• 한국정밀공학회지
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• 제20권7호
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.490-493
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• 2003

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures forces Fx. Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction. and perform the control using the measured forces and moments. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My. Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed, and the result shows that interference errors or the developed sensor are less than 3%. Thus, the developed small 6-axis force/moment sensor may be used for robot's gripper.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.66-70
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• 2001

This paper describes the design of a two-axis force sensor for robots finger. In detects the x-direction force Fx and y-direction force Fy simultaneously. In order to safely grasp an unknown object using the robots fingers, they should detect the force or gripping direction and the force of gravity direction, and perform the force control using the forces detected. Therefore, the robots hand should be made by the robots finger with tow-axis force sensor that can detect the x-direction force and y-direction force si-multaneously. Thus, in this paper, the two-axis force sensor for robots finger is designed using several parallel-plate beams. The equations to calculate the strain of the beams according to the force in order to design the sensing element of the force sensor are derived and these equations are used to design the aize of two-axis force sensor sensing element. The reliability of the derive equa-tions is verified buy performing a finite element analysis of the sensing element. The strain obtained through this process is compared to that obtained through the theory analysis and a characteristics test of the fabricated sensor. It reveals that the rated strains calculated from the derive equations make a good agreement with the results from the Finite Element Method analysis and from the character-istic test.

• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• 한국의학물리학회:학술대회논문집
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• 한국의학물리학회 2002년도 Proceedings
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• pp.418-421
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• 2002

Fundamental study on quasi-monochromatic parallel radiography using a polycapillary plate and a plane-focus x-ray tube is described. The x-ray generator consists of a negative high-voltage power supply, a filament (hot cathode) power supply, and an x-ray tube. The negative high-voltage is applied to the cathode electrode, and the transmission type target (anode) is connected to the ground potential. The maximum voltage and current of the power supply were -100 kV (peak value) and 3.0 mA, respectively. In this experiment, the tube voltage was regulated from 20 to 25 kV, and the tube current was regulated by the filament temperature and ranged from 1.0 to 3.0 mA. The exposure time is controlled in order to obtain optimum film density, and the focal spot diameter was about 10 mm. The polycapillary plate is J5022-21 made by Hamamatsu Photonics Inc., and the outside and effective diameters are 87 and 77 mm, respectively. The thickness and the hole diameter of the polycapillary are 1.0 mm and 25 ${\mu}$m, respectively. The x-rays from the tube are formed into parallel beam by the polycapillary, and the radiogram is taken using an industrial x-ray film of Fuji IX 100 without using a screen. In the measurement of image resolution, we employed three brass spacers of 2, 30, and 60 mm in height. By the test chart, the resolution fell according to increases in the spacer height without using a polycapillary. In contrast, the resolution slightly fell with corresponding increases in the height by the polycapillary. In angiography, fine blood vessels of about 100 ${\mu}$m are clearly visible.

• 한국의학물리학회:학술대회논문집
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• 한국의학물리학회 2003년도 제27회 추계학술대회
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• pp.56-56
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• 2003

For the treatment of superficial tumors like squamous cell carcinoma of the head and neck, 6 MV photon beam is not appropriate and a spoiler is widely used to increase dose in the buildup region, while preserving the skin sparing effect. However, commercially available treatment planning systems assume a normal unspoiled beam, thereby cannot predict the buildup dose with spoiler accurately. We aimed to implement a Monte Carlo (MC) based planning system to apply it to the radiation treatment of head and neck. Lucite with thickness of 10-mm was used for the beam spoiler with Siemens Primus 6 MV photon beam. BEAM/DOSXYZ MC system was employed to model the linac and the spoiler. To verify the calculation accuracy of MC simulations, the percent depth doses (PDDs) and profiles with and without spoiler were measured using a parallel-plate chamber. For the MC based planning, we adopted a hybrid interface system between Pinnacle (Philips, USA) and BEAM/DOSXYZ to support treatment parameters of Siemens linac and the spoiler. The measurements of PDDs and profiles agreed with the corresponding MC simulations within 2% (lSD), which demonstrate the reliability of our MC simulations. The spoiler generated electrons make a contribution to the absorbed dose up to depth of 2cm, which shows that the dominant source of increased dose from spoiler system is the contaminating electrons created by the spoiler. The whole procedures necessary for MC based treatment planning were performed seamlessly between Pinnacle and BEAM/DOSXYZ system. This ability helps to increase the clinical efficiency of the spoiler technique. In conclusion, we implemented a MC based treatment planning system for a 6 MV photon beam with a spoiler. We demonstrate sophisticated MC technique makes it possible to predict dose distributions around buildup region accurately.

• 대한방사선기술학회지:방사선기술과학
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• 제19권1호
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• pp.81-87
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• 1996

When high energy photon beam is incident upon an air cavity interface the effect of ionization build-up observed. This phenomenon is resulting from the surface layers of the lesions are significant deficiency of electrons reaching the layers because of the replacement of solid scattering material by the air cavity, that is lack of electronic equilibrium. Measurement have been made in an acrylic phantom with a parallel plate chamber and high energy Photon beams, CO-60, 4MV, 6MV and 10MV X-rays have been investigated. The result of our study show that a significant effect was measured and was determined to be very dependent on field size, air cavity dimension and photon energy. The reductions were much larger for 10MV beam, underdosage at the interface was 12, 12.2, 16.9 and 20.6% for the CO-60, 4 MV, 6MV and 10MV, respectively. It was found that this non-equilibrium effect at the interface is more severe for the higher energy beams than that of lower energy beams and the larger cavity dimensions it is, the larger beam reductions we have. This problem is of clinical concern when lesions such as carcinoma beyond air cavities are irradiated, such as larynx, glottic and the patients with maxillectomy and ethmoidectomy and so forth.

