• 한국정밀공학회지
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• 제23권9호
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• pp.156-163
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• 2006

The purpose of this study is to improve the machining of free-formed NURBS surfaces using newly defined G-codes which can directly deal with shapes defined from CAD/CAM programs on a surface basis and specialize in rough and finish cut. To this purpose, a NURBS surface interpolation system is proposed in this paper. The proposed interpolation system includes online tool-path planning, real-time interpolation and feedrate regulation considering an effective machining method and minimum machining time all suitable for unit NURBS surface machining. The corresponding algorithms are simultaneously executed in an online manner. The proposed NURBS surface interpolation system is integrated and implemented with a PC-based 3-axis CNC milling system. A graphic user interface (GUI) and a 3D tool-path viewer which interprets the G-codes for NURBS surfaces and displays whole tool-paths are also developed and included in our real-time control system. The proposed system is evaluated through actual machining in terms of size of NC data, machining time, regulation of feedrate and cutting force focused on finish cut in comparison with the existing method.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.389-397
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• 1997

In this paper, we propose a new method of contour error modeling for cross-coupled control of CNC machines. This modeling method is based on the information that the interpolator of a CNC machine generates knot points per each sampling time in order to approximate a given curved path as a series of small straight-line segments. The merits of the proposed method are : (1) its applicability for arbitrary curved contours and (2) its ability to calculate contour errors more accurately than the other conventional methods. The proposed method is evaluated and compared with the conventional methods using the three typical curved trajectories by computer simulations. Furthermore, it is shown that the cross-coupled controller based on this proposed error model improves contouring accuracy more effectively than the other methods.

• 한국환경과학회지
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• 제25권1호
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• pp.11-21
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• 2016

The soil contamination by heavy metals in playgrounds of kindergartens in Vilnius city is analysed in this article. The aim of this research is to investigate and evaluate soil contamination by heavy metals in playgrounds of kindergartens in different territories of Vilnius city. Concentrations of heavy metals were measured using Thermo Fisher Scientific Niton$^{(R)}$ XL2 X-ray fluorescence spectrometer. Maximum allowable and background concentrations that are given in Lithuanian hygiene standard and Lithuania geochemical atlas are used to compare and evaluate concentrations of heavy metals. Concentrations of heavy metals and their spatial distribution were analysed in order to exclude the most contaminated areas relating with different functional areas of the city. Geo-statistical analysis and maps of spatial distribution were developed using IDW interpolator in ArcMap software. Detail soil surveys helps to assess the extent of anthropogenic impact in different parts of the city which can be harmful to the soil ecosystem and human health. Such researches can help to change or select different function for city areas in territorial planning process.

• 대한기계학회논문집A
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• 제27권8호
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• pp.1418-1425
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• 2003

In CAD systems, a surface to be machined is expressed by a series of curves, such as B-spline, Bezier and NURBS curves, which compose the surface and then in CAM systems the curves are divided into a large number of line or arc segments. These divided movement commands, however, cause many problems including their excessive size of NC data that makes almost impossible local adjustment or modification of the surface. To cope with those problems, the necessity of real-time curve or surface interpolators was embossed. This paper presents an efficient real-time tool-path generation method fur interpolation of NURBS surfaces in CNC machining. The proposed tool-path generation method is based on an improved iso-scallop strategy and can provide better precision than the existing methods. The proposed method is designed such that tool-path planning is easily managed in real-time. It proposed a new algorithm for regulation of a scallop height, which can efficiently generate tool-paths and can save machining time compared with the existing method. Through computer simulations, the performance of the proposed method is analyzed and compared with the existing method in terms of federate, total machining time and a degree of constraint on the scallop height.

• Journal of Welding and Joining
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• 제8권3호
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• pp.60-69
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• 1990

Plasma arc cutting is a fusion cutting process in which a gas-constricted arc is employed to produce a high-temperature, high-velocity plasma jet on the workpiece. This process provides some advantages such as increased cutting velocity, excellent working accuracy and the ability to cut special materials (widely used stainless steels and Al-alloys, for example), when compared with iconventional oxyfuel gas cutting. From the view point of price and reliability of the power source, plasma arc cutting has also some distinct advantages over laser beam cutting. High-speed machines with NC or CNC systems are needed for the plasma arc or laser beam cutting process, while for oxyfuel gas cutting, low-speed machines with copying templates or optical-shape tracking sensors can be applied. The low price and high flexibility of the microprocessor arc contributing more and more the application of CNC system in the plasma arc cutting process, as in other manufacturing fields. From these points of view, a microprocessor-based plasma arc cutting system was developed by using a reference-pulse system, and its performance was tested. The interpolating routines were programmed in the assembly language for saving the memory volume and improving the compouting speed, which has an intimate relationship with the available cutting velocity.

