• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.36-40
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• 1987

현재 사용되고 있는 작업방식은 로봇과 positioner의 상대적인 위치 및 자세설정에 의하여 작업효율 및 성능향상을 꾀할 수 있음에도 불구하고 비효율적인 방법으로 사용하고 있는 실정이다. 이러한 문제점을 해결하기 위한 방법중의 하나로 로보트와 positioner시스템을 하나의 기구학적 모델로 제어하는 방법이 제시된 바 있다. 상기의 연구에서는 로보트와 positioner(이하 R-P 시스템)간의 협조 제어가 여유자유도제어 방법을 이용하여 가능한 것임을 보였다. 그러나 용접작업과 같은 positioner 위에서의 연속경로 작업에 있어서는 작업공간과 특이성(singularity) 등에 관련된 여러 가지 문제점을 안고 있다. 특이성은 외부의 물리적인 제약이나 로보트의 기하학적 구조의 문제로 발생될 수도 있는데 이때 자유도의 손실을 유발하므로 임의의 원하는 방향으로 움직일 수 없게 된다. 이러한 면에서 R-P 시스템의 조작 성능 평가가 중요한 의미를 갖는다. 본 연구에서는 실제 산업현장에서 이용되고 있는 5 자유도를 갖는 수직 다관절형 로보트와 positioner에 대하여 협조 제어 방법을 검토한다. 그리고 작업공간 내의 조작성능평가를 위하여 Jacobian 행렬을 이용한 조작성지수를 위하여 Jacobian 행렬을 이용한 조작성지수를 도입하고 주어진 작업단면에 대한 이들의 분포를 등고선 그래프로 시각화 한다. 또한 조작성지수를 최대화 하는 알고리즘을 R-P 시스템에 적용하고 시뮬레이션을 통하여 그 타당성을 검토한다

• Journal of the Korean Society for Precision Engineering
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• v.31 no.5
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• pp.411-416
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• 2014

In this research we present design optimization methods for a vehicle-mounted satellite antenna positioner. Our initial antenna positioner was conservatively designed to satisfy a worst case scenario where wind blew across the positioner at the speed of 120 km/h. Investigating stresses and safety based on Finite Element Methods (FEM), we find reflector support frames can be optimized to significantly reduce the weight of the positioner system. Thus, we optimize the reflector support frame from the given initial design while considering weight, maximum stress, maximum allowable deflection, cross section, and thickness. As a result, Shape C and the thickness of 2 mm are determined for the cross section of the reflector support frame. Applying this result, the weight of the new antenna positioner is 57.343 kg, which is decreased by 10.74% compared to the initial conservative design.

• The korean journal of orthodontics
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• v.29 no.2 s.73
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• pp.137-146
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• 1999

In this article, we introduce a new method of tooth positioner fabrication using modified T.A.R.G. to measure the inclination and angulation of individual teeth. In finishing stage of orthodontic treatment with a fixed appliance, we anticipate that tooth positioner fabricated using the described construction method provides the movement of individual tooth into a desired position; corrected inclination and angulation of teeth, extrusion, intrusion, rotation and so on.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.728-730
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• 1998

The control valve positioner is a high gain plain proportional controller which measures the valve stem position and compares it to its setpoint which is the primary controller output. The positioner in effect is the cascade slave of the primary controller. In order for a cascade slave to be effecttive, it must be fast enough compared to the speed of its set point change. This paper describes the positioner transfer function and its effect on the entire control loop characteristic based on the simulation results. The result showed that the control valve and positioner determined the gain and phase angle in the high frequency range, while the primary controller and process determined those of the low frequency range. We can also anticipate the combined characteristics in the whole frequency range when each element's frequency response is known.

