• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.1
• /
• pp.49-55
• /
• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• The korean journal of orthodontics
• /
• v.36 no.1 s.114
• /
• pp.1-13
• /
• 2006

Three-dimensional (3-D) laser scans can provide a 3-D image of the face and it is efficient in examining specific structures of the craniofacial soft tissues. Due to the increasing concerns with the soft tissues and expansion of the treatment range, a need for 3-D soft tissue analysis has become urgent. Therefore, the purpose of this study was to evaluate the scanning error of the Vivid 900 (Minolta, Tokyo, Japan) 3-D laser scanner and Rapidform program (Inus Technology Inc., Seoul, Korea) and to evaluate the mean error and the magnification percentage of the image obtained from 3-D laser scans. In addition, soft tissue landmarks that are easy to designate and reproduce in 3-D images of normal, Class II and Class III malocclusion patients were obtained. The conclusions are as follows; scanning errors of the Vivid 900 3-D laser scanner using a manikin were 0.16 mm in the X axis, 0.15 mm in the Y axis, and 0.15 mm in the Z axis. In the comparison of actual measurements from the manikin and the 3-D image obtained from the Rapidform program, the mean error was 0.37 mm and the magnification was 0.66%. Except for the right soft tissue gonion from the 3-D image, errors of all soft tissue landmarks were within 2.0 mm. Glabella, soft tissue nasion, endocanthion, exocanthion, pronasale, subnasale, nasal alare, upper lip point, cheilion, lower lip point, soft tissue B point, soft tissue pogonion, soft tissue menton and preaurale had especially small errors. Therefore, the Rapidform program can be considered a clinically efficient tool to produce and measure 3-D images. The soft tissue landmarks proposed above are mostly anatomically important points which are also easily reproducible. These landmarks can be beneficial in 3-D diagnosis and analysis.

• Journal of Technologic Dentistry
• /
• v.45 no.1
• /
• pp.1-7
• /
• 2023

Purpose: To evaluate the marginal and internal fit of metal coping fabricated by a metal three-dimensional (3D) printer that uses selective laser melting (SLM). Methods: An extraoral scanner was used to scan a die of the prepared maxillary right first molar, and the coping was designed using computer-aided design software and saved as an stereo lithography (STL) file. Ten specimens were printed with an SLM-type metal 3D printer (SLM group), and 10 more specimens were fabricated by casting the castable patterns output generated by a digital light processing-type resin 3D printer (casting the 3D printed resin patterns [CRP] group). The fit was measured using the silicon replica technique, and 8 points (A to H) were set per specimen to measure the marginal (points A, H) and internal (points B~G) gaps. The differences among the groups were compared using the Mann-Whitney U-test (α=0.05). Results: The mean of marginal fit in the SLM group was 69.67±18.04 ㎛, while in the CRP group was 117.10±41.95 ㎛. The internal fit of the SLM group was 95.18±41.20 ㎛, and that of the CRP group was 86.35±32 ㎛. As a result of statistical analysis, there was a significant difference in marginal fit between the SLM and CRP groups (p<0.05); however, there was no significant difference in internal fit between the SLM group and the CRP group (p>0.05). Conclusion: The marginal and internal fit of SLM is within the clinically acceptable range, and it seems to be applicable in terms of fit.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2009.06a
• /
• pp.456-456
• /
• 2009

Boron doping on an n-type Si wafer is requisite process for IBC (Interdigitated Back Contact) solar cells. Fiber laser annealing is one of boron doping methods. For the boron doping, uniformly coated or deposited film is highly required. Plasma enhanced chemical vapor deposition (PECVD) method provides a uniform dopant film or layer which can facilitate doping. Because amorphous silicon layer absorption range for the wavelength of fiber laser does not match well for the direct annealing. In this study, to enhance thermal affection on the existing p-a-Si:H layer, a ${\mu}c$-Si:H intrinsic layer was deposited on the p-a-Si:H layer additionally by PECVD. To improve heat transfer rate to the amorphous silicon layer, and as heating both sides and protecting boron eliminating from the amorphous silicon layer. For p-a-Si:H layer with the ratio of $SiH_4$ : $B_2H_6$ : $H_2$ = 30 : 30 : 120, at $200^{\circ}C$, 50 W, 0.2 Torr for 30 minutes, and for ${\mu}c$-Si:H intrinsic layer, $SiH_4$ : $H_2$ = 10 : 300, at $200^{\circ}C$, 30 W, 0.5 Torr for 60 minutes, 2 cm $\times$ 2 cm size wafers were used. In consequence of comparing the results of lifetime measurement and sheet resistance relation, the laser condition set of 20 ~ 27 % of power, 150 ~ 160 kHz, 20 ~ 50 mm/s of marking speed, and $10\;{\sim}\;50 {\mu}m$ spacing with continuous wave mode of scanner lens showed the correlation between lifetime and sheet resistance as $100\;{\Omega}/sq$ and $11.8\;{\mu}s$ vs. $17\;{\Omega}/sq$ and $8.2\;{\mu}s$. Comparing to the singly deposited p-a-Si:H layer case, the additional ${\mu}c$-Si:H layer for doping resulted in no trade-offs, but showed slight improvement of both lifetime and sheet resistance, however sheet resistance might be confined by the additional intrinsic layer. This might come from the ineffective crystallization of amorphous silicon layer. For the additional layer case, lifetime and sheet resistance were measured as $84.8\;{\Omega}/sq$ and $11.09\;{\mu}s$ vs. $79.8\;{\Omega}/sq$ and $11.93\;{\mu}s$. The co-existence of $n^+$layeronthesamesurfaceandeliminating the laser damage should be taken into account for an IBC solar cell structure. Heavily doped uniform boron layer by fiber laser brings not only basic and essential conditions for the beginning step of IBC solar cell fabrication processes, but also the controllable doping concentration and depth that can be established according to the deposition conditions of layers.

