X of the energy field sizes $10{\times}10$, gantry $180^{\circ}$, $135^{\circ}$, $275^{\circ}$ directionwas measured at, MapPHAN allocated to confirm the value of HU were compared, using the treatment planning computer for, Measurement error problem by the sharp edges MapPHAN Learn gantry direction MapPHAN of dependence was measured in three ways. GANTRY $90^{\circ}$, $270^{\circ}$ in the direction of the vertically erected settings 6X-FFF, 15X respectively, and Setting the state established as a horizontal field sizes $10{\times}10$, $90^{\circ}$, $45^{\circ}$, $315^{\circ}$, $270^{\circ}$ of in the direction of the energy-6X-FFF, 15X, respectively, were measured. Without intensity modulated beam of the third open arc were investigated. Results: Of basic performance MapCHECK confirm the attenuation measured by Couch, measured from the measured HU values that are assigned to the MAP-PHAN, check for calculation accuracy for the angled edge of the MapPHAN all come in a range of valid measurement errors do not affect the could see. three ways for the Gantry direction dependence, the first of the meter built into the value of the Gantry $270^{\circ}$ (relative $0^{\circ}$), $90^{\circ}$ (relative $180^{\circ}$), 6X-FFF, 15X from each -1.51, 0.83% and -0.63, -0.22% was not affected by the AP/PA direction represented. Setting the meter horizontally Gantry $90^{\circ}$, $270^{\circ}$ from the couch, Energy 6X-FFF 4.37, 2.84%, 15X, -9.63, -13.32% the difference. By-side direction measurements MapPHAN in value is not within the valid range can not, because that could be confirmed as gamma pass rate 3% of the value is greater than the value shown. You can check the Open Arc 6X-FFF, 15X energy, field size $10{\times}10$ cm $360^{\circ}$ rotation of the dose distribution in the state to look at nearly 90% pass rate to emerge. Conclusion: Based on the above results, the MapPHAN gantry direction dependence by side in the direction of the beam relative dose distribution suitable for measuring the gamma value, but accurate measurement of the absolute dose can not be considered is. this paper, a more accurate treatment plan in order to confirm, Reduce the tolerance for VMAT, such as lateral rotation investigation in order to measure accurate absolute isodose using a combination of IMF (Isocentric Mounting Fixture) MapCHEK 2, will be able to minimize the impact due to the angular dependence.