• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
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• pp.99-100
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• 2007

ZnO films on $Al_2O_3$ substrates were grown using a pulsed laser deposition method. Through photoluminescence (PL) and X-ray diffraction (XRD) measurements, the optimum growth conditions for the ZnO growth were established. The results of the XRD measurements indicate that ZnO films were strongly oriented to the c-axis of the hexagonal structure and epitaxially crystallized under constraints created by the substrate. The full width half maximum for a theta curve of the (0002) peak was $0.201^{\circ}$. Also, from the PL measurements, the grown ZnO films were observed to give free exciton behaviour, which indicates a high quality of the epilayer. The Hall mobility and carrier density of the ZnO films at 293 K were estimated to be $299\;cm^2/V\;s$ and $8.27\;{\times}\;10^{16}\;cm^{-3}$, respectively. The absorption spectra revealed that the temperature dependance of the optical band gap on the ZnO films was $E_g(T)\;=\;3.439\;eV\;-\;(5.30\;{\times}\;10^{-4}\;ev/K)T^2(367\;+\;T)$.

• Journal of Biosystems Engineering
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• 제27권4호
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• pp.293-300
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• 2002

Surface crack detection is an important aspect in the quality control process of egg markets. The acoustic vibration of an egg could be used as a critical factor in evaluating the eggshell quality. The mode shape indicates the egg vibration behavior at different locations with respect to the input impulse and provides important information for the optimum sensor location to obtain the desired acoustic measurements. Theoretical analysis and experimental measurements were conducted to determine the acoustic vibration modes in eggs. The resonant fiequencies of the first and second resonance mode of intact eggs were found to be distributed between 2kHz and 7kHz range. The measured mode shapes of an egg were similar to theoretical shapes of homogeneous, elastic spheres. An elliptical deformation at the equator ring of the egg was observed. The frequency peak of this mode was dominantly present in the frequency spectrum of an intact egg impacted at its sharp position. The mode shapes related to the first resonant frequency of an egg shelved that the optimum location for the measuring sensor was the 180 degrees position. A optimum location for the egg support was found to be the 90 degrees position having the smallest vibration magnitude.

• Corrosion Science and Technology
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• 제11권6호
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• pp.247-256
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• 2012

Harmonic current was measured for a dummy cell with various values of resistance, and the procedure developed through the measurements was applied to the investigation of effects of the amplitude of applied frequency and applied potential on the harmonic current of a stainless steel and a carbon steel in chloride containing solutions. From the measurements of harmonic current in the dummy cell, the optimum values of applied frequency and applied potential in harmonic current measurements were found to be 1 mHz and 20 mV (or lower), respectively. Increase in harmonic current with applied frequency was observed in the case where the level of harmonic current is low as in a stainless steel. Decrease in polarization resistance was also noted in this corrosion system with either increasing applied frequency or decreasing applied potential. However, no obvious effects of applied frequency was observed on harmonic current and polarization resistance in a carbon steel in which the level of harmonic current is high.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.258-262
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• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.

• 한국환경과학회지
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• 제12권8호
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• pp.861-870
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• 2003

Using a simple continuous optical technique, coupled with measurements of zeta potential, the effects of polyelectrolyte dosage, kaoline particles and pH on flocculation of humic acid by several cationic polyelectrolytes, have been examined. The charge density of a polyelectolyte is important in determining the optimum dosage and in the removal of humic acid. The optimum dosage is less for the polyelectrolytes of higher charge density and is the same regardless of the presence of kaoline particles of different turbidity. At the dosage, the removal of humic acid is higher for the polyelectrolytes of higher charge density and the zeta potential of humic acid approaches to near zero, With increasing pH of humic acid, the optimum dosage increases and the flocculation index value obtained at the dosage decreases in the following pH 7 ＞ pH 5 ＞ pH 9, regardless of polyelectrolytes.

• 복합신소재구조학회 논문집
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• 제6권2호
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• pp.70-76
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• 2015

It should be noted that the use of the lathe scrap for making fiber reinforced cementitious composites(FRCCs) raised friendly environmental effect as well as economy because the lathe scrap is a by-product of steel manufactures and is occurred when lathe and milling works of them are conducted to process steel manufactures. Thus, the purpose of this research is to investigate the effect of measurements of lathe scrap on the characteristics of FRCCs. For this purpose, various lathe scraps were collected from processing plants of metal, and then these were processed 10mm, 20mm, and 40mm in lengths for 2mm and 4mm in widths, respectively. FRCCs containing lathe scraps were made according to their widths and lengths, and then characteristics such as the workability, compressive strength, and flexural strength of those were evaluated. As a result, it was observed from the test results that the optimum measurements of the lathe scrap for manufacturing FRCCs was 2mm in width and 40mm in length.

• 한국통신학회논문지
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• 제23권6호
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• pp.1592-1601
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• 1998

The growing use of unlicensed wireless systems has spurred interest in the 2.4 Ghz ISM band. In order to facilitate the efficient design of such systems, understandings of the propserties of radio wave propagation in buildings is necessary. Many authors have reported about statistical propagation models based on the extensive measurements in buildings. However, measurement based statistical analysis will not be enough for the optimum deployment of the communication systems in the specific building. Aviding expensive measurements in the individual buildings prior to installation, or adjustments afterwards, theoretical prediction models have been developed to predict the path loss and delay spread from the building floor plane. Predictions shows good agreements with measurements except for a few environments which was surrounded by heavy scatterers.

• 전자공학회논문지A
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• 제32A권7호
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• pp.16-22
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• 1995

Electrically-short wire antennas, widely used for mobile communications and EMI measurements, have low rediation efficiency and gain due to the ohmic loss predominant over the radiation power. A very short dipole antenna for wideband EMI measurements has been analyzed using the Method of Moments with the incorporatio of the ohmic loss calculated by the Phenomenological Loss Equivalennce Method(PEM). The calculated results show the rediation gain and efficiency very with the ohmic loss in a wide range of frequencies. Thses results can be effectively used for optimum design of very small antennas and probes for mobile communications and non-disturbing EMI measurements.