• Steel and Composite Structures
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• 제36권2호
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• pp.213-228
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• 2020

Shape Memory Alloys (SMAs) are new materials used in various fields of science and engineering, one of which is civil engineering. Owing to their distinguished capabilities such as super elasticity, energy dissipation, and tolerating cyclic deformations, these materials have been of interest to engineers. On the other hand, the connections of a steel structure are of paramount importance because of their vulnerabilities during an earthquake. Therefore, it is indispensable to find approaches to augment the efficiency and safety of the connection. This research investigates the behavior of steel connections with extended end plates equipped hybridly with 8 rows of high strength bolts as well as Nitinol superelastic SMA bolts. The connections are studied using component method in dual form. In this method, the components affecting the connections behavior, such as beam flange, beam web, column web, extended end plate, and bolts are considered as parallel and series springs according to the Euro-Code3. Then, the nonlinear force- displacement response of the connection is presented in the form of moment-rotation curve. The results obtained from this survey demonstrate that the connection has ductility, in addition to its high strength, due to high ductility of SMA bolts.

• Radiation Oncology Journal
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• 제10권1호
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• pp.107-113
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• 1992

4-5MeV의 전자선은 피부표면의 흡수선량을 증가시키고 표면하 10mm 내외에서 급속히 감소함으로 Mycosis fungoides, Kaposi's sarcoma등 전신피부암에 대한 가장적당한 치료방사선으로 알려져왔다. 그러나 평면이 아니고 굴곡이 심한 인체표면에 균일한 선량을 계획하기는 많은 어려움이 있었다. 연세암센터에서는 1980년부터 시행하여왔던 6MeV 전자선의 마름모형, 네방향 조사방법을 개량하고 많은 문헌을 참고하여 상하 양방향의 조사면과 환자위치를 각각 여섯가지 자세로 나누어 조사(Six-Dual-Field)하는 방법을 사용하였으며 이에따른 전신피부표면의 선량과 선량분포를 측정하였다. 선형가속기에서 발생되는 6MeV 전자선을 0.5 cm 두께의 아크릴판으로 감약시키고 콜리메터가 완전히 열린 조사면을 상하 $19^{\circ}$씩 옮기므로서 타겟트에서 3m 거리에 약 $2m{\times}1m$의 균일한선량의 조사면(평탄도 $+3\%$)과 10 mm 내외의 실효깊이 ($80\%$, 선량지점) 및 산란선에 의한 피부표면선량을 증가시킬 수 있었다. 환자는 일부피부가 가려지지 않도록 팔과 다리를 적당한 자세로 고정시키고 전자선을 여섯방향에서 각각 2회씩 상하로 조사시키므로서 피부표면에 균일한 선량분포(표준편차 $5\%$)가 가능하였으며 $80\%$,의 심부율이 $8\~10mm$에서 측정되었다. 모든 측정은 인체등가팬텀과 폴리스틸렌팬텀을 사용하였으며 필름, 평형전리측정기 및 표준전리측정기를 이용하였다. 특히 환자피부표면의 흡수선량분포를 확인하기 위하여 열형광측정기와 반도체측정기를 이용하였으며 $6\~20$개의 소형 측정기를 환자 피부표면에 부착시킨후 전자선 치료과정 동안 피폭 시켜 측정하였고 그결과 차폐된 부위를 제외하고 평균 $10\%$, 이 내의 균일한 선량분포를 얻을수 있었다.

• 전자공학회논문지
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• 제50권8호
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• pp.253-263
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• 2013

광학측정기법 중 주파수 스캐닝 간섭계는 기존 3차원 측정기법과 비교하여 광학 하드웨어 구조가 측정과정동안 고정되어 있어, 대물렌즈나 대상물체의 수직 스캐닝 없이 단지 광원의 주파수만 특정한 주파수 밴드내에서 스캐닝 하여 대상물체에 주사되므로, 우수한 광학 측정 성능을 보인다. 광원의 주파수를 변경하여 간섭계를 통해 간섭 영상을 획득한 후, 밝기 영상 데이터를 주파수 영역 데이터로 변환하고, 고속 푸리에 변환을 통한 주파수 분석을 이용하여 대상 물체의 높이 정보를 계측한다. 하지만, 대상물체의 광학적 특성에 기인한 광학노이즈와 주파수 스캐닝동안 획득되는 영상의 수에 따라 증가하는 영상처리시간은 여전히 주파수 스캐닝 간섭계의 문제이다. 이를 위해, 1) 편광기반 주파수 스캐닝 간섭계가 광학 노이즈에 대한 강인성을 확보하기 위해 제안되어진다. 시스템은 주파수 변조 레이저, 참조 거울 앞단의 ${\lambda}/4$ 판, 대상 물체 앞단의 ${\lambda}/4$ 판, 편광 광분배기, 이미지 센서 앞단의 편광기, 광섬유 광원 앞단의 편광기, 편광 광분배기와 광원의 편광기 사이에 위치하는 ${\lambda}/2$ 판으로 구성된다. 제안된 시스템을 이용하여, 편광을 기반으로한 간섭이미지의 대조대비를 조절할 수 있다. 2) 신호처리 고속화 방법이 간섭계 시스템을 위해 제안되며, 이는 그래픽 처리 유닛(GPU)과 같은 병렬처리 하드웨어와 계산 통합 기기 구조(CUDA)와 같은 프로그래밍 언어로 구현된다. 제안된 방법을 통해 신호처리 시간은 실시간 처리가 가능한 작업시간을 얻을 수 있었다. 최종적으로 다양한 실험을 통해 제안된 시스템을 정확도와 신호처리 시간의 관점으로 평가하였고, 실험결과를 통해 제안한 시스템이 광학측정기법의 실적용을 위해 효율적임을 보였다.