• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.457-458
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• 2006

A method for obtaining smooth, jerk bounded feed rate profile in high speed machining has been developed. This study proposes a NURBS interpolator based on adaptive feed rate control with a well developed look ahead algorithm which takes into account the machining dynamics as well. Limitation of jerk and proportional torque rate result in smoothened loads on the machine which effectively reduces excitation of the resonant frequencies of the machine. It is found that the values of the feed rate of the down stream sharp corner have profound effect on the feed rate of the upstream sharp corners. By using a windowing scheme the feed rate profile obtained after look ahead method is re-interpolated to reduce the jerk related problems. This is compared with the adaptive NURBS interpolator to show the effectiveness of the proposed method. Simulation results indicate that the consideration of 'ripple effect' is important in avoiding jerk and thereby increasing the machining accuracy.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.365-369
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• 2002

This paper introduces that the machine tools's feed system optimizes by modeling for simulation and adjusting drive control parameter. The first method is frequency response of speed loop with design parameter by use of MATLAB application, in order that other axis can do equal to bandwidth. The second meted uses various sensor for analyzing machine tools's structure and adjustes jirk limitter.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.3
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• pp.17-24
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• 2003

One of the most important performance criteria related to the gain tuning of controller for CNC machining center is the contour error. This study analyzed circular error by the axis-matched and mismatched cases. To reduce ellipse and radius error, it is necessary to set the gain for each axis to be same bandwidth and high response. Based on the analysis in the frequency domain, we simulate feed system by mathematical model and then predict bandwidth of each axis. For analysis of structure vibration while the each axis is moving, we try the various of measuring method and position loop is improved by jerk limit.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.6
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• pp.56-63
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• 2004

The real-time NURBS interpolation method using 2-stage interpolation is studied. The 2-stage interpolation method that compensates for interpolation errors within machine BLU is proposed. The interpolation result was filtered by an Acceleration/Jerk limitation equation. Through this 2-stage interpolation, both the interpolation error condition and the motion kinematics could be satisfied. Using computer simulation in which interpolation results are evaluated by a numerical iteration method, it is shown that the 2-stage interpolation algerian could interpolate target curves precisely with geometric and dynamic contentment. The proposed algorithm was implemented in the CNC simulator system and an experimental un was conducted to identify the real-time adaptation.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.995-1006
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• 1989

If robots have the ability to track the parts on a moving conveyor belt, the efficiency of the manipulation tasks will be increased. This paper presents a motion planning algorithm for conveyor tracking. Tracking trajectory of a robot manipulator is determined by belt speed, initial part position, and initial robot position. Torque limit, maximum velocity, maximum acceleration and maximum jerk are also taken into account. To obtain the tracking solution, the problem is converted to the linear quadratic tracking problem. We describe the manipulator dynamics as second order state equation using parametric functions. Constraints on torques and smoothness are converted to those on input and state variables. The solution of the state equation which minimizes the performance index is obtained by dynamic programming method. Numerical examples are then presented to demonstrate the utility of the motion planning method developed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.8
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• pp.639-651
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• 2018

An analytical solution to generate attitude command profile for agile spacecraft is proposed. In realistic environment, obtaining analytical minimum-time optimal solution is very difficult because of following constraints-: 1) actuator saturation, 2) flexible mode excitation, 3) uplink command bandwidth limit. For that reasons, this paper applies two simplifications, an eigen-axis rotation and a finite-jerk approximated profile, to derive the solution in an analytical manner. The resulting attitude profile can be used as a feedforward or reference input to on-board attitude controller, and it can enhance spacecraft agility. Equations of attitude command profile are derived in two general boundary conditions: rest-to-rest maneuver and spin-to-spin maneuver. Simulation results demonstrate that the initial and final boundary conditions, in terms of time, attitude, and angular velocities, are well satisfied with the proposed analytical solution. The derived attitude command generation algorithm may be used to minimize a number of parameters to be uploaded to spacecraft or to automate a sequence of attitude command generation on-board.

• Journal of Oral Medicine and Pain
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• v.30 no.4
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• pp.433-446
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• 2005

The purpose of this study was to investigate the sociopsychological factors which might influence the course of the temporomandibular disorders and to develop models for prediction of treatment outcome related to pain, dysfunction and sound. For this study, 268 patients with temporomandibular disorders were selected from the patients presented to department of Oral Medicine, Wonkwang university dental hospital. Chief complaints of these subjects were largely grouped into three categories such as pain, dysfunction and sound, and 10 cm visual analogue scale(VAS) was used to record the state of the three complaints every visit and Treatment Index(VAS TI) was calculated from VAS. All the forty-two items obtained from clinical examination or questionnaire were statistically processed with $SPSS^{(R)}$ windows. The results of this study were as follows: 1. The items showed a difference between male and female subjects were maximum mouth opening, palpation score, jaw jerk during mandibular movement, and sleep disturbance. Among questionnaires such as SRRS, HAD scale and PSQI, the HAD scales showed the most highly significant correlation with the each scale item of the SCL-90R. 2. Among the groups classified by VAS TI, the group with the lowest VAS TI showed the highest VAS score in the start of treatment but showed the lowest score in the end of treatment, without respect to the type of chief complaint. From these results, it is assumed that the active treatment duration for the subjects with lower VAS score in the first visit would be longer than the subjects with higher score with the somewhat poor treatment outcome. 3. With regard to all the three complaints, the items showing significant effect in the model for prediction of treatment outcome were from questionnaire, except one item, maximum mouth opening, which suggest that the sociopsychological factors would be strongly related to development and progress of the symptoms.

• Economic and Environmental Geology
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• v.48 no.1
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• pp.51-63
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• 2015

I produced a secular variation model of geomagnetic field by using the magnetic component data from four geomagnetic observatories located in Northeast Asia during the years between 1997 and 2011. The Earth's magnetic field varies with time and location due to the dynamics of fluid outer core and the magnetic observatories on the surface measure in time series. To adequately represent the magnetic field or secular variations of the Earth, a spatio-temporal model is required. In making a global model, satellite observations as well as limited observatory data are necessary to cover the regions and time intervals. However, you need a considerable work and time to process a huge amount of the dataset with complicated signal separation procedures. When you update the model, the same amount of chores is demanded. Besides, the global model might be affected by the measurement errors of each observatory that are biased and the processing errors in satellite data so that the accuracy of the model would be degraded. In this study, as considered these problems, I introduced a localized method in modeling secular variation of the Earth's magnetic field over Northeast Asia region. Secular variation data from three Japanese observatories and one Chinese observatory that are all in the INTERMAGNET are implemented in the model valid between 1997 to 2011 with the interval of 6 months. With the resulting model, I compared with the global model called CHAOS-4, which includes the main, secular variation and secular acceleration models between 1997 to 2013 by using the three satellites' databases and INTERMAGNET observatory data. Also, the geomagnetic 'jerk' which is known as a sudden change in the time derivatives of the main field of the Earth, was discussed from the localized secular acceleration coefficients derived from spline models.