• 대한전자공학회논문지SP
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• 제42권4호
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• pp.153-158
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• 2005

본 논문에서는 software defined radio(SDR) 등의 디지털 RF/IF(Intermediate Frequency)에 사용되는 CIC 필터의 처짐 현상을 위한 보상 필터를 제안한다. 제안된 보상 필터는 근사적 선형 위상 특성을 가지며, interpolator/decimator의 기저 대역에서 가장 낮은 레이트로 동작하는 2차의 필터이므로 저연산량을 요구하므로 비용 효율적이다. 또한 처짐 현상을 보상하면서도 저지대역에서는 성능 열화가 거의 발생하지 않는다 예제를 통한 설계 및 성능 분석 결과, 제안된 보상 방법을 적용한 통신 시스템에 있어서 성능 향상을 보였고, 기존의 보상 방법과 비교하여 성능 및 메모리 사용량, 연산량에서 우수함을 보였다.

• 전자공학회논문지
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• 제53권2호
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• pp.141-146
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• 2016

본 논문에서는 비동기식 통신 시스템에서 시간격 오차를 개선하기 위한 기법을 연구하였다. 최대 시간격 오차를 유지하기 위한 방법을 제안하기 위하여 다중 위상 전압 제어 발진기와 보간기, 위상 선택기, 업-다운 카운터, 비교기, 덧셈기를 이용하여 주파수 변조기를 설계하고 모의실험을 수행하였다. 비동기식 CAN 통신에 사용하는 클록을 변조하는 모의실험 결과, 최대 시간격 오차는 허용치 보다 낮게 유지할 수 있는 것을 확인할 수 있었다. 본 논문에서 제안한 주파수 변조 기법은 다중 위상 선택에 의한 주파수 변조 기법을 주축으로 하고 있으며, 높은 신뢰도가 요구되는 비동기식 통신 시스템의 구현에 효과적으로 적용 가능할 것으로 기대한다.

• 한국정보통신학회논문지
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• 제11권2호
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• pp.366-373
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• 2007

본 논문에서는 핸즈프리 음성 통신의 통화 품질 개선을 위해 ALTERA Nios-II 임베디드 프로세서를 이용하여 다중채널 음성 픽업 시스템을 구현하였다. 다중채널 음성 픽업 시스템은 zero-padding을 포함한 보간기를 갖는 지연-합 빔 형성기를 이용하였다. 구현된 음성 픽업 임베디드 시스템은 컴퓨터 시뮬레이션(MATLAB)과 범용 DSP 프로세서(TMS320C6711)을 이용하여 처리한 결과와 일치하였다. 구현된 방법은 비용과 설계시 간 측면에서 이전의 설계 방법들보다 효율적이다. 설계 결과로써 하드웨어의 LE(Logic Element)는 칩 상에서 3,649/5,980(61%)을 사용하였다.

• 로봇학회논문지
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• 제19권2호
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• 항공우주기술
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• 제13권2호
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• pp.7-17
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• 2014

본 기술논문은 정지궤도위성의 탑재 궤도 생성 알고리듬 개발에 대하여 다루고 있다. 정지궤도위성 실시간 궤도 생성에 사용되었던 기존 알고리듬의 정밀도를 향상시키기 위한 연구 결과를 제시하였다. 여기서 제시한 알고리듬을 토대로 궤도 오차 요인들의 영향성 분석을 수행하였다. 분석 결과, 초기 궤도 결정 오차가 50 m 이내이고, 지상시스템과 탑재 컴퓨터에서 사용되는 위성위치각 (sidereal oscillator) 오차가 ${\pm}0.0025deg$ 이내로 유지되어야만 궤도 요구조건을 만족함을 알 수 있었다. 본 알고리듬에 대한 탑재코드 개발이 이루어졌으며, 소프트웨어 기반 검증 시뮬레이터를 사용한 성능 검증이 수행되고 있다.