• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.115-126
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• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.8
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• pp.1362-1370
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• 2008

This paper describes the design and characteristic analysis of a novel 3-DOF(Degree of Freedom) spherical motor. For multi DOF actuating, several numbers of motors have been used. By the using of normal motors they connected each other in single joint, is necessary to a several type of complex power transmission devices. The 3-DOF spherical motor can drive roll, pitch, and yaw motion in only one unit and it is not necessary to use additional gears and links parts. Therefore the using of 3-DOF spherical motor can eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. In this paper, we propose the novel structured 3-DOF spherical motor and derive its principles of operation. Firstly, we designed concept model of novel structured 3-DOF spherical motor. Next, we derive the control method by calculating the currents. Also, to have intuitive driving control, we express the rotor position in equivalent angle-axis system and determine the exciting period of currents from the calculation result of the currents. To verify the control method, we calculated the currents by the position of rotor. and then we analyzed the characteristics by 3D Finite Element Method when the calculated currents are excited.

• Smart Structures and Systems
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• v.24 no.4
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• pp.435-446
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• 2019

The existing piezoelectric spherical transducers with fixed prescribed dynamic characteristics limit their application in scenarios with multi-frequency or frequency variation requirement. To address this issue, this work proposes an improved design of piezoelectric spherical transducers using the resistance tuning method. Two piezoceramic shells are the functional elements with one for actuation and the other for tuning through the variation of load resistance. The theoretical model of the proposed design is given based on our previous work. The effects of the resistance, the middle surface radius and the thickness of the epoxy adhesive layer on the dynamic characteristics of the transducer are explored by numerical analysis. The numerical results show that the multi-frequency characteristics of the transducer can be obtained by tuning the resistance, and its electromechanical coupling coefficient can be optimized by a matching resistance. The proposed design and derived theoretical solution are validated by comparing with the literature given special examples as well as an experimental study. The present study demonstrates the feasibility of using the proposed design to realize the multi-frequency characteristics, which is helpful to improve the performance of piezoelectric spherical transducers used in underwater acoustic detection, hydrophones, and the spherical smart aggregate (SSA) used in civil structural health monitoring, enhancing their operation at the multiple working frequencies to meet different application requirements.

• Journal of Institute of Convergence Technology
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• v.12 no.1
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• pp.13-18
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• 2022

Polyacrylonitrile was synthesized through suspension polymerization and then sieved to obtain spherical beads with a size of 200~510 ㎛. PAN was copolymerized with 2 mol% MMA monomer which is known to promote cyclization and crosslinking of nitrile group. The resonance cyclization reaction of the nitrile group in the synthesized PAN beads was observed near 170℃ with thermal analysis and FT-IR. The reaction conversion of the nitrile group in spherical beads was 23% during heat treatment, which was lower than that of the well-oriented PAN fiber used as a precursor of carbon fiber. This is because the stereo-regularity of molecular chains in the form of a random coil (spherical bead) is much lower than that of PAN fiber. It was confirmed that the compressive strength of the spherical PAN bead was greatly improved through the resonance cyclization and shrinkage according to the heat treatment, and it was also observed that the pores in PAN beads were formed after the heat treatment.

• Steel and Composite Structures
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• v.46 no.2
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• pp.211-220
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• 2023

Welded hollow spherical joints are commonly used joints in space grid structures. An internal stiffener is generally adopted to strengthen the joints when large hollow spheres are used. To further strengthen it, external stiffeners can be used at the same time. In this study, axial compression tests are conducted on four full-scale 550 mm spherical joints. The failure modes and strengths of the tested joints are investigated. It shows that the external stiffeners are able to increase the strength of the joint up to 25%. A numerical model for large spherical joints with stiffeners is established and verified against the experimental results. Parametric studies are executed considering six main design factors using the verified model. It is found that the strength of the spherical joint increases as the thickness, height and number of the external stiffeners increase, and the hollow sphere's diameter has a neglectable effect on the enhancement caused by the external stiffeners. Based on the experimental and numerical results, a practical formula for the compressive bearing capacity of large welded hollow spherical joints with both internal and external stiffeners is proposed. The proposed formula gives a conservative prediction on the compressive capacity of large welded hollow spherical joints with both internal and external stiffeners.

• Journal of Korean Ophthalmic Optics Society
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• v.20 no.4
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• pp.501-509
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• 2015

Purpose: To evaluate the reliability of refractive power by comparing the marked refractive power in an automatic phoropter and actually measured spherical/cylindrical refractive power. Methods: Actual refractive power of minus spherical lens and cylindrical lens in an automatic phoropter was measured by a manual lensmeter and compared with the accuracy of marked refractive power. Furthermore, combined refractive power and spherical equivalent refractive power of two overlapped lenses were compared and evaluated with the refractive power of trial lens. Results: An error of 0.125 D and more against the marked degree was observed in 70.6% of spherical refractive power of spherical lens which is built in phoropter, and the higher error was shown with increasing refractive power. Single cylindrical refractive power of cylindrical lens is almost equivalent to the marked degree. Combined spherical refractive power was equivalent to spherical refractive power of single lens when spherical lens and cylindrical lens were overlapped in a phoropter. Thus, there was no change in spherical refractive power by lens overlapping. However, there was a great difference, which suggest the effect induced by overlapping between cylindrical refractive power and the marked degree when spherical lens and cylindrical lens were overlapped. Spherical equivalent refractive power measured by using a phoropter was lower than that estimated by trial glasses frame and marked degree. The difference was bigger with higher refractive power. Conclusions: When assessment of visual acuity is made by using an automatic phoropter for high myopes or myopic astigmatism, some difference against the marked degree may be produced and they may be overcorrected which suggests that improvement is required.

• 한국데이터정보과학회:학술대회논문집
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• 2005.04a
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• pp.182-184
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• 2005

In this study, we propose a chi-squared test of spherical symmetry. The advantage of this test is that the test statistic and its asymptotic p-value are easy to compute. A simulation study is conducted to study the accuracy, in finite samples, of the limiting distribution of the test statistic under spherical symmetry. The power of our test is compared with those of other tests for spherical symmetry in various alternative distributions via simulation.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.105-113
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• 2000

For exact spherical involute bevel gear, serveral researchers had developed the mathematical models. The solid models of straight bevel gears are obtained and inspected to avoid interference by computer graphics. Furthermore, A gearbox is assembled by spherical involute bevel gears, which are manufactured by CNC machine. The transmission errors in the tooth mesh are measured by Laser sensor, are compared with the AGMA standard. This gearbox is found to be ranked AGMA Q10(JIS 3)

• Korean Journal of Mathematics
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• v.26 no.3
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• pp.425-437
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• 2018

In this paper, we linked the motion of spherical images with the motion of their curves. Surfaces generated by the evolution of spherical image of a space curve are constructed. Also geometric proprieties of these surfaces are obtained.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1113-1116
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• 2001

Recently, the needs of non-symmetric spherical lens are increasing. Machining non-symmetric spherical lens by general method is limited. This paper researches grinding machine method for non-symmetric spherical lens and accruable problems at processing lens using CAD/CAM. In addition, this paper researches the relation of curvatures to grinding wheel sizes.