• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2012.04a
• /
• pp.652-653
• /
• 2012

• Journal of Welding and Joining
• /
• v.29 no.1
• /
• pp.29-32
• /
• 2011

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1631-1634
• /
• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.15 no.1
• /
• pp.8-13
• /
• 2016

The micro drill bit automatic regrinding in-line system is a system that refurbishes drill bits used in a PCB manufacturing process. This system is able to refurbish drill bits with a minimum size of ø0.15-0.075mm that have previously been discarded. Beyond the conventional manual cleaning process using ultrasound, this system adopts a water jet cleaning system, making it capable of cleaning drill bits with a minimum size of ø0.15-0.075mm. This paper analyses various contact pressures applied to the surface of drill bits depending on the shooting pressure of the cleaning device and fluid velocity in order to optimize the nozzle location and to detect structural instability caused by the contact pressures.

• Journal of the Society of Naval Architects of Korea
• /
• v.41 no.2
• /
• pp.90-97
• /
• 2004

Flow mechanism of contractive and dilative motion is numerically investigated to obtain a propulsive force in highly viscous fluid. An axisymmetric code is developed with unstructured grid system based on cell-centered scheme. It is validated by comparing with the results of Stokes approximation for the problem of uniform flow past a sphere in low Reynolds number(R$_{n}$=1). The validated code is applied to the simulation of contractive and dilative periodic motion of body whose results are quantitatively compared with the two dimensional case. In order to investigate the grid dependency, two different grids are applied to the present computations. The present study provides key information for the development of an axisymmetric Micro-hydro-robot.t.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.289-294
• /
• 2001

The two prototypes of a Wheel Type Locomotive Mechanism Using Micro motor for a Capsule-Type Endoscope are outlined and realized. Basic concept of these mechanisms is to use a rod-shaped wheel, with which these mechanisms can go over the haustral folds inside colon. The actuator of Prototype I is geared dc motor and the actuator for steering is Shape Memory Alloy. Prototype I goes through the whole area of colonoscopy training model. Prototype II can not only go forward and backward, but also be steerable with 2 geared dc motors. Prototype II goes through dead pig colon.

• Proceedings of the KIEE Conference
• /
• 2005.07b
• /
• pp.1444-1446
• /
• 2005

Recently most machineries have been small size and mobile type. And human body insertion type endoscope and micro robot technology has been developed. Then the motors used in this field are developed in micro size such as about 2mm in diameter. The structure of this motor is similar to a general brushless DC(BLDC) motor but because of small size there is no position sensor such as hall sensor. In this paper, a design and fabrication result of an ultra-small brushless DC motor is presented. This motor is designed to 3-phase coreless winding and operated with sensor-less type driver. Test results confirmed the feasibility of the proposed motor drive system design.

• Proceedings of the KSME Conference
• /
• 2007.05b
• /
• pp.1864-1869
• /
• 2007

In this study, we compare thermal performance between four different types of cold plates for humanoid robot cooling. Two commercially available cold plates made of copper have different dimensions and internal flow paths: One has $20{\times}20$ $mm^2$ base area with micro-channels and the other has $62.5{\times}62.5$ $mm^2$ base area with 85 round pin-fins. And two different types of cold plates of $20{\times}20$ $mm^2$ base area with 7 mm high are made of PC (polycarbonate), which aims to reduce the weight of cooling system. All cold plates are mounted on a $20{\times}20$ $mm^2$ copper block with two cartridge heaters of 30 $W/cm^2$. The overall heat transfer coefficient and thermal resistances for the liquid-cooled cold plates are obtained. The copper cold plate with micro-channels showed the best performance. Polycarbonate cold plates display fairly good thermal performance with more reduced system weight.

• Journal of the Institute of Electronics Engineers of Korea TE
• /
• v.37 no.4
• /
• pp.20-26
• /
• 2000

In the recently our 21C, it is a necessary to provide the VLSI design education methods based on the electronic information systems. In this paper, we will show a education model of the venture study programs concern with Micro-Robot making. The development education systems apply into the industrial fields from the specification major module instruction including improve the VLSI design capability using the Micro-Robot making for information communication techniques. Also, the development instruction model provides one in the field system to the industrial applications specification technical staffs and VLSI design for the venture education programs. We expect the proposed education systems extended into a new venture instruction program sets for technical major members.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.04a
• /
• pp.387-392
• /
• 2002

This paper presents a new scheme of neural network controller to improve the robustuous of robot manipulator using digital signal processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..