• Tribology and Lubricants
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• v.19 no.6
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• pp.349-356
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• 2003

A damper floating ring seal with round hole pattern surfaces is suggested for better leakage control. The flat plate test of the round hole pattern surfaces has been performed to yield an empirical friction factor model. The exact predictions of the lock­up position of the damper floating ring, the leakage performance, and the rotordynamic coefficients of the seal are necessary to evaluate the rotordynamic performance of the turbo pump unit. The governing equations including the empirical friction factor model for round hole pattern surfaces are solved by the Fast Fourier Transform method. The lock­up position, leakage flow rate, and rotordynamic coefficients are evaluated according to the geometric parameters of the damper floating ring seal. Theoretical results show that the damper floating ring seals yield less leakage and better rotordynamic stability than the floating ring seal with a smooth surface.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.284-285
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• 2007

In this paper, we present the effect on a novel transmission line filter response by the etch hole position on the suspended ground and the residue on the resonator under ground plane. We defined the etch hole offset as the distance from the sidewall of the suspended ground to the nearest side of the etch holes. We simulated new filter responses to reflect the real value of the changed etch hole offset caused by characteristics of negative photoresist. Return loss is distorted by the residue on the center conductor remained after sacrificial layer removing. By comparison of simulation and measurements, we concluded the residue on the resonator distorted the RF response worse than etch hole offset variation did.

• Journal of Welding and Joining
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• v.30 no.3
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• pp.66-70
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• 2012

Welding is an essential process in the automotive industry. Most welding processes that are used for auto body is spot welding. And $CO_2$ arc welding is used in a small part. In production field, $CO_2$ arc welding process is decreased and spot welding process is increased due to welding quality is poor and defects are occurred in $CO_2$ arc welding process frequently. But $CO_2$ arc welding process should be used at robot interference parts and closed parts where spot welding couldn't. $CO_2$ welding is divided into lap welding and plug arc spot welding. In case of plug arc spot welding, burn through and under fill were caused in various welding environment such as different thickness combinations of base metal, teaching point, over the two steps welding and inconsistent voltage/current. It makes some problem like poor quality of welding area and decrease the productivity. In this study, we will evaluate the effect of teaching point through the weld pool behavior and bead geometry in the arc spot welding at the plut hole. Welding position is horizontal position. And galvanized steel sheet of 2.0mm thickness that has plug hole of 6mm diameter was used. Teaching point was changed by center, top, bottom, left and right of the plug hole. At each condition, the phenomenon of weld pool behavior was confirmed using a high-speed camera. As the result, we find the center of plug hole is the most optimal teaching point. In the other teaching point, under fill was occurred at the plug hole. This phenomenon is caused by gravity and surface tension. For performance of arc spot welding at the plug hole, the teaching condition should be controlled at a center of plug hole.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.137-145
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• 1998

In this paper, we propose a tube-hole center detection vision algorithm verifying the position of a tele-controlled robot and providing visual information for increasing reliability and efficiency in the diagnosis of steam generator (SG) tubes in nuclear power plant. A tele-controlled robot plays a role in carrying the probe used in inspecting the integrity of SG tubes. Thus accurately locating a tele-controlled robot on the desired tube-hole center is important issue for reliability of inspection. To do this work, we have to find the tube-hole center locations from the input image. At first, we apply the three-class segmentation method modified for this application. WE extract minimum bounding rectangles (MBRs) in the theresholded binary image. Second, for discriminating between MBR by tube and MBR by noise, we introduce the MBR rejection rules as knowledge-based rule set. MBRs are divided into the very dark region MBRs and the very bright region MBRs. In order to describe the region of complete tube-hole, the MBRs need a process of pairing each other. We then can find the tube-hole center from the paired MBR. For more accurately finding the tube-hole center in several sequential images, the centers of some frames need to be averaged. We tested the performance of our method using hundreds of real images.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.856-860
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• 2002

The main objective of this study is to consider the effect of fatigue crack behavior on the variable depth of micro hole defects in SM20C at the symmetric position. The fatigue crack propagation test is performed by rotary bending fatigue test machine. The relationship between crack length(2a), cycles(N) and crack growth rate(da/dN) are investigated in this study. The result from the rotary bending fatigue test under the applied stress at 250MPa turned out that the fatigue life illustrated almost constant when the depth of symmetric micro hole deflects is both part A and B at the hope depth(h) = 0.5mm.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Journal of the Korean Wood Science and Technology
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• v.31 no.2
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• pp.69-76
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• 2003

Front columns of buildings were most severely damaged by insects. Hole diameter damaged by insects were different in each location on columns, that is, bottom, middle position, or top of columns. That mean various insects attacked on columns of wooden traditional buildings because kinds of each insect depends on the hole diameter. Specially, middle position of columns were harmed seriously. Hole diameters damaged by insects were various from 1 mm to 10 mm, but approximately 5 mm diameter was found most commonly.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.80-86
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• 1999

Since the quality of the coated wires is in various applications dependant on the coating depth, accuracy of hole size of dies used for coating wires must be maintained precisely, in general within one micron. This paper proposes a new vision system which measures automatically the size and shape of small holes having diameters less than 1mm within an error limit of 1 micron. To quickly obtain the focused image, this paper proposes an estimation method of the camera position using only a couple of defocused hole images. It measures the distributions of light intensity around the image boundary and decides the direction and distance of a camera motion. The proposed system measures the size, shape distortion, inclination of the hole against the axis of the dies structure, to decides the acceptability of the dies for use. The proposed algorithm has been implemented using a cheap 640${\times}$480 image system and has shown an average size error of 1micron when measuring the dieses having 0.1mm to 1.0mm diameters. It can be applied to the inspection of the size and position of holes in PCB, too.