• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.623-627
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• 1995

This paper deals with the process which automatically straightens the shaft whose straightness is over the tolerance. The developed straightening process is composed of the measuring module and the control module. In the measuring module, the deflection of each measuring point is automatically measured, and the press point and the reference press stroke is determined. In the control module, the springback is predicted by the observer using the calculated reference press stroke and on-line-measured force and deflection. Through a series of experiments, the validity of the proposed process was verified.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.97-107
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• 2007

The present CNC machining system if without any CAM software has been limited to 2D or 2.5D plane cut using lines, arcs and curves. If the CNC is equipped with a surface interpolation module and a surface reorganizing module inside it, we can easily try 3D surface machining without aid of CAM software. The existing NURBS surface interpolator is simple and direct to use for a unit surface. However, it enables only machining of each reference surface individually even when machining a simple composite surface. In this paper, we propose a method which can unify and reorganize various reference surfaces with a newly defined NURBS surface cycle command: a multi-repetitive cycle command such as in a CNC turning center. We also introduce a reorganizing rule for reference surfaces using NURBS properties. The usefulness of the proposed method is verified through computer simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.559-564
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• 1994

Recently, a visual servoing for an eye-in-hand robot has become an interesting problem. A distance between a camera and a task object is very useful information for visual servoing. In the previous works for visual servoing, the distance can be obtained from the difference between a reference and a measured feature value of the object such as area on image plane. However, since this feature depends on the object, the reference feature value must be changed when other task object is taken. To overcome this difficulty, this paper presents a novel method for visual servoing. In the proposed method, a blur is used to obtain the distance. The blur, one of the most important features, depends on the focal length of camera. Since it is not affected by the change of object, the reference feature value is not changed although other task object is taken. In this paper, we show a relationship between the distance and the blur, and define the feature jacobian matrix based on camera defocusing to operate the robot. A series of experiments is performed to verify the proposed method.

• 전기학회논문지
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• 제59권7호
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• pp.1309-1313
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• 2010

In this paper, we propose a novel guidance law for controlling an UAV(Unmanned Air-Vehicle) to follow a reference line in vertical plane. A kinematics model representing the relative motion of the UAV to the reference line is derived. And then LQR(Linear Quadratic Regulator) theory is applied to the model to derive the VLFG(Vertical Line Following Guidance) law. The resultant guidance law forms a gain-scheduling controller scheduled by a simple parameter $\sigma$ which is a function of the UAV's velocity, axial acceleration, gravity, and the slope of the reference line. Also derived is a stability condition for the $\sigma$ variation based on Lyapunov theory. Simulation results show that the proposed guidance law can be applied effectively to UAV guidance algorithm design.

• Journal of electromagnetic engineering and science
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• 제12권1호
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• pp.45-54
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• 2012

When the cylindrical wave is incident on a plane dielectric interface from a denser medium to a rarer one, the asymptotic solution for the transmitted wave in the near region is different from the one in the far region. In this paper, we have derived a novel uniform asymptotic solution represented by using the parabolic cylinder function for the transmitted and scattered waves observed in the rarer medium when the cylindrical wave is incident on the plane dielectric interface from the denser medium. The validity of the uniform asymptotic solution has been confirmed by comparing with the reference solution calculated numerically. It has been clarified that the transition wave plays an important role to connect smoothly the asymptotic solution in the near region to the one in the far region through the transition region. We have shown the very interesting phenomenon that the lateral wave type transmitted wave is observed in the far and shallow region.

• Earthquakes and Structures
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• 제6권6호
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• pp.627-646
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• 2014

Adobe is one of the oldest construction materials that is still used in many seismic countries, and different construction techniques are found around the world. The adobe material is characterized as a brittle material; it has acceptable compression strength but it has poor performance under tensile and shear loading conditions. Numerical modelling is an alternative approach for studying the nonlinear behaviour of masonry structures such as adobe. The lack of a comprehensive experimental database on the adobe material properties motivated the study developed here. A set of a reference material parameters for the adobe were obtained from a calibration of numerical models based on a quasi-static cyclic in-plane test on full-scale adobe wall representative of the typical Peruvian adobe constructions. The numerical modelling, within the micro and macro modelling approach, lead to a good prediction of the in-plane seismic capacity and of the damage evolution in the adobe wall considered.