• The korean journal of orthodontics
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• v.12 no.1
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• pp.61-68
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• 1982

Tooth Positioner는 band를 제거한 후 가능한 빨리 장착시켜야 susceptible하며 무엇보다도 환자의 생리학적 jaw movement를 설정해서 제작해야 하고 적어도 hingeaxis relation은 찾아서 제작해야한다. Positioner의 장착시간은 하루에 $3\~4$시간의 active biting exercise와 수안시간동안 사용하게 한다. 처음 장착시에 가장 tight하고 이 tightness 는 치아가 요망되는 위치로 근접함에 따라서 점차 감소되고 이 tightness의 감소가 작용효과의 가장 좋은 지침이 되며 자는 하루 하루 그 변화를 느껴야 한다. Positioner가 느슨하게 적합되고 좋은 교합관계를 보이면 장착을 수안시간동안으로 제한시키거나 혹은 깨어 있을 동안 한 두시간 장착하게 한아. 대개 $3\~4$주 후에 predetermined pattern과 유사하게 되며, 일반적으로 장착 후 $8\~10$주 후에 더 장착할 것인가를 결정하고 필요성이 없다면 conventional retainer로 바꾸어 준다. Tooth Positioner는 기능적인 구호흡, thumb sucking, snoring을 해소시켜 줄 수 있으며 jaw relationship이나 overbite문제를 해결할 수 있다. 그리고 chair time을 감소시켜 줄 수 있으며 tissue tone을 자극해서 치아위치를 증진시키는데 끊임없이 작용한다. 그러나 제작에 많은 시간이 걸리고 치아를 배열하는 술자의 능력에 따라 치료효과가 많이 좌우되며 너무 bulky하므로 이물감이 커서 유용하게 장착할 수 있는 시간이 제한적이고 natural muscle balance에 대해 간헐적인 교정력을 가함으로써 치아를 loosening 시킬 수 있다. 이 장치물은 다른 removable appliance와 같이 환자의 협조가 무엇보다 중요하므로 환자에게 장착동기를 유발시켜 주는 것이 좋으며 True Blocked Nasal Airway가 있는 환자에게는 금기증이 된다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1166-1174
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• 2000

In this paper, we introduce a positioner based on magnetic levitation to eliminate the friction which is the most severe effect to limit high resolution on the micro level. Differently from existing electromagnetic device, the proposed positioner consists of air core solenoid and permanent magnet. Although the combination produces small magnetic force, it is suitable for realizing micro motion repeatedly without the accumulation of error because there is no hysteresis caused by ferromagnetic materials, no eddy current loss, no flux saturation. First, the approximate modeling of stiffness and damping effects between the magnetic elements is made and verified experimentally. Then, we have formulated the dynamic equation of one d.o.f magnetic levitation positioner using linear perturbation method and discussed the necessity of optimization for the chief design parameters to maximize the stability performance.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.463-463
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• 2000

A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.2
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• pp.206-213
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• 2001

The positioner is an essential component of the control valve which is used to control quantity of the liquid in the pipe of chemical plants. In this paper, the experimental methodology for current pneumatic positioner was developed for the investigation of the static and dynamic characteristics of the positioner. The methodology was applied to evaluate response characteristics of two different positioners, which are current model in market and newly designed model. The experimental results of these two models were compared and analyzed.

• Journal of Sensor Science and Technology
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• v.14 no.5
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• pp.302-307
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• 2005

Precision displacement of less than a few nm resolution was measured in real-time using fiber optic EFPI sensor. The novel method for real-time processing of analyzing EFPI output signal was developed and verified. Linearity in the mean values of interferometric light intensity among adjacent fringes was shown and verified the sinusoidal approximation algorithm that estimates past and coming fringe values. Real-time signal processing program was developed and the intensity signal of the EFPI sensor was transformed to the phase shift with this program. The resolution below $0.36{\sim}8.6$ nm in the displacement range of $0{\sim}300{\mu}m$ was obtained. The nano-positioner with a piezoelectric actuator and the EFPI sensor system was designed and tested. The positioner successfully reached to the desired destination within 1 nm accuracy.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.791-792
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• 2012