• 제어로봇시스템학회논문지
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• 제14권2호
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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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• 제32권10호
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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.

• 한국산업융합학회 논문집
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• 제22권5호
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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.

• 로봇학회논문지
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• 제17권3호
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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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• 제17권1호
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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.

• 한국전기전자재료학회논문지
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• 제36권5호
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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.

• 한국정밀공학회지
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• 제13권11호
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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.

• 한국정밀공학회지
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• 제11권2호
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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.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 봄 학술논문 발표대회
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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.

• 한국방사선학회논문지
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• 제11권7호
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• pp.611-617
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• 2017

본 연구에서는 연성을 형광체 층이 가질 수 있다면 외부의 기계적 외력에 대하여 장기간 안정성을 확보할 수 있을 것으로 기대하였다. 이에 본 연구에서는 스크린 프린팅 공법을 통하여 유연한 $Gd_2O_2S:Tb$ 증감지를 제작하였고 장기적인 외력에 의한 피로누적과 반복적인 외력에 의한 피로누적에 따른 영향을 고찰하고자 RMS 분석과 히스토그램을 분석을 통하여 영상 균일도를 평가하였다. 연구 결과, 지속적인 외력에 대하여는 지배적인 픽셀 영역이 일정하게 유지되면서 RSD가 10% 이내를 만족하였으나, 반복적인 외력의 경우 지배적인 픽셀 영역이 3 영역으로 분할되며 영상 균일도에 악영향을 미치며 RSD가 10% 이상으로 증가하는 것으로 나타났다. 이러한 결과를 바탕으로 기존 방사선증감지에 대비하여 기계적 안정성을 확보함으로써 곡면 검출기의 적용 가능성을 제시하였으나 아직까지 플렉시블 검출기에 적용하기 위해서는 추가적인 연구가 필요할 것으로 사료된다. 이러한 결과 유연성을 가진 방사선 증감지는 다양한 곡면에 적용이 가능하므로 향후 핵의학, 치료용, 산업 분야 등과 같은 다양한 분야에 적용할 수 있을 것으로 기대된다.