• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.263-268
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• 1999

The most important things to the tube the of the heat exchanger are the precision of t hole position and the quality of the drill face. Nowadays, 6 and 12 spindle multi-drilling machine controlled by CNC or used to drill holes of the tube sheet. The drilling of 12 axes can offer high speover three times as fast as the drilling of axis. However, the drilling of 12 axes h difficulty in controlling many motors to d spindles and assigning a corresponded numbe accurately to each axis. In the past, conventional method to inspect the code the drilling was machining holes on a thin plate previously which resulted in the productivity because it required a h production cost by machining and weldin time. In this thesis, there are two drilling codes different from CNC code. M code is used to control many motors and S code is used to assign a correspondent number for each axis. For increasing the productivity by removing process, this paper is intended to take simulation of the drill machining c including 6 and 12 axis on the persona computer.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.158-161
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• 2003

Recently, the evolution in production techniques (e.g. high-speed milling), the complex shapes involved in modem production design, and the ever increasing pressure for higher productivity demand a drastic improvement of the dynamic behavior of the machine tool axes used in production machinery. And also machine tools of multi functional and minimized parts are increasingly required as demand of higher accurate in some fields such as electronic and optical components etc. The accuracy and the productivity of machined parts are natural to depend on the linear system of machine tools. The complex workpiece surfaces encountered in present-day products and generated by CAD systems are to be transformed into tool paths for machine tools. The more complex these tool paths and the higher the speed requirements, the higher the acceleration requirements are needed to the machine tool axes and the motion control system, and the more difficult it is to meet the requirements. The traditional indirect drive design for high speed machine tools, which consists of a rotary motor with a ball-screw transmission to the slide, is limited in speed, acceleration, and accuracy. The direct drive design of machine tool axes. which is based on linear motors and which recently appeared on the market. is a viable candidate to meet the ever increasing demands, because of these advantages such as no backlash, less friction, no mechanical limitations on acceleration and velocity and mechanical simplicity. Therefore performance tests were carried out to machine tool axes based on linear motor. Especially, dynamic characteristics were investigated through circular test.

• 한국통신학회논문지
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• 제37권1C호
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• pp.45-53
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• 2012

본 논문에서는 스마트그리드 환경에서 적용되고 있는 ZigBee 무선 통신 환경의 주소 지정 방식과 라우팅 알고리즘의 성능을 향상시키기 위한 새로운 좌표 값 알고리즘을 제안하였다. 기존 $Cskip$ 알고리즘을 이용한 분산 주소 할당 기법의 낭비되는 주소공간의 문제를 해결하기 위해 (x,y,z) 3개의 좌표 축을 제안하여 16bit 주소공간을 분할하여 사용한다. 각 노드에서 라우팅 시 좌표 값을 이용하여 적은 비트별 연산이 수행되며 멀티 홉을 감소시킬 수 있다. 이에 대한 성능 분석으로 제안한 알고리즘은 수학적 분석 모델을 사용하였고 ZigBee 무선 통신 환경의 계층적 라우팅에서 사용하는 경로 벡터를 사용하여 센서 노드의 멀티 홉 카운트 결과를 도출하였다. 수학적 분석 결과 ZigBee 분산 주소 할당 기법과 기존 알고리즘에 비해 평균 멀티 홉의 수가 감소함으로써 에너지 효율이 향상됨을 입증하였다.

• 대한기계학회논문집A
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• 제25권1호
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• pp.32-38
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• 2001

This paper presents an approximate synthesis of 5-SS multi link suspension for 2 D.O.F motions. In the proposed synthesis method, alteration curves of camber, toe, kingpin and caster angles are optimized during the bump rebound and the steering motions. And joint positions can be located within desired boundari es. Especially, steering motions are considered for control of kingpin offset and caster trail. Prescribed motions contain both wheel center positions and imaginary kingpin axes in the multi link type suspension. Constraint equations are formulated with di splacement matrix and velocity matrix using instantaneous screw axis.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• 한국정밀공학회지
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• 제27권4호
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• pp.53-62
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• 2010

This study introduces about development of multi-DOF ultrasonic motor that are composed of a bar-shaped stator and a spherical rotor. The ultrasonic motor is a motor which is operated by vibrations over frequency of 20kHz. The multi-DOF ultrasonic motor will be developed by expanding the basic theory of existing 1-DOF ultrasonic motor. It can generate 3-DOF rotation of the rotor around perpendicular axes using 3 vibration modes of stator. By using finite element methods, the optimal dimension of stator is decided and made the components of stator. When we apply the multi-DOF ultrasonic motor composed of rotor and stator to the driving test system, it will be checked whether the motor can be driven at the direction of 3-DOF or not. And it is proposed how the simulation of square bar shaped multi-DOF ultrasonic motor is accomplished.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.129.1-129
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• 2001

In this paper, we present an approach for matching images from finding interesting points and applying new image interpolation algorithm. New algorithms are developed that automatically align the input images match them and reconstruct 3-D surfaces. The interpolation algorithm is designed to cope with simple shapes. The proposed image interpolation algorithm generate a rotation image about vertical axes by an any angle from 4 base images. Each base image that was obtained from CCD camera has an angle difference of 90$^{\circ}$ The proposed image interpolation algorithm use the geometric analysis of image and depth information.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1510-1511
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• 2007

In this study quantifying techniques of ELF magnetic fields arising from currunt carrying indoor-conductor are proposed. These techniques can be applied to line-conductor with finite length and any configuration. Since each component of magnetic field in rectangular axes system is seperated, the resultant magnetic field can be caculated for multi-conductor system through these techniques.

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• 한국컴퓨터정보학회논문지
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• 제17권10호
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• pp.89-98
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• 2012

본 논문에서는 스마트그리드 환경에서 적용되고 있는 ZigBee 무선 통신 환경의 주소 지정 방식과 라우팅 알고리즘의 성능을 향상시키기 위한 새로운 좌표 값 알고리즘을 제안하였다. 수천 개의 네트워크 크기와 16비트 주소 할당은 빈번한 주소 충돌로 매우 혼잡스러울 수 있다. 따라서 16비트 주소 공간을 분할하여 사용하는 (x, y, z) 좌표축 주소 구조와 라우팅을 제안한다. (x, y) 좌표축 주소 할당은 센서노드가 지리적으로 가까운 라우터에게 연결되어 있어야 하기 때문에, 어떤 라우터는 많은 수의 하위 노드를 가질 수 없다는 문제점을 가지기 때문이다. 또한 제안한 주소 구조를 사용한 위치 기반 라우팅 알고리즘을 제안한다. 그 결과 각 노드에서 라우팅 시 적은 비트 연산과 멀티 홉을 감소시킬 수 있었고, 효과적인 주소 할당과 라우팅은 네트워크의 각 노드의 에너지 소비를 최소화 했다.