• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.137-144
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• 2000

In order to achieve systematical method for improving motion accuracy of hydrostatic table, an algorithm using finite element method is proposed in this paper. Quantification of averaging effect of oil film on motion error is performed theoretically by analysis on the relationship between spacial frequency of rail form error and motion error of table. Influences of film stiffness and pocket size on the motion error of table are also analyzed theoretically. Validity of the algorithm is verified experimentally from the test on the motion error of table with three types of rail which have different form profile. Experimental results show that the algorithm is very effective to analyze theoretically the motion error of hydrostatic table.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.94.2-94
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• 2002

$\textbullet$ The method to have real-time response at the motion control. $\textbullet$ The trajectory generation method guarantees the continuous acceleration in changing the velocity during the actuator is moving. $\textbullet$ We propose the velocity profile generation algorithm in order to change object position or object velocity with continuous acceleration using blending method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1-6
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• 1989

For the design of synergistic hydraulic motion simulator, the load locus method is introduced. The given mass property of load and its velocity profile is resolved into the load locus of each actuator which decides the suitable valve and cylinder. This asymmtic cylinder and 4 way valve system have the pressure oscillation on zero velocity. The variable structure position controller which based on linearized flow equation makes elimination of the unstable pressure oscillation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.121-121
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• 2000

This paper presents a design of macro-micro system for high-speed mounting of micro-chips. A macro motion device is driven by DC servomotor and ball screw mechanism. To obtain fast response, a micro motion device utilizes a precision elector magnetic actuator In order to reduce peak impact force, We evaluate the design parameters that have an effect on it. And a characteristic of response is simulated using PID controller in velocity and force control.

• Progress in Medical Physics
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• v.26 no.3
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• pp.119-126
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• 2015

The purpose of this study is to analyze motion-induced dose error generated by each tumor motion parameters of irregular tumor motion in helical tomotherapy. To understand the effect of the irregular tumor motion, a simple analytical model was simulated. Moving cases that has tumor motion were divided into a slightly irregular tumor motion case, a large irregular tumor motion case and a patient case. The slightly irregular tumor motion case was simulated with a variability of 10% in the tumor motion parameters of amplitude (amplitude case), period (period case), and baseline (baseline case), while the large irregular tumor motion case was simulated with a variability of 40%. In the phase case, the initial phase of the tumor motion was divided into end inhale, mid exhale, end exhale, and mid inhale; the simulated dose profiles for each case were compared. The patient case was also investigated to verify the motion-induced dose error in 'clinical-like' conditions. According to the simulation process, the dose profile was calculated. The moving case was compared with the static case that has no tumor motion. In the amplitude, period, baseline cases, the results show that the motion-induced dose error in the large irregular tumor motion case was larger than that in the slightly irregular tumor motion case or regular tumor motion case. Because the offset effect was inversely proportion to irregularity of tumor motion, offset effect was smaller in the large irregular tumor motion case than the slightly irregular tumor motion case or regular tumor motion case. In the phase case, the larger dose discrepancy was observed in the irregular tumor motion case than regular tumor motion case. A larger motion-induced dose error was also observed in the patient case than in the regular tumor motion case. This study analyzed motion-induced dose error as a function of each tumor motion parameters of irregular tumor motion during helical tomotherapy. The analysis showed that variability control of irregular tumor motion is important. We believe that the variability of irregular tumor motion can be reduced by using abdominal compression and respiratory training.

• International Journal of Fluid Machinery and Systems
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• v.2 no.4
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• pp.363-374
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• 2009

The 2D flow around 13 similar stay-vane profiles with different trailing edge geometries is investigated to determinate the main characteristics of the excitation forces for each one of them and their respective dynamic behaviors when modeled as a free-oscillating system. The main goal is avoid problems with cracks of hydraulic turbines components. A stay vane profile with a history of cracks was selected as the basis for this work. The commercial finite-volume code $FLUENT^{(R)}$ was employed in the simulations of the stationary profiles and, then, modified to take into account the transversal motion of elastically mounted profiles with equivalent structural stiffness and damping. The k-$\omega$ SST turbulence model is employed in all simulations and a deforming mesh technique used for models with profile motion. The static-model simulations were carried out for each one of the 13 geometries using a constant far field flow velocity value in order to determine the lift force oscillating frequency and amplitude as a function of the geometry. The free-oscillating stay-vane simulations were run with a low mass-damping parameter ($m^*{\xi}=0.0072$) and a single mean flow velocity value (5m/s). The structural bending stiffness of the stay-vane is defined by the Reduced Velocity parameter (Vr). The dynamic analyses were divided into two sets. The first set of simulations was carried out only for one profile with $2{\leq}Vr{\leq}12$. The second set of simulations focused on determining the behavior of each one of the 13 profiles in resonance.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.5
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• pp.7-15
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• 2009

This paper introduces a new variable valve actuation mechanism with movable second cam center. Valve lift and open duration can be continuously varied according to engine speed and load conditions. A new method to analyze the kinematic relations between the first and second cam profiles and valve motion are also introduced. Because of rocker motion of the second cam, conventional motion conversion program could not be used in this problem. An example shows continuous variations of valve motion and adequate ramp incorporation throughout all valve lift modes. Valve acceleration profile at the high lift mode is similar to that of conventional valvetrains. Contact geometry analysis of the mechanism gives basic information on the load conditions between the components.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.62-68
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• 2004

Effectiveness of a corrective machining algorithm, which can construct the proper machining information to improve motion errors utilizing measured motion errors, is verified experimentally in this paper, Corrective machining process is practically applied to single and double side hydrostatic bearing tables. Lapping process is applied as a machining method. The machining information is obtained from the measured motion errors by applying the algorithm, without any information on the rail profile. In the case of the single-side table, after 3 times of corrective remachining, linear and angular motion errors are improved up to 0.13 $\mu\textrm{m}$ and 1.40 arcsec from initial error of 1.04 $\mu\textrm{m}$ and 22.71 arcsec, respectively. In the case of the double-side table, linear and angular motion error are improved up to 0.07 /$\mu\textrm{m}$ and 1.42 arcsec from the initial error of 0.32 $\mu\textrm{m}$ and 4.14 arcsec. The practical machining process is performed by an unskilled person after he received a preliminary training in machining. Experimental results show that the corrective machining algorithm is very effective and easy to use to improve the accuracy of hydrostatic tables.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.3
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• pp.315-320
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• 2006

There are many types of reduction drives for industrial applications. In general, high precision speed reducer which has a cycloid or involute teeth profile, used to in robot. Because, it is essential to use precision reduction drives for accuracy of position control on robot system. In this paper, we propose a robot speed reducer(RSR) with straight line teeth profile, which has basically a triangle teeth profile. In new straight line teeth profile, we have a good result for strength, stress and stiffness by using finite element analysis and the results indicate that variation of eccentric coefficient affects the optimal tooth motion, and it can lower the stress and noise.