• 대한심미치과학회지
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• 제23권1호
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• pp.4-15
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• 2014

붕괴된 교합평면을 보철적으로 재구성하는 과정에 있어 face-bow와 교합기는 필수적으로 필요한 기구로 사용되어왔다. 일반적으로 Ear rod를 사용하는 face bow는 상악 정중선의 오차와 교합평면의 canting이 발생할 가능성이 있는데 이런 문제점을 해결하기위해 환자의 안면 정중선을 기준으로 하는 face bow가 개발되어왔다. Ear-bow를 이용한 mounting에서 종종 발생하는 오류를 보완하는 방법으로 환자 안면의 중심과 교합기의 중심을 일치시키려는 개념의 mounting technique이 시도되고 있으며 이를 esthetic mounting이라 한다. 이들 중 하나인OP finder 1(OP1)을 사용한 증례를 보고하고자 한다.

• 대한치과교정학회지
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• 제40권4호
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• pp.227-238
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• 2010

저신장이란 같은 연령 및 성별 소아들의 표준 신장 평균치에서 -2.0 SD 이하인 경우를 말한다. 본 연구의 목적은 저신장 소아의 두개안면골격의 특성을 분석하고, 성장호르몬 치료가 신장을 성장시킴과 동시에 두개안면골격에 어떤 영향을 주는지 알아보고자 함이다. 영남대학교 의과대학 부속병원 소아청소년과에서 저신장으로 진단받은 소아를 대상으로 성장 호르몬 치료 전 그리고 치료 후 1년, 2년 후 총 3회 측모 두부 방사선 규격 사진의 촬영을 시행하였다. 대조군은 경북대학교 치의학전문대학원 교정과에 소장된 한국인 평균 신장의 2 표준오차 내의 아동들을 대상으로 측모 두부 방사선 규격사진을 2년마다 10년간 촬영한 자료를 이용하여 저신장 소아의 연령과 성별을 기준으로 짝진 표집(paired sampling)을 하였다. 성장 호르몬 치료 전 저신장 소아는 작고 후퇴된 하악골과 편평한 두개저를 가지는 것으로 나타났다. 성장 호르몬 치료 후 anterior, posterior cranial base length, upper posterior facial height, lower anterior facial height, posterior total facial height, mandibular ramus length, mandibular corpus length와 overall mandibular length 성장량이 정상군에서의 2년 성장량과 비교했을 때 유의하게 큰 것으로 나타났으며 각도 계측에서는 saddle angle, mandibular plane angle과 ANB변화량이 정상군에서의 2년 성장량과 비교했을 때 큰 변화를 보이며 정상군의 평균치를 따라잡는 경향을 보였다. 성장 호르몬 치료는 불균형적인 성장의 징후 없이 정상화를 향한 성장(따라잡기 성장)을 나타내었으며 이는 특히 하악과두의 성장과 후안면고경의 성장을 촉진시켜 저신장 소아의 convex한 profile을 완화하는 것으로 판단된다.

• The Journal of Korean Physical Therapy
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• 제22권2호
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• pp.15-23
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• 2010

Purpose: This study was done to establish reference data for temporo-spatial, kinematic and kinetic parameters for normal Koreans as they age. Methods: Normal adults and children without a previous history of musculoskeletal problems were enrolled in this study. The normal subjects were divided by age into three groups: Group I: children ($11.95{\pm}0.29$ years); Group II: young adults ($23.90{\pm}3.67$ years); Group III: older adults ($71.40{\pm}4.08$ years). The temporo-spatial and kinematic data were measured using 6 MX3 cameras while each subject walked through a 10 m walkway at a self-selected speed. The kinetic data were measured using 2 force plates and were calculated by inverse dynamics. Results: Motion patterns are typically associated with a specific phase of the gait cycle. Our results were as follows: 1. There were significant differences between the different age groups in temporo-spatial parameters such as cadence, double support, time of foot off, stride length, step length, and walking speed. 2. There were significant differences between the groups in kinematic parameters such as range of motion (ROM) of the hip, knee and ankle in the sagittal plane, ROM of the pelvis, hip and knee in the coronal plane and ROM of the pelvis, hip and ankle in the transverse plane. 3. There were significant differences between the groups in kinetic parameters such as joint moments of force, joint mechanical power generation or absorption and ground reaction forces. Conclusion: The results of this study can be utilized (a) as a reference for kinematic and kinetic data of gait analysis in normal Koreans, and (b) as an aide in evaluating and treating patients who have problems relating to gait.