• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.1036-1041
• /
• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• 대한기계학회논문집B
• /
• 제30권5호
• /
• pp.446-456
• /
• 2006

The effect of relative position of the stationary turbine blade for the fixed vane has been investigated on blade tip and shroud heat transfer. The local mass transfer coefficients were measured on the tip and shroud fur the blade fixed at six different positions within a pitch. A low speed stationary annular cascade with a single turbine stage was used. The chord length of the tested blade is 150 mm and the mean tip clearance of the blade having flat tip is 2.5% of the blade chord. A naphthalene sublimation technique was used for the detailed mass transfer measurements on the tip and the shroud. The inlet flow Reynolds number based on chord length and incoming flow velocity is fixed to $1.5{\times}10^5$. The results show that the incoming flow condition and heat transfer characteristics significantly change when the relative position of the blade changes. On the tip, the size of high heat/mass transfer region along the pressure side varies in the axial direction and the difference of heat transfer coefficient is up to 40% in the upstream region of the tip because the position of flow reattachment changes. On shroud, the effect of tip leakage vortex on the shroud as well as tip gap entering flow changes as the blade position changes. Thus, significantly different heat transfer patterns are observed with various blade positions and the periodic variation of heat transfer is expected with the blade rotation.

• 한국정밀공학회지
• /
• 제28권5호
• /
• pp.591-598
• /
• 2011

Tip position control of a flexible cantilever is difficult due to the non-minimum phase dynamics that result from the finite propagating speed of a mechanical wave along the cantilever. In this paper, we propose a method for the tip position control using a light and cheap accelerometer that does not bring any significant change to the dynamics of the cantilever system. The linear system identification model of the flexible cantilever is obtained with measurements by a laser displacement sensor. A Kalman estimator is designed with this model and calculates the estimated tip position with the acceleration data of the accelerometer that is attached on the tip of the cantilever. To verify reliability of the estimator, the estimated tip position is used to the feedback control system that uses a fuzzy logic controller. The control results are compared with those of the fuzzy control system where the real tip position is measured by a laser displacement sensor. Also, the performance of the estimator with the accelerometer is presented and discussed.

• 대한치과재료학회지
• /
• 제45권4호
• /
• pp.275-286
• /
• 2018

본 연구에서는 근관 내의 주사침 말단의 위치, 근관 세척액의 주입 속도, 주사침 말단의 형상이 근관 세척 시 발생하는 치근단 압력에 미치는 영향을 평가하고자 하였다. 5개의 사람 하악 소구치에 근관 와동 형성 후 #35(0.06 taper) 니켈-티타늄 회전식 기구로 근관을 형성하였다. 주사침 말단의 형상에 따라 구분되는 notched, side-vented, flat 3가지 종류의 주사침을 근단 협착부로부터 치관 방향으로 1, 3, 5 mm 거리가 되는 지점(주사침 말단의 위치)에 위치시켰다. 각 군에 대하여 세척액 주입 속도는 0.05, 0.1, 0.2, 0.3 ml/s로 변화시키면서 치근단 압력을 측정하였다. 나머지 조건이 동일한 경우 주사침 말단의 위치가 감소할수록, 세척액 주입 속도가 증가할수록 치근단 압력은 유의하게 증가하였다(p<0.05). 주사침 말단의 위치와 세척액 주입 속도가 동일한 조건 하에서 side-vented 주사침이 가장 낮은 치근단 압력을 보였고, notched, flat 주사침 순서로 치근단 압력이 유의하게 증가하였다(p<0.05). 주사침 말단의 위치가 1 mm인 군 또는 세척액 주입 속도가 0.1 ml/s 이상인 군에서는 나머지 조건에 관계없이 모든 경우에서 중심정맥압(5.88mmHg)보다 높은 치근단 압력을 나타냈다. Flat 주사침은 세척액 주입 속도와 주사침 말단의 위치에 따른 치근단 압력의 급격한 증가로 인해 임상에서 사용이 추천되지 않으며, 안전하고 효율적인 근관 세척을 수행하기 위해서는 근단 협착부로부터 치관 방향으로 3 mm 떨어진 지점에 주사침 말단을 위치시키고 0.05 ml/s 이하의 세척액 주입 속도로 근관 세척액을 적용해야 할 것이다.

• 유체기계공업학회:학술대회논문집
• /
• 유체기계공업학회 2002년도 유체기계 연구개발 발표회 논문집
• /
• pp.244-249
• /
• 2002

It is known that tip clearance flows reduce the pressure rin, flow range and efficiency of the turbomachinery. So, the clear understanding about flow fields in the tip region is needed to efficiently design the turbomachinery. The Navier-Stokes code with the proper treatment of the boundary conditions has been developed to analyze the three-dimensional steady viscous flow fields in the transonic rotating blades and a numerical study has been conducted to investigate the detail flow physics in the tip region of transonic rotor, NASA Rotor 67. The computational results in the tip region of transonic rotors show the leakage vortices, leakage flow from pressure side to suction side and their interaction with a shock Depending on the operating conditions, the position of shock-wave on the blade surface are v8y different close to the blade tip of the transonic compressor rotor. The shock-wave position dose to the blade tip had the dose relationship with the starting position of leakage vortex and the direction of leakage flow.

