• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.53-61
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• 1999

STL has several errors such as orientation error, hole error, and acute triangle error on being translated from CAD software. These errors should be corrected before using in Rapid Prototyping. So the software is necessary to correct errors. In this study, STL Editor which is a system for STL error correction and shape modification is developed and contains following characteristics. 1.Apply the triangle based data st겨cture. 2.Use the graphic user interface for easy work. 3.Use the Diet method to reduce data size. 4.Use the Delaunay triangulation method to enhance the quality of STL. 5.Modify the STL errors manually.

• 전기학회논문지
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• 제60권10호
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• 한국해양공학회지
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• 제22권4호
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• pp.8-13
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• 2008

In this study, an investigation of shear wave ultrasonic technique was carried out to detect stacking orientation error for CF/Epoxy quasi-isotropy composite laminates. The ultrasonic shear wave is particularly sensitive to ply orientation and layup sequence in tire CF/Epoxy composite laminates. In the manufacturing of composite laminates, it is important that layup errors be detected in samples. In this work, an effect was mack to develop shear wave techniques that can be applied to composite laminates. During testing, the mast significant problem is that the couplant conditions do not remain the same because of its changing viscosity. The design and use of a shear ware transducer would greatly alleviate the couplant problem. A pyramid of aluminum, with isosceles triangle (two 45o angles) sides, was made to generate shear waves, using two longitudinal transducers based on an ultrasonic-polarized mechanism. A signal splitter was connected to the pulser jack on a pulser/receiver and to the longitudinal transducers. The longitudinal transducers were mounted with mineral oil, and the shear transducer was mounted with burnt honey on the bottom as a receiver. The shear wave was generated at a maximum and a minimum based on the ultrasonic-polarized mechanism. Results show it is feasible to measure layup error using shear wave transducers on a stacking of prepregs in composites.

• Composites Research
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• 제29권6호
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• pp.358-362
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• 2016

원추형 복합재 튜브는 우주 항공, 비행체, 잠수함 등 큰 구조물뿐만 아니라 자전거 프레임, 낚시대, 골프채 등 레저용품에도 적용이 되면서 정적-동적 거동에서의 기계적 물성 예측의 중요한 연구 분야로 대두되고 있다. 일반적으로 원추형 복합재 튜브의 기계적 물성 예측은 진동, 굽힘, 좌굴에 관하여 많은 연구가 진행되었지만, 복합재료의 섬유 배향 각이 일정하다고 가정하고 기계적 거동을 분석한 것이 대부분이기 때문에 섬유 배향 각이 원추형 복합재 튜브 구조물의 기계적 물성에 어떠한 영향을 미치는지에 대한 연구가 필요하다. 이에 본 연구에서는 섬유 배향 각을 고려한 원추형 복합재료 튜브의 정적 거동에 따른 기계적 물성을 예측하기 위해 수식을 도출하고, 자전거 프레임에 적용하기 위한 다양한 설계 파라메터의 영향을 고찰하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.483-487
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• 1996

We consider the estimation of the position and orientation of 6 DOF motion bed (Stewart platform) from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complity of the equation with multiple solutiple solutions. Hence we suggest an algorithm for the estimation of forward kinematics solution using Luenberger observer withnonlinear error correction term. The Luenberger observer withlinear model shows that the estimation error does not go to zero in steadystate due to the linearization error of the dynamic model. Hence the linear observer is modified using nonlinear measurement error equation and we prove thd practical stability of the estimation error dynamics of the proposed observer using lyapunov function.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.379-384
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• 2009

A human gaze detection and tracing method is importantly required for HMI(Human-Machine-Interface) like a Human-Serving robot. This paper proposed a novel three-dimension (3D) human gaze estimation method by using a face recognition, an orientation estimation and SVMs (Support Vector Machines). 2,400 images with the pan orientation range of $-90^{\circ}{\sim}90^{\circ}$ and tilt range of $-40^{\circ}{\sim}70^{\circ}$ with intervals unit of $10^{\circ}$ were used. A stereo camera was used to obtain the global coordinate of the center point between eyes and Gabor filter banks of horizontal and vertical orientation with 4 scales were used to extract the facial features. The experiment result shows that the error rate of proposed method is much improved than Liddell's.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.910-913
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• 2000

In this research we investigate geometric issues involved while using a particular rapid prototyping system, called Stereolithography(SLA). SLA create prototypes layer by layer, each layer being formed by scanning a laser beam across the x, y surface of a vat of liquid monomer mix. The performance of SLA is influenced by orientation and layer thickness of designed fabrication. The number of layer and the area needed support is influenced by the orientation and layer thickness of designed fabrication. The step influence and volume error is influenced by slice thickness. We minimize the support are, the number of layer and cusp height. These variables of fabrication is minimized using genetic algorithm. The time for genetic algorithm is as little as we can accept. So we calculate support area and cusp height simply.

• 한국공작기계학회논문집
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• 제10권2호
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• 대한의용생체공학회:의공학회지
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• 제32권2호
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• pp.118-126
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• 2011

This study proposes a human body orientation tracking system by inertial and earth magnetic sensors. These sensors were fused by indirect Kalman filter. The proposed tracking system was configured and the filter was implemented. The tracking performance was evaluated with static and dynamic tests. In static test, the sensor was fixed on the floor while its static characteristics was analyzed. In dynamic test, the sensor was held and moved manually for 30 seconds. The dynamic test included x, y, z axis rotations, and elbow flection/extension motions that mimic drinking. For these dynamic motions, the tracking angle error was under $4.1^{\circ}$ on average. The proposed tracking method is expected to be useful for various human body motion analysis.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.799-809
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• 2002

In order to utilize a parallel mechanism as a machine tool component, it is important to estimate the errors of its end-effector due to the uncertainties in parts. This study proposes an error analysis for a new parallel device, a cubic parallel mechanism. For the parallel device, we consider two kinds of errors. One is a static error due to link stiffness and the other is a dynamic error due to clearances in the parts. In this study, we propose a stiffness model for the cubic parallel mechanism under the assumption that the link stiffness is a linear function of the link length. Also, from the fact that the errors of u-joints and spherical joints are changed with the direction of force acting on the link, they are regarded as a part of link errors, and then the error model is derived using forward kinematics. Lastly, both the error models are integrated into the total error, which is analyzed with a test example that the platform moves along a circular path. This analysis can be used in predicting the accuracy of other parallel devices.