• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.125-132
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• 2008

This paper describes a mobile inspection robot with an automatic pipe tracking system for a feeder pipe inspection in a PHWR. The robot is composed of two inch worm mechanisms. One is for a longitudinal motion along a pipe, and the other is for a rotational motion in a circumferential direction to access all of the outer surfaces of a pipe. The proposed mechanism has a stable gripping capability and is easy to install. An automatic pipe tracking system is proposed based on machine vision techniques to make the mobile robot follow an exact outer circumference of a curved feeder pipe as closely as possible, which is one of the requirements of a thickness measurement system for a feeder pipe. The proposed sensing technique is analyzed to attain its feasibility and to develop a calibration method for an accurate measurement. A mobile robot and control system are developed, and the automatic pipe tracking system is tested in a mockup of a feeder pipe.

• Bulletin of the Korean Chemical Society
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• v.32 no.10
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• pp.3702-3706
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• 2011

The conformation of a neuropeptide, substance P (SP), in isotropic (q = 0.5) acidic bicelles was investigated using two-dimensional NMR techniques. By the nuclear Overhauser effect (NOE) cross peaks between SP and long-chain lipid molecules SP was probed to bind on the flat surface of the disc-like bicelles. Structural analysis of NMR data indicated that the helical conformation of SP extended to the C-terminal region of Leu10 as well as in the mid-region from Pro4 to Phe8. As compared with the conformations of SP bound on the sodium dodecylsulfate (SDS) or the dodecylphosphocholine (DPC) micelles with curved surfaces, the surface curvature of the membrane mimics was found to be one of the major factors inducing the biologically relevant conformation of SP. The negative surface charge of the membrane is also a key factor inducing both the binding of SP on the membrane and its biologically active structure.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.467-473
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• 2019

In this study, approached to improve durability of the multi-functional nano-pattern fabricated on the curved lens surface using nanoimprint lithography (NIL) was proposed, and the effects of the proposed methods on functionality after wear test were examined. To improve the mechanical property of ultraviolet(UV)-curable resin, UV-NIL was conducted at the elevated temperature around $60^{\circ}C$. In addition, micro/nano hierarchical structures was fabricated on the lens surface with a durable film mold. Analysis on the worn surfaces of nano-hole pattern and hierarchical structures and measurements on the static water contact angle and critical water volume for roll-off indicated that the UV curing process with elevated temperature is effective to maintain wettability by increasing hardness of resin. Also, it was found that the micro-scale pattern is effective to protect nano-pattern from damage during wear test.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.373-380
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• 2022

This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

• Design & Manufacturing
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• v.17 no.1
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• pp.33-39
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• 2023

The ball end mill is a type of cutting tool that is widely used to process complex mold shapes including aspheric surfaces. Unlike the flat end mill in which the cutting edge is formed on the cylindrical handle, the cutting edge is formed from the cylindrical handle to the hemispherical shape, which is advantageous for processing curved shapes. However, since the cutting speed continuously changes during machining due to the helix angle of the cutting edge or the machining inclination angle, it is difficult to obtain a precise machined surface. Therefore, in this paper, machining was performed while changing the helix angle of the ball end mill and the angle of the machining slope under the same cutting conditions for STD 11 material, which is widely used as a mold material. Through this, the effect of the two variables on the roughness of the machined surface was analyzed. As a result, if the helix angle was 0 degrees, it showed the best surface roughness of Ra. 0.16 ㎛. When the helix angle was 20 degrees, the best surface roughness of Ra. 0.18 ㎛ was occurred.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.36 no.5
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• pp.433-441
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• 2023