• The Korean Journal of Pain
• /
• 제32권4호
• /
• pp.280-285
• /
• 2019

Background: Pulsed radiofrequency (PRF) is a treatment modality that alleviates radicular pain by intermittently applying high-frequency currents adjacent to the dorsal root ganglion. There has been no comparative study on analgesic effect according to the position of the needle tip in PRF treatment. The objective of this study is to evaluate the clinical outcomes of PRF according to the needle tip position. Methods: Patients were classified into 2 groups (group IP [group inside of pedicle] and group OP [group outside of pedicle]) based on needle tip position in the anteroposterior view of fluoroscopy. In the anteroposterior view, the needle tip was advanced medially further than the lateral aspect of the corresponding pedicle in group IP; however, in group OP, the needle tip was not advanced. The treatment outcomes and pain scores were evaluated at 4, 8, and 12 weeks after applying PRF. Results: At 4, 8, and 12 weeks, there were no significant differences between the successful response rate and numerical rating scale score ratio. Conclusions: The analgesic efficacy of PRF treatment did not differ with the needle tip position.

• 한국방사선학회논문지
• /
• 제9권7호
• /
• pp.467-471
• /
• 2015

본 연구에서는 L-tube insertion 환자의 흉부 AP 검사 시 tube tip이 환자의 자세나 방사선 조사각에 의해 왜곡되는 정도를 파악하고 정확한 임상정보를 제공하기 위해 검사 시 정확한 tube 각도를 유지하여 영상의 질을 높이고자 하는데 있다. 실험 장비로 SHIMADZU사의 ELMO-T6S를 사용하였으며, Chest phantom의 표면에 1 mm 간격의 눈금격자를 부착한 L-tube를 부착하여 실험을 하였다. 실험영상의 영상 획득 조건은 90 kVp, 4 mAs, SSD 120 cm로 하여 영상을 획득하였다. Phantom position은 table에서 supine, $30^{\circ}$, $45^{\circ}$, $60^{\circ}$로 변화시키고 각 position마다 Head 방향과 Feet 방향으로 수직, ${\pm}5^{\circ}$, ${\pm}10^{\circ}$, ${\pm}15^{\circ}$ 촬영을 하여 영상을 획득하였다. 본 실험 결과로 L-tube tip의 위치는 환자의 자세와 방사선 입사각에 따라 달라지며 환자의 position이 30, 45, $60^{\circ}$일 때 보다 supine 일 때 tip의 위치변화가 적은 것으로 나타났다. 흉부 방사선 검사를 통해 L-tube tip의 정확한 위치를 보고자 할 때 잘못 된 입사각에 의한 영상의 왜곡이 발생하지 않도록 환자의 자세나 입사각을 조정해야 하며, 해당 시술을 확인하는데 정확한 평가 지표로 이용될 수 있도록 임상에서 업무를 수행하는 방사선사들의 세심한 노력이 필요할 것으로 사료된다.

• 센서학회지
• /
• 제14권4호
• /
• pp.225-230
• /
• 2005

This paper describes a novel tip position sensor made of a triangularly shaped piezoelectric PVDF (polyvinylidene fluoride) film for a cantilever beam. Due to the boundary condition of the cantilever beam and the spatial sensitivity function of the sensor, the charge output of the sensor is proportional to the tip position of the beam. Experimental results with the PVDF sensor were compared with those using two commercially available position sensors: an inductive sensor and an accelerometer. The resonance frequencies of the test beam, measured using the PVDF sensor, matched well with those measured with the two commercial sensors and the PVDF sensor also showed good coherence over wide frequency range, whereas the inductive sensor became poor above a certain frequency.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1993년도 춘계학술대회 논문집
• /
• pp.213-217
• /
• 1993

This paper presents an end-point of 1-link flexible robot arm with a tip-mass by using self-turning fuzzy algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by CD servomotor. Tip position is controlled so that it follows a desired position. A feedback signal is composed of both the tip-displacement error and change in error. This paper gives the experimental tip responses according to the variations of tip-mass and beam-length, and also showes the effects of reducing the residual vibrations occuring at the end-point.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2001년도 추계학술대회 논문집
• /
• pp.149-153
• /
• 2001

This paper presents an end-point control of 1-link flexible arm tip-mass by using fuzzy position control algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by a DC servomotor. Tip position is controlled so that it follows a desired position. Feedback signal is composed of both tip displacement error and change of error. This paper gives tip responses according to the variations of tip-mass and beam length, and the effects of reducing the residual vibrations occurring at the end-point. In the case of the residual vibrations of tip displacement, fuzzy control has better results than the PD-control.