• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.221-226
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• 1999

It can be acquired the high effective productivity through of high speed, precision of machine tools, and then, machine tools will be got a competitive power. Industrially advanced countries already developed that the high speed feed is 50m/min using the high speed ball screw. Also, a lot of problems have happened the feed and servo drive system. It is necessary to study about the character of positioning accuracy, heat generation and high speed/accuracy control for feed/servo drive system of high speed/accuracy. In this study, we make use of high performance vertical machine center with a ball screw of large-scale-lead. Also, we'll apply the high-speed/accuracy control technology in this part of feedforward control, multi-buffering block size, etc. Using the design of the mechanical element and high-speed precision control, the basic design concept can be established.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.129-138
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• 2006

The motion of a spinning table-tennis ball is investigated in both theory and experiment. The equation of motion of spinning table-tennis ball is made using aerodynamics and calculated by C++ program In theoretical part, gravity, drag force and lift force are regarded as main force. Velocity, angular velocity, mass and Drag and lift coefficients are considered as a independent variable. Experiments are made by a digital stroboscope, a digital camera and a mirror, and snap multi-exposed images were took as a dependent result In experimental part, both magnitude and direction of velocity and angular velocity are changed in each situation. The predicted three-dimensional trajectories of spinning balls are compared with experimental trajectories. As a result the theoretical trajectories were predicted within 10% of experimental trajectories.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.1-7
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• 1998

Robots utilized in the field of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator has properties such that it is more powerful compared with a motor of same weight, and that it is flexible, clean and unexplosive. In this paper we propose a new structure of the pneumatic actuator with two-degree-of-freedom. By using proposed pneumatic actuators, we can easily construct multi-degree-of-freedom pneumatic manipulators. Here we constructed a fourteen-degree-of-freedom pneumatic dual manipulator. The performance of the dual manipulators is confirmed through experiments for ball-handling with impedance control. In the experiments several control schemes, including the decentralized control and the simple adaptive control (SAC), were used. The results show that a flexibility of the pneumatic actuator is appropriate to accomplish the coordinative motion of the right and left arms of the robot.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09a
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• pp.440-441
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• 2006

Several titanate powders ($Al_2TiO_5,\;SrTiO_3$, etc.) were synthesized by an ethylene glycol solution route. Titanium isopropoxide and nitrate salts were dissolved in stoichiometric proportions in liquid-type ethylene glycol without any precipitation. The parent precursor sols were dried to porous gels, and then the gels were calcined and crystallized. All synthesized titanate powders had stable crystallization behavior at low temperature and high specific surface area after a simple ball-milling process. A three-component PZT $(Pb(Zr_{0.52}{\cdot}Ti_{0.48})O_3)$ powder was also synthesized successfully by the ethylene glycol method. In this study, the characteristics of the multi-component titanate powders by the ethylene glycol method are examined.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Earthquakes and Structures
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• v.23 no.6
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• pp.535-547
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• 2022

Handball sport, as its name postulates, is a team sport which highly physical workout. During a handball play, several ball impacts are applied on the hands resulting vibration in the forearm, upper arm, shoulders and in general in whole body. Hand has important role in the handball's game. So, understanding about the dynamics and some issues that improve the stability of the hand is important in the sport engineering field. Ulna and radius are two parallel bones in lower arm of human hand which their ends are located in elbow and wrist joint. The type of the joint provides the capability of rotation of the lower arm. These two bones with their ends conditions in the joints constructs a 4-link frame. The ulna is slightly thinner than radius. So, understanding about hand kinematics in handball's game is an important thing in the engineering field. So, in the current work with the aid of a multi-physics simulation, dynamic stability analysis of the ulna and radius bones will be presented in detail.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.450-455
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• 2002

Cu-cored Sn-Ag solder balls were fabricated by coating pure Sn and Ag on Cu balls. The melting behavior and the solderability of the BGA joint with the Ni/Au coated Cu pad were investigated and were compared with those of the commercial Sn-Ag and Sn-Ag-Cu balls. DSC analyses clarified the melting of Cu-cored solders to start at a rather low temperature, the eutectic temperature of Sn-Ag-Cu. It was ascribed to the diffusion of Cu and Ag into Sn plating during the heating process. After reflow soldering the microstructures of the solder and of the interfacial layer between the solder and the Cu pad were analyzed with SEM and EPMA. By EDX analysis, formation of a eutectic microstructure composing of $\beta$-Sn, Ag$_3$Sn, ad Cu$_{6}$Sn$_{5}$ phases was confirmed in the solder, and the η'-(Au, Co, Cu, Ni)$_{6}$Sn$_{5}$ reaction layer was found to form at the interface between the solder and the Cu pad. By conducting shear tests, it was found that the BGA joint using Cu-cored solder ball could prevent the degradation of joint strength during aging at 423K because of the slower growth me of η'-(Au, Co, Cu, Ni)$_{6}$Sn$_{5}$ reaction layer formed at the solder, pad interface. Furthermore, Cu-cored multi-component Sn-Ag-Bi balls were fabricated by sequentially coating the binary Sn-Ag and Sn-Bi solders on Cu balls. The reflow property of these solder balls was investigated. Melting of these solder balls was clarified to start at the almost same temperature as that of Sn-2Ag-0.75Cu-3Bi solder. A microstructure composing of (Sn), Ag$_3$Sn, Bi and Cu$_{6}$Sn$_{5}$ phases was found to form in the solder ball, and a reaction layer containing primarily η'-(Au, Co, Cu, Ni)$_{6}$Sn$_{5}$ was found at the interface with Ni/Au coated Cu pad after reflow soldering. By conducting shear test, it was found that the BGA joints using this Cu-core solder balls hardly degraded their joint shear strength during aging at 423K due to the slower growth rate of the η'-(Au, Cu, Ni)$_{6}$Sn$_{5}$ reaction layer at the solder/pad interface.he solder/pad interface.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09a
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• pp.379-380
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• 2006

Recently, in spindle motors for hard disk drive (HDD) devices, fluid dynamic bearings (FDB) with herringbone grooves have come to be used instead of ball bearings due to the demand for high density recording of the devices etc. In this study, a 5-lobe bearing with high bearing stiffness using a sintered material was developed, and the bearing performance was examined by simulated calculations and experiments. As a result, it was clarified that the 5-lobe bearing had the required performance for practical use in the spindle motor for HDD