• Journal of the Korean Crystal Growth and Crystal Technology
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• v.8 no.1
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• pp.18-28
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• 1998

A laboratory experiment was made of a control of temperature oscillation in Czochralski convection. Numerical computation was also made to delineate the control of temperature oscillation. The suppression of temperature oscillation was achieved by varying the rotation rate of crystal rod ($\Omega=\Omega_0(1+A sin 2{\pi}ft/t_p)$), where A denotes the amplitude of rotation rate and f the frequency factor. Based on the inherent dimesionless time period of temperature oscillation ($t_p$), the suppression rate of temperature oscillation was characterized by the mixed convection parameter ($0.217{\leq}Ra/PrRe^2{\leq}1.658$). The optimal values of A and f were also scrutinized. To understand the suppression mechanism of temperature oscillation, the controls of isotherm($\theta$) and equi-vorticity($\omega$) were investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.695-702
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• 2010

This paper presents an image alignment algorithm for application of AOI (Automatic Optical Inspection) based on SIFT. Since the correspondences result using SIFT descriptor have many wrong points for aligning, this paper modified and classified those points by five measures called the CCFMR (Cascade Classifier for False Matching Reduction) After reduced the false matching, rotation and translation are estimated by point selection method. Experimental results show that the proposed method has fewer fail matching in comparison to commercial software MIL 8.0, and specially, less than twice with the well-controlled environment’s data sets (such as AOI system). The rotation and translation accuracy is robust than MIL in the noise data sets, but the errors are higher than in a rotation variation data sets although that also meaningful result in the practical system. In addition to, the computational time consumed by the proposed method is four times shorter than that by MIL which increases linearly according to noise.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.202-205
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• 2010

When we render 3D sound images using headphones or speakers, the main key of this technology is the Head-related transfer function (HRTF) database. Even though there are various HRTF databases, they have some drawbacks such as detrimental effects caused by imperfect measuring environment and insufficient measurement points. Moreover there is no database with Korean subjects. We are planning to develop the HRTF database for Korean. As a first step to establish the HRTF database aimed at Korean, the new HRTF measurement system with minimized aforementioned drawbacks is designed. In this paper, the newly designed HRTF measurement system is introduced and the overall effects caused by the diffraction of the apparatus, especially the headrest and backrest of the chair, are analyzed. The backrest of the chair does not distort the HRTFs significantly while the headrest makes significant distortion on the HRTFs and it could have significant effects on directional perception. We determined acceptable head rotation angle and head position of the subject for accurate HRTF measurement based on the experiments with B&K HATS. We conclude that the 3 degrees of the head rotation and the 1.5cm front/back/left/right shift of the head do not distort the HRTFs significantly.

• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.79-86
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• 2021

Objective: The purpose of this study was to identify the effect of reduced plantar cutaneous sensation on gait kinematics during walking with and without CAI. Method: A total of 20 subjects involved in this study and ten healthy subjects and 10 CAI subjects participated underwent ice-immersion of the plantar aspect of the feet before walking test in this study. The gait kinematics were measured before and after ice-immersion. Results: We observed a before ice-immersion on plantar cutaneous sensation, CAI subject were found to reduced ankle dorsiflexion, knee external rotation, hip adduction, and internal rotation compared to control subject. After ice-immersion, CAI subjects were found to reduce knee external rotation, hip adduction. However, no significant ankle joint kinematics. Conclusion: While walking, gait pattern differences were perceived between groups with and without plantar cutaneous sensation. The results of the study may explain the abductions in the hip angle movements in CAI patients at initial contact compared to healthy subjects in the control group when plantar cutaneous sensation was reduced. A change in proximal joint kinematics may be a conservative strategy to promote normal gait patterns in CAI patients.

• Journal of Astronomy and Space Sciences
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• v.8 no.1
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• pp.85-98
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• 1991

Geomagnetism was used to control the attitude of the small scientific satellite at low altitude in sun-synchronous orbit. First, we analyzed the telemetry data. The rotation state of the satellite, can be known from the magnitude and variations of the magnetic field which is measured from the 3 axis magnetometer. In axisymmetric case, it is possible to control the attitude of the satellite by changing the rotation velocity of each 3 axis. The algorithm and the program were developed to calculate the supply time of the current operating the magnetorquer. This attitude control can be applied when the satellite is in tumbling motion and after passive control is attained by the Gravity gradient boom.

• Nuclear Engineering and Technology
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• v.56 no.2
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• pp.498-505
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• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

• Design & Manufacturing
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• v.11 no.3
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• pp.41-45
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• 2017

Drones can be manipulated in a variety of ways. One of the most common controller is joystick method. But joystick controller uses both hands and takes a long time to learn. Particularly, in the case of 8-character flight, it is necessary to use both front and rear flight (pitch), left and right flight (Roll), and body rotation (Yaw). Joystick controller has limitations to intuitively control it. In particular, when the main body rotates, the viewpoint of the forward direction is changed between the drones and the user, thereby causing a mental rotation problem in which the user must control the rotating state of the drones. Therefore, we developed a motion matching controller that matches the motion of the drones and the controller. That is, the movement of the drone and the movement of the controller are the same. In this study, we used a gyro sensor and an acceleration sensor to map the controller's forward / backward, left / right and body rotation movements to drone's forward / backward, left / right, and rotational flight motion. The motor output is controlled by the throttle dial at the center of the controller. As the motions coincide with each other, it is expected that the first drone operator will be able to control more intuitively than the joystick manipulator with less learning.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1057-1060
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• 2004

We propose new rotation moment invariants based on multiresolution filter bank techniques. The multiresolution pyramid motivates our simple but efficient feature selection procedure based on the fuzzy C-mean clustering, combined with the Mahalanobis distance. The procedure verifies an impact of random noise as well as an interesting and less known impact of noise due to spatial transformations. The recognition accuracy of the proposed techniques has been tested with the preceding moment invariants as well as with some wavelet based schemes. The numerical experiments, with more than 30,000 images, demonstrate a tangible accuracy increase of about 3% for low noise, 8% for the average noise and 15% for high level noise.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1344-1348
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• 2003

A precision micro-positioning system with a high displacement resolution and wide motion range has been required for industrialized applications in variety fields. This paper discusses the design of a precision micro-rotation stage with flexure hinges. Proposed system is applied to grinding machine for micro parts. Rotational motion is generated with this system. For this systems having a full rotation motion with high precision, a dual servo system with a coarse stage and a fine stage is proposed.

• Korean Journal of Child Studies
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• v.20 no.3
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• pp.293-306
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• 1999

This study investigated children's spatial skills and short term memory ability based on their practice with computer games. The 40 four-year-old and 40 six-year-old subjects were divided by experimental and control groups. Spatial skills of children were assessed by visual speed, mental rotation, and spatial visualization tasks. Short term memory was measured with a digit span task. Results showed that computer game practice enhanced children's memory ability and spatial skills. Even 4-year-olds performed better on mental rotation and spatial visualization tasks after practice. The treatment effect was significant for visual speed of 6-year-olds, short term memory ability and mental rotation of 4-year-olds, and spatial visualization of both 4- and 6-year-olds.