• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.289-290
• /
• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• The Journal of Advanced Prosthodontics
• /
• 제15권6호
• /
• pp.290-301
• /
• 2023

PURPOSE. The study aimed to determine the influence of implant angulation on the trueness of multi-unit implant impressions taken through different techniques and strategies. MATERIALS AND METHODS. As reference models, three partially edentulous mandibular models (Model 1: No angulation; Model 2: No angulation for #33, 15-degree distal angulation for #35 and #37; Model 3: No angulation for #33, 25-degree distal angulation for #35 and #37) were created by modifying the angulations of implant analogues. Using a lab scanner, these reference models were scanned. The obtained data were preserved and utilized as virtual references. Three intraoral scanning (IOS) strategies: IOS-Omnicam, ISO-Quadrant, and IOS-Consecutive, as well as two traaditional techniques: splinted open tray (OT) and closed tray (CT), were used to create impressions from each reference model. The best-fit alignment approach was used to sequentially superimpose the reference and test scan data. Computations and statistical analysis of angular (AD), linear (LD), and 3D deviations (RMS) were performed. RESULTS. Model type, impression technique, as well as interaction factor, all demonstrated a significant influence on AD and LD values for all implant locations (P < .05). The Model 1 and SOT techniques displayed the lowest mean AD and LD values across all implant locations. When considering interaction factors, CT-Model 3 and SOT-Model 1 exhibited the highest and lowest mean AD and LD values, respectively. Model type, impression technique, and interaction factor all revealed significant effects on RMS values (P ≤ .001). CT-Model 3 and SOT-Model 1 presented the highest and lowest mean RMS values, respectively. CONCLUSION. Splinted-OT and IOS-Omnicam are recommended for multi-unit implant impressions to enhance trueness, potentially benefiting subsequent manufacturing stages.

• 지질공학
• /
• 제22권1호
• /
• pp.1-13
• /
• 2012

본 연구에서는 퇴적암지역에서 발달하는 지질구조들이 비탈면의 안정성에 어떠한 영향을 미치는지를 이해하고자 하였다. 연구지역과 같이 퇴적암지역 비탈면의 경우, 도로 양쪽의 비탈면이 층리의 경사방향에 따라 매우 다른 양상을 보인다. 또한 단층대가 존재하는 경우에는 보강공사가 완료된 후에도 지속적인 파괴가 관찰되고 있었다. 하지만 대부분의 대규모 단층에서 비탈면 안정성 조사 시 단층대를 정확하게 인지하기 어려워 새로운 누적절리밀도를 통한 단층대 인지방법을 제안하였다. 또한 최근 대규모 공사로 인하여 많은 비탈면들이 다면비탈면의 형태로 나타나는 경우가 많다. 이 경우 일정한 주향을 가진 대표비탈면들의 방향에 따라 구간을 설정하고, 이를 바탕으로 비탈면 안정성 분석을 실시하여, 각 구간에 따라 다른 비탈면 안정성 평가가 이루어져야 하는 예를 보여주었다. 따라서 퇴적암지역에서의 비탈면설계 시 층리와 불연속면의 방향 그리고 이들 사이의 상관관계 등 지질구조들의 발달특성을 잘 고려한다면 공사단계에서도 작업의 효율을 높일 수 있고, 공사 후에도 비탈면의 안정성을 높일 수 있을 것으로 판단된다.

• International Journal of Aeronautical and Space Sciences
• /
• 제8권1호
• /
• pp.10-20
• /
• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• 한국운동역학회지
• /
• 제15권3호
• /
• pp.143-152
• /
• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.142-145
• /
• 2003

Many control applications using Neural Network need a priori information about the objective system. But it is impossible to get exact information about the objective system in real world. To solve this problem, several control methods were proposed. Reinforcement learning control using neural network is one of them. Basically reinforcement learning control doesn't need a priori information of objective system. This method uses reinforcement signal from interaction of objective system and environment and observable states of objective system as input data. But many methods take too much time to apply to real-world. So we focus on faster learning to apply reinforcement learning control to real-world. Two data types are used for reinforcement learning. One is reinforcement signal data. It has only two fixed scalar values that are assigned for each success and fail state. The other is observable state data. There are infinitive states in real-world system. So the number of observable state data is also infinitive. This requires too much learning time for applying to real-world. So we try to reduce the number of observable states by classification of states with Self-Organizing Map. We also use neural dynamic programming for controller design. An inverted pendulum on the cart system is simulated. Failure signal is used for reinforcement signal. The failure signal occurs when the pendulum angle or cart position deviate from the defined control range. The control objective is to maintain the balanced pole and centered cart. And four states that is, position and velocity of cart, angle and angular velocity of pole are used for state signal. Learning controller is composed of serial connection of Self-Organizing Map and two Multi-layer Feed-Forward Neural Networks.

