• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.881-886
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• 2009

This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1779-1784
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• 1991

The problem of fine manipulation is considered in this paper. By fine manipulation, we mean the positioning of the object relative to the palm as opposed to gross manipulation by the arm. The compliance in the fingers and the object is modeled by linear springs. It is shown that the motion of the fingers and object can be predicted by minimizing a quadratic objective function. A method for simulating position control algorithms is developed.

• 한국산림과학회지
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• 제107권1호
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• pp.43-49
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• 2018

본 연구에서 33개월생 소나무 묘목을 대상으로 인위적 온난화 처리와 강수 조절에 의한 계절별 세근 생산량과 세근 고사율의 변화를 2년에 걸쳐 분석하였다. 온난화 처리는 적외선등을 이용하여 대조구 대비 대기온도가 $3.0^{\circ}C$ 높게 유지되도록 설정하였고, 강수 조절은 투명 판넬과 펌프를 이용하여 대조구(PC) 대비 30% 감소(PD) 또는 30% 증가(PI) 되도록 설정하였다. 온난화 처리는 세근 생산량 및 고사율에 통계적으로 유의한 영향을 주지 못하였고, 강수 조절은 세근 생산량($mm\;mm-2\;day^{-1}$)에만 유의한 영향을 주었다(PC: 3.57, PD: 4.59, PI: 3.02). 한편 온난화 처리 및 강수 조절과 계절간의 상호작용은 세근 생산량 및 고사율에 영향을 주지 못하였다. 그러나 온난화 처리 여부에 따라 토양 온도와 토양 수분이 각각 세근 생산량과 세근 고사율에 미치는 영향이 다르게 나타났다. 온난화 처리구는 세근 생산량의 계절적 변화가 주로 토양 온도에 영향(양의 상관관계)을 받았고, 세근 고사율은 주로 토양 수분의 영향(음의 상관관계)을 받았다. 반면에 온도 대조구에서는 세근 생산량은 주로 토양 수분의 영향(양의 상관관계)을 받았고, 세근 고사율은 토양 온도 및 수분과 유의한 관계가 나타나지 않았다. 이는 온난화가 진행됨에 따라 세근 생산량과 세근 고사율에 영향을 주는 기후인자가 달라질 수 있음을 시사한다.

• 대한음성학회지:말소리
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• 제60호
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• pp.97-108
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• 2006

The purpose of this study is to observe how Korean listeners detect a target phoneme with 'Focus' represented by prosodic prominence and question-induced semantic emphasis, and with intonational manipulation. According to the automated phoneme detection task using E-Prime, the Korean listeners detected phoneme targets more rapidly when the target-bearing words were in prominence position and in question-induced position. However, the presence of question-induced semantic emphasis reduced the prominence effect, so two effects interacted: when question-induced emphasis were primarily given as a cue, prominence which was given as secondary cue affected less to fine the new information. Besides, the intonation with manipulation was responded to faster than without manipulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.463-463
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• 2000

A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• 한국실천공학교육학회논문지
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• 제3권1호
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• pp.193-199
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• 2011

본 논문에서는 원격조작 미세조정을 위한 매니퓰레이터를 제안한다. $2{\mu}m$정도의 정밀도를 갖는 매니퓰레이터를 설계하고 제어하기 위해 매니퓰레이터의 정밀도를 사전 계산하였고 그에 따른 각종 부품들로 실 시스템을 제작 하였다. 본 논문에서 제작된 원격조작 로봇 시스템은 여러 미세동작 제어 실험을 통해 그 정밀도가 검증하였고 원격 조작 로봇 시스템의 한 부분으로서 미세조정 매니퓰레이터의 적절성이 증명되었다. 제안된 매니퓰레이터는 아나로그적인 여러 요소로 제작 되었으며 논문에서 시스템의 장단점을 분석 하였다.

• ETRI Journal
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• 제27권2호
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• pp.140-152
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• 2005

In this paper, we present design features, implementation, and validation of a satellite simulator subsystem for the Korea Multi-Purpose Satellite-2 (KOMPSAT-2). The satellite simulator subsystem is implemented on a personal computer to minimize costs and trouble on embedding onboard flight software into the simulator. An object-oriented design methodology is employed to maximize software reusability. Also, instead of a high-cost commercial database, XML is used for the manipulation of spacecraft characteristics data, telecommand, telemetry, and simulation data. The KOMPSAT-2 satellite simulator subsystem is validated by various simulations for autonomous onboard launch and early orbit phase operations, anomaly operation, and science fine mode operation. It is also officially verified by successfully passing various tests such as the satellite simulator subsystem test, mission control element system integration test, interface test, site installation test, and acceptance test.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.656-659
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• 1996

An universal NURBS interpolation for an open architectured CNC controller is proposed in order to unify internal data structure and algorithm of different interpolations such as linear, circular and spline, and to intelligently interface CAD database of the various workpiece contour. Furthermore, NURBS interpolation may result in better surface roughness and high speed machining due to the continuous generation of cutter movement. The mathematical manipulation of NURBS is presented and the practical implementation on the CNC controller of a lathe is discussed for real machining. The comparison between a computer design and workpieces machined on a lathe shows the feasibility of the NURBS interpolation format as an universal interpolation scheme.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제33권4호
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• pp.297-306
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• 2007

Distraction osteogenesis was pioneered by Ilizarov in the treatment of injured extremities. Its subsequent application to Oral and Maxillofacial Surgery has opened a new chapter in the treatment of facial deformity. Careful monitoring of the period of distraction and consolidation of the callus is important and has been well described. Complications, such as infection, haematoma and premature ossification, are difficult to diagnose and can compromise the outcome after the surgery. Too slow rate of distraction results in premature fusion of cortices and too rapid information of bone 'cyst' within the callus distraction. I experienced 2 patients of congenital unilateral mandibular hypoplasia, so called Hemifacial Microsomia. After distraction surgery, I evaluated callus formation of mandibular distraction with Ultrasound Sonography during distraction and consolidation period. Plain radiography, although it enables accurate measurement of the distraction gap, did not give sufficient detail to allow assessment of early stages of bone formation, But, ultrasound monitoring could enable continuous monitoring of the distraction gap without exposure to ionizing radiation and allow detection of fine detail, which may influence manipulation of the callus.