• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1291-1292
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1289-1290
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• 2013

• 한국자기학회:학술대회 개요집
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• 한국자기학회 1994년도 추계연구발표회 논문개요집
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• pp.36-37
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• 1994

• 한국자기학회:학술대회 개요집
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• 한국자기학회 1995년도 춘계연구발표회 논문개요집
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• pp.28-29
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• 1995

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.813-814
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• 2012

• Journal of Welding and Joining
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• 제14권6호
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• pp.68-80
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• 1996

When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

• 한국산학기술학회논문지
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• 제16권3호
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• pp.1639-1644
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• 2015

볼밸브용 볼의 로봇 육성용접시스템에서 포지셔너의 설계 및 구조강도 해석에 관한 연구를 하였다. 포지셔너의 일부분인 터닝 유닛을 모델링하였고, 보로 가정하여 해석을 진행하였다. 볼의 무게가 $9,000kg_f$ 일 때 터닝 유닛에 가해지는 응력이 366.85MPa로 나왔다. 이 값은 재료의 항복강도보다 높은 값이다. 앞의 결과를 토대로 터닝 유닛을 수정하여 모델링을 하였다. 수정된 모델링으로 해석한 결과, 응력의 값은 296.11MPa로 확인되었다. 이 값은 재료의 항복강도보다 낮은 수치이며, 볼의 무게를 버티는 것을 알 수 있었다.

• Journal of Oral Medicine and Pain
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• 제37권4호
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• pp.213-219
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• 2012

구강내 장치 요법은 가벼운 혹은 중간 정도의 폐쇄성 수면 무호흡증의 일차 치료법이며 심한 폐쇄성 수면 무호흡증의 경우에도 CPAP 또는 수술요법에서 효과가 없을 때 좋은 대안적 치료법이 될 수 있다. 하지만 다양한 구강내 장치들마다 치료 효과가 다르며 또한 모든 환자들에서 효과를 기대하기 어려운 것도 사실이다. 본 연구는 목젖입천장인두절제술(uvulopalatopharyngoplasty, UPPP) 을 받았으나 증상의 개선이 없는 심한 폐쇄성 수면 무호흡증 (obstructive sleep apnea, OSA) 환자에서 단국대 치대 구강내과에서 개발한 구강내 조절성 하악전방이동형 코골이 방지장치 (Adjustable Anterior Positioner, AAP)를 사용하여 치료한 증례를 보고하고 그에 대한 고찰을 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.615-620
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• 1989

Recently industrial robots are often used together with positioners to enhance the system performance for arc welding. In this paper, the redundancy control method is proposed for the robot-positioner system which is modeled as one kinematic model of 7 degrees of freedom. Also, the manipulability measure based on the Jocobian matrix is utilized to visualize the distribution of manipulability in a given section of the working space. An algorithm for the manipulability maximazation in a given task is developed and applied to the robot and positioner system. The simulation results are given in the case of straight line following.

• 대한산업공학회지
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• 제11권1호
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• pp.21-32
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• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.