• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.135-141
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• 2005

Measurement of five DOF motion errors in a ultra precision feed table was attempted in this study. Yaw and pitch error were measured by using a laser interferometer and roll error was measured by using the reversal method. Linear motion errors in the vertical and horizontal directions were measured by using the sequential two point method. In this case, influence of angular motion errors was compensated by using the previously measured ones by the laser interferometer and the reversal method. The capacitive type sensors and an optical straight edge were used in the reversal method and the sequential two point method. Influence of thermal deformation on sensor jig was investgated and minimized by the periodic measurement according to the variation of room temperature. Deviation of gain between sensors was also compensated using the step response data. 5 DOF motion errors of a hydrostatic table driven by the linear motor werer tested using the measurement method. In the horizontal direction, measuring accuracies for the linear and angular motion were within ${\pm}0.02\;{\mu}m$ and ${\pm}0.04$ arcsec, respectively. In the vertical direction, they were within ${\pm}0.02{\mu}m$ and ${\pm}0.05$ arcsec. From these results, it was found that the introduced measurement method was very effective to measure 5 DOF motion errors of the ultra precision feed tables.

• Progress in Medical Physics
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• v.26 no.1
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• pp.6-11
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• 2015

The purpose of this study was to analyze the rotational errors of roll, pitch, and yaw in the whole breast cancer treated by the three-dimensional radiation therapy (3D-CRT) using TomoDirect (TD). Twenty-patient previously treated with TD 3D-CRT was selected. We performed a retrospective clinical analysis based on 80 images of megavoltage computed tomography (MVCT) including the systematic and random variation with patient setup errors and treatment setup margin (mm). In addition, a rotational error (degree) for each patient was analyzed using the automatic image registration. The treatment margin of X, Y, and Z directions were 4.2 mm, 6.2 mm, and 6.4 mm, respectively. The mean value of the rotational error for roll, pitch, and yaw were $0.3^{\circ}$, $0.5^{\circ}$, $0.1^{\circ}$, and all of systematic and random error was within $1.0^{\circ}$. The errors of patient positioning with the Y and Z directions have generally been mainly higher than the X direction. The percentage in treatment fractions in less than $2^{\circ}$ at roll, pitch, and yaw are 95.1%, 98.8%, and 97.5%, respectively. However, the edge of upper and lower (i.e., bottom) based on the center of therapy region (point) will quite a possibility that it is expected to twist even longer as the length of treatment region. The patient-specific characters should be considered for the accuracy and reproducibility of treatment and it is necessary to confirm periodically the rotational errors, including patient repositioning and repeating MVCT scan.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.1
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• pp.14-19
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• 2016

Transmission error (TE) is the most important cause of gear noise and vibration because TEs affect the changes of the force and the speed of gears. TE is usually expressed as an angular deviation, or a linear deviation measured at the pitch point and calculated at successive positions of the pinion as it goes through the meshing cycle. Accurate measurement of TE for gear transmission will provide a reasonable basis for gear design, manufacturing processes and quality control. Therefore, in order to study the accuracy of the gear transmission, stability, TE, vibration and noise after gear micro-geometry modification, a gear transmission test rig is proposed in this paper, which is based on the existing technical conditions, by using reasonable testing methods, hardware and a signal processing method. All of the details and the experience can be taken into consideration in the next upgraded test rig.

• The Journal of the Acoustical Society of Korea
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• v.24 no.1E
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• pp.7-15
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• 2005

This paper addresses issues encountered in measuring the general, 6-degree-of-freedom motion of a human head, A complete mathematical description for measuring the head motion using the six-accelerometer configured bite-bar is suggested, The description shows that the six-axis vibration cannot be completely obtained without the roll, pitch and yaw angular velocity components, A new method of estimating the three orthogonal (roll, pitch and yaw) angular velocities from the six acceleration measurements is introduced. The estimated angular velocities are shown to enable further quantitative error analysis in measuring the translational and angular accelerations at the head. To make this point clear, experimental results are also illustrated in this paper. They show that when the effects of angular velocities are neglected in the head vibration measurement the maximum percentage errors were observed to be more than $3 \%$ for the angular acceleration of the head and to be close to $5 \%$ for its translational acceleration, respectively. It means that the inclusion of all the angular velocity dependent acceleration components gives more accurate measurement of the head vibration.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.340-346
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• 2014

There are many factors that contribute to hit probability of the gun shot of ground combat vehicles. Aiming accuracy is mainly affected by the dynamic state of the vehicle. The stabilization error of the turret under system vibration is one of the major factors that affect the aiming accuracy. The vibration of the vehicle is affected by both the state of the road and the speed of the vehicle. This paper analyzes the aiming accuracy of the gun equipped on the GCV when the vehicle drives on the different roads and at different speed. The vertical displacement and the pitch angle of the gun are calculated and the impact points of the target are calculated. Distribution of the impact points on the target is greatly influenced by the pitch rotation rather than vertical displacement. And this aiming errors result in the errors of point of impacts on the target after the bullet flies through the air under trajectory equations. The GCV is modeled using a half-car model with 6 D.O.F. and the specifications of the M2 machine gun are used in trajectory calculation simulation and the target is located in 1000 m away from the gun.