• 한국지능시스템학회논문지
• /
• 제15권4호
• /
• pp.457-466
• /
• 2005

본 논문에서는 다중 입$\cdot$출력을 갖는 이동 로봇의 경로 추종을 위해 웨이블깃 신경 회로망에 기반한 예측 제어 방법을 제안한다. 제안된 방법에서 상태 예측기로는 학습 능력이 뛰어난 신경 회로망의 특성 및 웨이블릿 분해의 특성을 합성한 웨이블릿 신경 회로망을 사용한다. 예측기는 경사 하강법을 사용하여 웨이블릿 신경회로망의 출력에 대한 실제 이동 로봇의 상태 오차를 최소화하도록 학습된다. 또한 이동 로봇의 제어 신호인 직진 속도 및 각속도는 추종하고자 하는 기준 경로에 대한 이동 로봇의 예측 상태 오차를 이용하여 정의된 비용 함수를 최소화하도록 구해진다. 컴퓨터 모의 실험에서 변화되는 기준 경로에 대한 경로 추종 성능을 통해 제안한 예측 제어 시스템의 적용 가능성 및 효율성을 보인다.

• 정보처리학회논문지B
• /
• 제14B권3호
• /
• pp.191-198
• /
• 2007

본 논문에서는 거동이 불편한 환자를 위하여 주변 환경에 놓여 있는 기기들에 대한 제어와 간호사를 호출하는 간단한 의사소통 등을 위한 몇 가지 사각형 형태의 마커를 제시하고 이 마커들을 카메라 영상으로부터 검출하고 인식하는 방법을 제안한다. 본 논문에서는 사각형 형태의 마커 검출을 위하여 다중 임계값을 사용하여 입력 영상을 이진 영상으로 변환하고 객체들의 윤곽선을 추출한 다음에 윤곽선을 선분으로 근사화한다. 근사화 된 선분으로부터 기하학적 특징을 이용하여 사각형을 찾는다. 마커의 사각형 영역을 찾은 다음에는 워핑 기법을 이용하여 사각형 마커 영상을 정사각형 형태로 정규화한다. 마커 영상을 정규화한 다음에는 주성분 분석을 통하여 마커 영상으로부터 특징 벡터를 추출하고 마커의 종류를 인식한다. 본 논문의 시스템은 다중 임계값을 이용하여 조명에 견고하며 워핑 기법과 주성분 분석을 이용하여 촬영 각도에 견고하다. 총 21개의 마커를 설계하여 인식 실험한 결과 최대 100%의 인식률을 얻을 수 있었고 초당 12프레임의 수행속도로 조명과 각도 변화에 견고한 인식 결과를 얻을 수 있었다.

• 정보보호학회논문지
• /
• 제13권2호
• /
• pp.81-89
• /
• 2003

정보통신의 급속한 발전으로 정보의 온라인 유통이 급증하고 있으며 이에 따른 유통 정보에 대한 보호가 중요해지고 있다. 현재 공개키 기반구조(Public Key Infrastructure, PKI)는 전자상거래를 위한 정보보호 기반구조로써 많이 활용되고 있으며 스마트카드는 공개키 기반구조를 가장 잘 적용할 수 있다. 그러나 공개키 기반의 인증서는 사용자의 인증 정보만을 제공하기 때문에 사용자의 본인확인 및 권한 정보가 필요한 응용에서는 그 사용이 제한적일 수밖에 없으며 스마트카드의 위·변조 가능성 또한 존재하고 있다. 이의 해결을 위해 본 논문에서는 인증서 유효성 검증만으로 해결할 수 혀는 스마트카드의 위·변조에 대한 가능성을 광영상 암호화 기법인 각 다중화와 암호키다중화를 사용하여 위·변조를 방지하였고, 위·변조 시 이를 검증할 수 있도록 하였다. 또한, 보안성과 이동성이 뛰어난 스마트카드와 결합한 공개키 인증기반의 본인확인 기법을 제안하여 다중 인증 체계의 새로운 보안 인증시스템을 제안하였다.

• 천문학회보
• /
• 제45권1호
• /
• pp.42.2-42.2
• /
• 2020

We report on multi-wavelength observations of AA Ori, a Young Stellar Object in Orion-A star-forming region. AA Ori is known to have a pre-transitional disk based on infrared observations including Spitzer/IRS data. We construct its broadband spectral energy distribution (SED) by not only taking data in the optical and IR region but also including Herschel/PACS, JCMT/SCUBA, and SMA observational data. We use the Monte Carlo radiative transfer code (RADMC-3D) to reconstruct the SED with a viscous accretion disk model initialized by a radially continuous disk and finally having an inner and outer dusty disk separated by a dust-depleted radial gap. By comparing the model SEDs with different configurations of disk parameters, we discuss the limits to find a single solution of model parameters to fit the data. We suggest that some models with a modified inner disk surface density gradient and some degree of dust depletion in the inner disk can explain the AA Ori's SED, from which we infer that the inner disk of AA Ori has evolved. We present that model configurations of a pre-transitional disk with a large gap extended to 60-80 AU in a settled dusty disk of a few hundred AU size with a high inclination angle (~60°) also create model SEDs close to the observed one. To distinguish whether the disk has a just-opened narrow gap or a large gap, with an altered surface density of the inner disk extended to 10 AU, we suggest a further investigation of AA Ori with high angular resolution observations.