• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated 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 using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• Journal of the Korean Society for Nondestructive Testing
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• v.6 no.2
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• pp.37-45
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• 1987

Speckle photography is a very useful method for measuring in-plane surface displacement. In its basic form, the object to be studied is illuminated with a divergent laser beam, and a double exposure photograph of the object is recorded, on a fine-grain film or plate, before and after the object is deformed, The magnitude and the direction of the displacement can then be obtained by measuring the spacing and the direction of the Young's fringe, which is produced by probing the developed negative with an unexpaned laser beam, and consists of a pattern of parallel equi-spaced dark bands. In this paper, a hybrid optical and electronic image processing is described-Young's fringe on the viewing screen is observed by a TV-camera and the 2-D video signal is converted from analog to digital and transfered to the computer where the spacing and direction of the fringes are calculated. Several examples of application show that the displacement magnitude and direction can be determined with an accuracy of $0.1{\mu}m\;and\;0.1^{\circ}$ respectively.

• Computers and Concrete
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• v.22 no.4
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• pp.365-372
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• 2018

The current design codes present an equivalent frame method (EFM) for the analysis and design of two-way slab structures. However, since the EFM was developed to be suitable for two-way slab structures subjected to gravity loads only, it brings many problems in its application to the analysis of two-way slabs to which gravity and lateral loads are applied simultaneously. Therefore, authors proposed the unified equivalent frame method (UEFM) that can analyze the structural behavior of flat-plate slab systems subjected to gravity and lateral loads in their previous studies. In this study, the UEFM was modified to be applicable to the two-way slab system with beams. In addition, the accuracy of the proposed UEFM was then examined by comparing it to the lateral behaviors of the two-way slab specimens.

• Korean Journal of Optics and Photonics
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• v.3 no.1
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• pp.16-19
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• 1992

The Fourier transform spectra of a grating have been employed to determine the refractive index of a simple lens. The shearing interferometric technique is used for collimation testing of the expanded laser beam and for determining the exact focal plane. The slit attached to micro X-Y translator has been used to measure the distance between two sucessive diffraction orders in the back focal plane of the test lens. The experimental equipment is described and results are presented.

• Radiation Oncology Journal
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• v.12 no.2
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• pp.225-232
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• 1994

Purpose : This study was to obtain the basic dosimetric data using the 10 MV X-ray for the total body irradiation. Materials and Methods : A linear accelerator photon beam is planned to be used as a radiation source for total body irradiation (TBI) in Chonnam University Hospital. The planned distance from the target to the midplane of a patient is 360cm and the maximum geometric field size is 144cm x 144cm. Polystyrene phantom sized $30{\times}30{\times}30.2cm^3$ and consisted of several sheets with various thickness, and a parallel plate ionization chamber were used to measure surface dose and percent depth dose (PDD) at 345cm SSD, and dose profiles. To evaluate whether a beam modifier is necessary for TBI, dosimetry in build up region was made first with no modifier and next with an 1cm thick acryl plate 20cm far from the polystyrene phantom surface. For a fixed sourec-chamber distance, output factors were measured for various depth. Results : As any beam modifier was not on the way of radiation of 10MV X-ray, the $d_{max}$ and surface dose was 1.8cm and $61\%$, respectively, for 345cm SSD. When an 1cm thick acryl plate was put 20cm far from polystyrene phantom for the SSD, the $d_{max}$ and surface dose were 0.8cm and $94\%$, respectively. With acryl as a beam spoiler, the PDD at 10cm depth was $78.4\%$ and exit dose was a little higher than expected dose at interface of exit surface. For two-opposing fields for a 30cm phantom thick phantom, the surface dose and maximum dose relative to mid-depth dose in our experiments were $102.5\%$ and $106.3\%$, respectively. The off-axis distance of that point of $95\%$ of beam axis dose were 70cm on principal axis and 80cm on diagonal axis. Conclusion: 1. To increase surface dose for TBI by 10MV X-ray at 360cm SAD, 1cm thick acrylic spoiler was sufficient when distance from phantom surface to spoiler was 20cm. 2. At 345cm SSD, 10MV X-ray beam of full field produced a satisfiable dose uniformity for TBI within $7\%$ in the phantom of 30cm thickness by two-opposing irradiation technique. 3. The uniform dose distribution region was 67cm on principal axis of the beam and 80cm on diagonal axis from beam axis. 4. The output factors at mid-point of various thickness revealed linear relation with depth, and it could be applicable to practical TBI.

• The Journal of Korean Society for Radiation Therapy
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• v.8 no.1
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• pp.75-81
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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, 4MV, 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 the larger beam reductions occur. 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.

• Interaction and multiscale mechanics
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• v.5 no.1
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• pp.57-73
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• 2012

The paper presents the analysis of two groups of piles subjected to lateral loads incorporating the non-linear behaviour of soil. The finite element method is adopted for carrying out the parametric study of the pile groups. The pile is idealized as a one dimensional beam element, the pile cap as two dimensional plate elements and the soil as non-linear elastic springs using the p-y curves developed by Georgiadis et al. (1992). Two groups of piles, embedded in a cohesive soil, involving two and three piles in series and parallel arrangement thereof are considered. The response of the pile groups is found to be significantly affected by the parameters such as the spacing between the piles, the number of piles in a group and the orientation of the lateral load. The non-linear response of the system is, further, compared with the one by Chore et al. (2012) obtained by the analysis of a system to the present one, except that the soil is assumed to be linear elastic. From the comparison, it is observed that the non-linearity of soil is found to increase the top displacement of the pile group in the range of 66.4%-145.6%, while decreasing the fixed moments in the range of 2% to 20% and the positive moments in the range of 54% to 57%.

• Coupled systems mechanics
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• v.1 no.1
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• pp.1-7
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• 2012

The problem of laterally loaded piles is particularly a complex soil-structure interaction problem. The flexural stresses developed due to the combined action of axial load and bending moment must be evaluated in a realistic and rational manner for safe and economical design of pile foundation. The paper reports the finite element analysis of pile groups. For this purpose simplified models along the lines similar to that suggested by Desai et al. (1981) are used for idealizing various elements of the foundation system. The pile is idealized one dimensional beam element, pile cap as two dimensional plate element and the soil as independent closely spaced linearly elastic springs. The analysis takes into consideration the effect of interaction between pile cap and soil underlying it. The pile group is considered to have been embedded in cohesive soil. The parametric study is carried out to examine the effect of pile spacing, pile diameter, number of piles and arrangement of pile on the responses of pile group. The responses considered include the displacement at top of pile group and bending moment in piles. The results obtained using the simplified approach of the F.E. analysis are further compared with the results of the complete 3-D F.E. analysis published earlier and fair agreement is observed in the either result.

• Korean Journal of Optics and Photonics
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• v.2 no.4
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• pp.179-185
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• 1991

Twyman-Green interferometer is developed for assessment of IR optical system performance. Light source is $CO_2$ gas laser which has 10.6$\mu \textrm m$ wavelength. The light beam is expanded to 2.5 cm dia by Ge lens and splitted by ZnSe parallel plane plate. One of the beams is reflected by refernce mirror which is operated PZT. The fringe will be detected by a pyro-electric vidicon camera and displayed by a CRT monitor. Here, the IR firinge is recorded on the thermal paper. In visible region, the light source is He-Ne laser. The fringe is detected by a CCD camera and displayed by the CRT monitor. The intensity of the fringe is digitized by a image card and processed by a PC. The wavefront aberration function, PSF and OTF are calculated. The results are displayed in 3-D graphs on the monitor or printed out by a line printer.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.