• The Journal of Korean Society for Radiation Therapy
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• v.21 no.1
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• pp.1-7
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• 2009

Purpose: The purpose is to evaluate the accuracy of correcting the targeting error through the Target Location System (TLS) for the location change error of the reference point which arises from the movement or motion of patient during the treatment using the CyberKnife. Materials and Methods: In this test, Gafchromic MD-55 film was inserted into the head and neck phantom to analyze the accuracy of the targeting, and then the 6 MV X-ray of CyberKnife (CyberKnife Robotic Radiosurgery System G4, Accuray, US) was irradiated. End to End (E2E) program was used to analyze the accuracy of targeting, which is provided by Accuray Corporation. To compute the error of the targeting, the test was carried out with the films that were irradiated 12 times by maintaining the distance within the rage of $0{\pm}0.2\;mm$ toward x, y, z from the reference point and maintaining the angle within the rage of $0{\pm}0.2^{\circ}$ toward roll, pitch, yaw, and then with the films which were irradiated 6 times by applying intentional movement. And the correlation in the average value of the reference film and the test film were analyzed through independent samples t-test. In addition, the consistency of dose distribution through gamma-index method (dose difference: 3%) was quantified, compared, and analyzed by varying the distance to agreement (DTA) to 1 mm, 1.5 mm, 2 mm, respectively. Results: E2E test result indicated that the average error of the reference film was 0.405 mm and the standard deviation was 0.069 mm. The average error of the test film was 0.413 mm with the standard deviation of 0.121 mm. The result of independent sampling t-test for both averages showed that the significant probability was P=0.836 (confidence level: 95%). Besides, by comparing the consistency of dose distribution of DTA through 1 mm, 1.5 mm, 2 mm, it was found that the average dose distribution of axial film was 95.04%, 97.56%, 98.13%, respectively in 3,314 locations of the reference film, consistent with the average dose distribution of sagittal film that was 95.47%, 97.68%, 98.47%, respectively. By comparing with the test film, it was found that the average dose distribution of axial film was 96.38%, 97.57%, 98.04%, respectively, at 3,323 locations, consistent with the average dose distribution of sagittal film which was 95.50%, 97.87%, 98.36%, respectively. Conclusion: Robotic CyberKnife traces and complements in real time the error in the location change of the reference point caused by the motion or movement of patient during the treatment and provides the accuracy with the consistency of over 95% dose distribution and the targeting error below 1 mm.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.98-105
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• 2001

The machining accuracy is affected by geometric, volumetric errors of the machine tools. To improve the product quality, we need to enhance the machining accuracy of the machine tools. To this point of view, measurement and inspection of finished part as error analysis of machine tools ahas been studied for last several decades. This paper suggests the enhancement method of machining accuracy for precision machining of high quality metal reflection mirror or optics lens, etc. In this paper, we study 1) the compensation of linear pitch error with NC controller compensation function using laser interferometer measurement, 2) the method for enhancing the accuracy of NC milling machining by modeling and compensation of volumetric error, 3) the spherical surface manufacturing by modeling and compensation of volumetric error of the machine tool, 4) the system development of OMM without detaching work piece from a bed of machine tool after working, 5) the generation of the finished part profile by OMM. Furthermore, the output of OMM is compared with that of CMM, and verified the feasibility of the measurement system.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1103-1111
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• 2014

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.

• The Journal of Korean Society for Radiation Therapy
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• v.29 no.2
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• pp.53-64
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• 2017

Purpose: To evaluate the usefulness of the $HexaPOD^{TM}$ evo RT system(6DoF couch) and the tendency of dose difference according to size of rotational direction error for volumetric rotational modulated radiotherapy(V-MAT) in patients with long target lengths. Therefore, it is suggested to recommend the need for rotational error correction. Materials and Methods: Ten patients with Esophagus cancer or Breast cancer including SCL treated with HexaPOD 6DoF(Six-Degree of Freedom) couch were included in this study. 6DoF couch was used to measure the difference in dose according to the rotation error in the directions of Rx(pitch), Ry(roll), and Rz(yaw). Each rotation error was applied. Positioning variation on x, y and z axis was verified and random variations were made by 6DoF couch with positioning variation. Modified DQA is conducted and point dose and gamma value are analyzed and compared. In addition, after applying the rotation error every $1^{\circ}$ to treatment plans of each target with a diameter of 3 cm, 5, 10, 15, and 20 cm respectively, gamma passing rate is being monitored by its aspect of change according to types and sizes of the target length and rotation error. Results: Mean error of the point dose and Gamma passing rate when the position variation was applied were $2.50{\pm}1.11%$ and $84.1{\pm}7.39%$ in the Rx direction, $2.36{\pm}1.16%$, and $81.0{\pm}8.49%$ in the Ry, $2.35{\pm}1.10%$ and $84.4{\pm}6.99%$ in the Rz direction, respectively. As a result of analysis on gamma passing rate according to types and sizes of the target length and rotation error, the gamma passing rate tended to decrease with increasing rotation error in the Rx and Rz directions except Ry direction. In particular, the lowest gamma passing rate (74.2 %) was in the case of $2.5^{\circ}$ rotation error in Rz direction of the target of 10 cm. Conclusion: The correction of the rotational error is needed for volumetric modulated radiotherapy of the treatment area with a long target length, and the use of 6DoF couch will improve the reproducibility of the patient position and the quality of the treatment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.230-231
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• 2011

There is a merit a planetary gear set disperses a delivery load, and to decrease loss of friction and noise. But, in addition to meshing this internal and external gear simultaneously and phase difference by the tooth contact point and the time difference occurs asymmetric and symmetric sideband noise and vibration caused by the modulation in the vehicle. Existing planetary gear set research have progressed to reduce the cause of the sideband as run-out, pitch error and imbalance. In this paper presents a method for the design of the carrier phase difference by developing various theorys and experiments for gear noise.