• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.243-250
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• 2012

This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.7
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• pp.4405-4410
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• 2015

Two-dimensional displacements are obtained from the sandwiched patterns, which superpose two linearly-periodic patterns orthogonally, respectively. The transparent top pattern is identified by deflection of the laser beam due to a difference of refractivity and the opaque bottom pattern is identified by deviation of the beam intensity due to a difference of reflectance. In the sample setup, the top pattern made up of build-up film is manufactured by UV laser machining and the bottom pattern is manufactured by ultra-precision trench machining and deposition for aluminum plate. The proposed decoding method is verified experimentally using the $10{\mu}m$ equally spaced sample patterns and the devised optical system. The Korea Academia-Industrial cooperation Society.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.72-79
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• 2006

We measured grating pitch standards using optical diffractometry and analyzed measurement uncertainty. Grating pitch standards have been used widely as a magnification standard for a scanning electron microscope (SEM) and a scanning probe microscope (SPM). Thus, to establish the meter-traceability in nano-metrology using SPM and SEM, it is important to certify grating pitch standards accurately. The optical diffractometer consists of two laser sources, argon ion laser (488 nm) and He-Cd laser (325 nm), optics to make an incident beam, a precision rotary table and a quadrant photo-diode to detect the position of diffraction beam. The precision rotary table incorporates a calibrated angle encoder, enabling the precise and accurate measurement of diffraction angle. Applying the measured diffraction angle to the grating equation, the mean pitch of grating specimen can be obtained very accurately. The pitch and orthogonality of two-dimensional grating pitch standards were measured, and the measurement uncertainty was analyzed according to the Guide to the Expression of Uncertainty in Measurement. The expanded uncertainties (k = 2) in pitch measurement were less than 0.015 nm and 0.03 nm for the specimen with the nominal pitch of 300 nm and 1000 nm. In the case of orthogonality measurement, the expanded uncertainties were less than $0.006^{\circ}$. In the pitch measurement, the main uncertainty source was the variation of measured pitch values according to the diffraction order. The measurement results show that the optical diffractometry can be used as an effective calibration tool for grating pitch standards.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.934-939
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• 2004

This paper propose a study on the Feed Characteristics of Twist Friction Driver. We are using Twist Friction Driving mechanism system. The system consists of Twist Friction Driver elements such as driving shaft, driven roller, Spring for pre-load, Air bearing guide, Servo motor, and measuring devices such as Encoder of Servo motor, Laser interferometer, LVDT . The Twist Friction driver is mechanically simple and very quiet at high speed, and has low pre-load. So The Twist Friction driver can materialize an ultra precision feed-resolution. The feed characteristics of the driver is determined by slip and angular error, backlash.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.422-428
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• 2002

In this study, actuator, sensor, guide, power transmission element and control method are considered for ultra-precision positioning apparatus. Through previous process, single plane X-Y stage with ultra-precision positioning is manufactured. Global stage for the purpose of materialization with robust system, is combined by using AC servo motor and ball screw and rolling guide. And ultra-precision positioning system is developed by micro stage with elastic hinge type and piezo element. global servo and micro servo for the purpose of materialization positioning accuracy with nm(nanometer) are controlled simultaneously by using incremental encoder and laser interferometer as displacement measurement sensor. Through previous process, ultra-precision positioning system (100mm stroke and ${\pm}$ 10nm positioning accuracy) with single plane X-Y stage are materialized.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.1 s.190
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• pp.37-46
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• 2007

The vibration environment essentially companied by vehicle operation on the ground is determined by the shape of road surface, which is called profile. This paper focuses on development of a profile and severity measurement system for unpaved test courses. In general, the profile and severity of unpaved road is an important issue in the reliability of endurance test. In order to measure unpaved road profile and severity, it is necessary to develop a profilometer system. The developed profilometer system is composed of data processing computer, power unit, air compressor and sensors(encoder, vertical gyro and laser displacement) This paper presents the measuring system configuration, measurement principle of road profile and analysis method of road characteristics used at CPG(Changwon Proving Ground) for this purpose.

• Tribology and Lubricants
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• v.14 no.3
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• pp.81-86
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• 1998

The purpose of this paper is to measure the rotational speed of tappet in OHC valve train system. Tappet has eccentricity about cam center, which induces the tappet rotation and prevents from wear. In this paper, the experimental test rig which composes of one cam system is developed to measure the tappet rotation by using the laser generating system, rotary encoder, optical fiber, and photo transistor. The direction of tappet rotation is judged from the oder of optical signal. As results of experiment, average and instant rotational speed and average rotation angle per one cam revolution are presented. Measured results show that eccentricity ratio is dominant factor for the tappet rotation, and tappet is rotated at the base circle.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.03b
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• pp.12-12
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• 2010

The hall probe measurement system was used to measure the critical current distribution of superconducting coated conductor. The system consists of reel to reel moving apparatus, 7 array hall probe, a rotary encoder and permanent magnet. The magnetic field profile across the width of superconducting coated conductor using Bean's critical state model was calculated. The effect of various parameters of the formulas on the magnetic field distribution and the effect of shape and size of artificial defects, which were formed on the surface of SmBa2Cu3O7-d(SmBCO) coated conductor using laser marking system, on the hall probe magnetic field signal of the hall probe measurement system was investigated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.934-937
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• 2001

It is well-known that the micro fabrication technology of micro parts are the high energy beam or silicon-based micro machining method such as LIGA Process, Laser machining, photolithography and etching technology. But, for fabricating complex 3-D structure it is better to use mechanical machining. This machining method by the mechanical machine tool with nanometer accuracy is getting attention in some field-especially micro optics machining such as grating, holographic lens, micro lens array, fresnel lens, encoder disk etc.. In this study, we survey the micro fabrication by mechanical cutting method and set up the mechanical micro machining system. And we carried out micro cutting experiments for micro parts with v-shape groove.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.441-441
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• 2012

Noise and vibration performance plays an important role in the development of rotating components, such as engines, drivelines, transmission systems, compressors and pumps. The presence of torsional vibrations and other specific phenomena require the dynamic behaviour of systems and components to be designed accurately in order to avoid comfort and durability related problems. This paper provides an overview of the instrumentation and challenges related to torsional vibration testing. The accuracy and performance of five measurement techniques (high-speed incremental encoder, dual beam laser interferometer, zebra tape, zebra disc, direct pulse measurements with magnetic probe) is investigated by measurements on a Fiat Punto 1.4 liter engine. The potential sources of error are discussed to explain the inaccuracies of each technique.