Piezoelectric ceramics play an important role in electrical and electronic devices such as sensors, actuators, and microelectronic devices. However, traditional ceramics are difficult to be used in various process industries due to their high brittleness and low flexibility. Therefore, piezoelectric paint sensors have been designed for application to the curved surfaces of complicated structures. Furthermore, recently, significant attention has been focused on the development of paint sensors that can be used as structure health monitoring sensors for vibration, impact, and acoustic emission. Several studies have successfully demonstrated the possibility that smart paint sensors can take the place of traditional ceramic sensors. In this review, we briefly introduce the concept of the piezoelectric paint sensors and the expected application field as well as their preparation and history.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.11
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• pp.64-72
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• 1996

This paper is aimed to develop an optical method for measuring 3-dimensional shapes of specular objects having curved surfaces. The existing methods measuring the shapes of specular objects have several common disadvantages: they may not work properly if the surface is highly specular like mirror surface or if the reflectance property is not uniform over the surface. And, they often require the a priori knowledege about the surface reflectance. To overcome these disadvantages, the measurement using double pass retroreflection method is proposed in this paper. For this measurement principle, an experimental measuring system is designed and prepared which is composed of a galvanometer scanner, a beam splitter, a laser source, a CCD camera, and a reflector made of retroreflective material. To verify the effectiveness of the measurement system a series of experiments are performaed for various specular objects. The results observed from the experiments show that the developed optical sensing system can be an effective mean of measuring the 3-D shapes of specular objects.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.2
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• pp.50-64
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• 1994

Cutter deflections in the ball-end milling process is one of the main causes of the machining errors on a free-form surface. In order to avoid machining errors in this process, a methodology avoiding these machining errors on the free-form surfaces has been developed. In this method, feedrates in the finish cuts are adjusted for the prevention of machining errors. A model for the prediction of machining errors on the free-form surface is analytically derived as a function of feed and normal vector at the surface of contact point by the cutter. This model is applied to the dertermination of the adjusted feedrates which satisfy the machining tolerance of the surface. In the finish cuts of a simple curved surface, the suggested model is examined by the measurements of the generated machining error on this surface. And also, this surface is machined with the adjusted feedrates for the given machining tolerance. The measured machining errors on this surface are compared with the given tolerance. In this comparisons, it is shown that the predicted errors are fairly good agreement with the test results.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.25-26
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• 2023

Free-form buildings serve as landmarks, and interest and demand are increasing. However, in the case of free-form concrete members, different curved surfaces are required depending on the location where they are used, and the formwork is custom-made and used. Concrete is poured into the manufactured formwork to produce FCP (Free-form Concrete Panel). However, since it is an atypical building that requires precise curvature, compaction cannot be performed after concrete is poured. This leads to the occurrence of bughole, which reduce the strength and aesthetics of concrete. Therefore, in this study, we intend to conduct basic experiments to develop a magnetic compaction device that can be used for FCP. As a result of the experiment, it was confirmed that the bug hole was improved when the magnetic compaction device was applied, and there was no significant difference in compressive strength and flexural strength. This technology can be used in the field of Free-form concrete where it is difficult to perform compaction work, and it is expected to be used as a basic research related to technology for new automatic compaction.

• Journal of the Korean Society of Radiology
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• v.11 no.7
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• pp.611-617
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• 2017

In this study, it was expected that long-term stability against external mechanical external force could be secured if the phosphor layer had ductility. In this study, a bendable $Gd_2O_2S:Tb$ sensitized paper was fabricated by screen printing method and the image uniformity was evaluated through RMS analysis and histogram analysis to investigate the effect of fatigue accumulation due to long-term external force and repetitive external force. As a result, the dominant pixel area is maintained constant and the relative standard deviation is less than 10% for the long-term external force. However, for the repetitive external force, the dominant pixel area is divided into three areas and the image uniformity is adversely affected. Based on these results, it is suggested that the curved surface detector can be applied by securing the mechanical stability against the existing radiation sensitized paper. However, further studies are needed to apply it to the flexible detector. As a result, flexible radiation sensitizers can be applied to various curved surfaces, and it is expected to be applicable to various fields such as nuclear medicine, medical treatment, and industrial fields in the future.