• KOREAN JOURNAL OF CROP SCIENCE
• /
• v.50 no.spc1
• /
• pp.228-230
• /
• 2005

The denature polyacrylamide gel stain silver nitrate is used for routine nucleic acid detection. More sensitive stains, such as Vistra Green, SYBR Green are available to address a broad range of DNA applications requiring lower detection limits in polyacrylamide gel formats. Gel Scanners, laser-scanning instruments, provide sensitive fluorescence detection of DNA gel stains. We established one step fluorescent impregnation enhanced sensitivity with simple, rapid and low cost. We have applied this fluorescent staining procedure for the routine analysis of DNA profiles generated by SSR amplification.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.6
• /
• pp.513-520
• /
• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• The Journal of Korea Robotics Society
• /
• v.11 no.3
• /
• pp.115-126
• /
• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

• The Journal of Korea Robotics Society
• /
• v.14 no.2
• /
• pp.87-93
• /
• 2019

This paper presents a 6-DOF relocalization using a 3D laser scanner and a monocular camera. A relocalization problem in robotics is to estimate pose of sensor when a robot revisits the area. A deep convolutional neural network (CNN) is designed to regress 6-DOF sensor pose and trained using both RGB image and 3D point cloud information in end-to-end manner. We generate the new input that consists of RGB and range information. After training step, the relocalization system results in the pose of the sensor corresponding to each input when a new input is received. However, most of cases, mobile robot navigation system has successive sensor measurements. In order to improve the localization performance, the output of CNN is used for measurements of the particle filter that smooth the trajectory. We evaluate our relocalization method on real world datasets using a mobile robot platform.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.5 s.182
• /
• pp.143-148
• /
• 2006

It is still very difficult to generate a geometry model and finite element model, which has complex and many free surface, even though 3D CAD solutions are applied. Furthermore, in the medical field, which is a big growth area of recent years, there is no drawing. For these reasons, making a geometry model, which is used in finite element analysis, is very difficult. To resolve these problems and satisfy the requests of the need to create a 3D digital file for an object where none had existed before, new technologies are appeared recently. Among the recent technologies, there is a growing interest in the availability of fast, affordable optical range laser scanning. The development of 3D laser scan technology to obtain 3D point cloud data, made it possible to generate 3D model of complex object. To generate CAD and finite element model using point cloud data from 3D scanning, surface reconstruction applications have widely used. In the early stage, these applications have many difficulties, such as data handling, model creation time and so on. Recently developed point-based surface generation applications partly resolve these difficulties. However there are still many problems. In case of large and complex object scanning, generation of CAD and finite element model has a significant amount of working time and effort. Hence, we concerned developing a good direct finite element model generation method using point cloud's location coordinate value to save working time and obtain accurate finite element model.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.21 no.7
• /
• pp.629-637
• /
• 2008

We report several experimental data capable of evaluating the amorphous-to-crystalline (a-c) phase transformation in $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ (x = 0, 0.05, 0.1) thin films prepared by a thermal evaporation. The isothermal a-c structural phase changes were evaluated by XRD, and the optical transmittance was measured in the wavelength range of $800{\sim}3000$ nm using a UV-vis-IR spectrophotometer. A speed of the a-c transition was evaluated by detecting the reflection response signals using a nano-pulse scanner with 658 nm laser diode (power P = $1{\sim}17$ mW, pulse duration t = $10{\sim}460$ ns). The surface morphology and roughness of the films were imaged by AFM. It was found that the crystallization speed was so enhanced with an increase of Ag content. While the sheet resistance of c-phase $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ was similar to that of c-phase $Ge_2Sb_2Te_5$ (i.e., $R_c{\sim}10{\Omega}/{\square}$), the sheet resistance of a-phase $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ was found to be lager than that of a-phase $Ge_2Sb_2Te_5$, $R_a{\sim}5{\times}10^6{\Omega}{/\square}$. For example, the ratios of $R_a/R_c$ for $Ge_2Sb_2Te_5$ and $(Ag)_{0.1}(Ge_2Sb_2Te_5)_{0.9}$ were approximately $5{\times}10^5$ and $5{\times}10^6$, respectively.