• 한국정밀공학회지
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• 제21권11호
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• pp.83-90
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• 2004

In this paper we present a new real-time visual servoing unit for laparoscopic surgery This unit can automatically control laparoscope manipulator through visual tracking of laparoscopic surgical tool. For the tracking, we present two-stage adaptive CONDENSATION(conditional density propagation) algorithm to extract the accurate position of the surgical tool tip from a surgical image sequence in real-time. This algorithm can be adaptable to abrupt change of laparoscope illumination. For the control, we present virtual damper system to control a laparoscope manipulator safely and stably. This system causes the laparoscope to move under constraint of the virtual dampers which are linked to the four sides of image. The visual servoing unit operates the manipulator in real-time with locating the surgical tool in the center of image. The experimental results show that the proposed visual tracking algorithm is highly robust and the controlled manipulator can present stable view with safe.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 춘계학술대회
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• pp.273-276
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• 2006

To generate electricity from wind energy, wind turbine generally has a rotor blade. Since this rotor blade is a kind of the rotating machinery, the wake from the rotor is very Important role in the side of the aerodynamic performances. Thus the study about wake is essential to analyze wind turbine aerodynamics. In this study wake characteristics are analyzed by hot-wire probe in the K.A.F.A(Korea Air Force Academy) wind tunnel. It is possible to analyze the wake characteristics by hot-wire probe from acquiring the velocity fluctuations at given positions in the flow. This velocity data are arranged by trigger signal at same azimuth of the blade in periodic manner of the rotor blade. From this various wake characteristics are found : radial and axial position of the tip vortex, vortex core characteristics in the flow etc.

• 한국정밀공학회지
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• 제14권2호
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• pp.160-168
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• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• 대한치과교정학회지
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• 제52권2호
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• pp.150-160
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• 2022

Objective: To provide reliable prediction models based on dentoskeletal and soft tissue variables for customizing maxillary incisor positions and to optimize digitalized orthodontic treatment planning. Methods: This study included 244 Chinese women (age, 18-40 years old) with esthetic profiles after orthodontic treatment with fixed appliances (133 in group I: 1° ≤ The angle between the nasion [N]-A point [A] plane and the N-B point [B] plane [ANB] ≤ 4°; 111 in group II: 4° < ANB ≤ 7°). Dental, skeletal, and soft tissue measurements were performed on lateral cephalograms of the participants. Correlation and multiple linear regression analyses were used to determine the influence of dentoskeletal and soft tissue variables on maxillary incisor position. Results: The ideal anteroposterior position of the maxillary incisor varied between sagittal skeletal patterns. The position of the maxillary incisor correlated with the sagittal discrepancy between the maxilla and the mandible (ANB), protrusion of the midface, nasal tip projection, development of the chin, and inclination of both the maxillary and mandibular incisors. Distance from the maxillary central incisor to nasion-pogonion plane predicted using multiple linear regression analysis was accurate and could be a practical measurement in orthodontic treatment planning. Conclusions: Instead of using an average value or norm, orthodontists should customize a patient's ideal maxillary incisor position using dentoskeletal and soft tissue evaluations.

• The Korean Journal of Pain
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• 제25권3호
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• pp.151-154
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• 2012

Background: The aim of this study was to document the optimal spacing of two cannulae to form continuous strip lesions and maximal surface area by using water-cooled bipolar radiofrequency technology. Methods: Two water-cooled needle probes (15 cm length, 18-gauge probe with 6 mm electrode tip) were placed in a parallel position 10, 20, 24, 26, and 28 mm apart and submerged in egg white. Temperatures of the probes were raised from $35^{\circ}C$ to $90^{\circ}C$ and the progress of lesion formation was photographed every 1 minute with the increase of the tip temperature. Approximately 30 photographs were taken. The resultant surface areas of the lesions were measured with the digital image program. Results: Continuous strip lesions were formed when the cannulae were spaced 24 mm or less apart; monopolar lesions around each cannula resulted if they were spaced more than 26 mm apart. Maximal surface areas through the formation of continuous strip lesion were 221 $mm^2$, 375 $mm^2$, and 476 $mm^2$ in 10, 20, and 24 mm, respectively. Summations of maximal surface area of each monopolar lesions were 394 $mm^2$ and 103 $mm^2$ in 26 and 28 mm, respectively. Conclusions: Water-cooled bipolar Radiofrequency technology creates continuous "strip" lesions proportional in size to the distance between the probes till the distance between cannulae is 24 mm or less. Spacing the cannulae 24 mm apart and treating about $80^{\circ}C$ for 24 minutes maximizes the surface area of the lesion.

• Journal of Power Electronics
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• 제18권4호
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• pp.1027-1036
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• 2018

In this paper a new generalized space vector pulse width modulation scheme is proposed based on the principle of reverse mapping to drive the switches of multilevel inverters. This projected scheme is developed based on the middle vector of the subhexagon which holds the tip of the reference vector, which plays a major role in mapping the reference vector. A new approach is offered to produce middle vector of the subhexagon which holds tip of the reference vector in the multilevel space vector plane. By using middle vector of the subhexagon, reference vector is linked towards the inner two level sub-hexagon. Then switching vectors, switching sequence and dwell times corresponding to a particular sector of a two-level inverter are determined. After that, by using the two level stage findings, the switching vectors related to exact position of the reference vector are directly generated based on principle of the reverse mapping approach and do not need to be found at n level stage. In the reverse mapping principle, the middle vector of subhexagon is added to the formerly found two level switching vectors. The proposed generalized algorithm is efficient and it can be applied to an inverter of any level. In this paper, the proposed scheme is explained for a five-level inverter and the performance is analyzed for five level and three level inverters through MATLAB. The simulation results are validated by implementing the propose scheme on a V/f controlled three-level inverter fed induction motor using dSPACE control desk.

• 전자공학회논문지SC
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• 제43권1호
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• pp.1-6
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• 2006

경면물체의 형상과 두께를 측정하는데 있어 접촉식 센서가 가지고 있는 문제점을 해결하기 위해 홀로그램 레이저 다이오드와 자동 전력 제어를 이용하여 성능이 좋은 비접촉식 광센서를 개발하였다. 접촉식 센서에서는 센서 프로브가 측정 대상체와 계속해 접촉하므로 프로브의 마모로 인한 측정왜곡이 발생하게 된다. 이를 극복하기 위해 플라스틱렌즈와 CD 플레이어의 광학 픽업장치를 홀로그램 레이저로 구성하는 저가의 비접촉 센서를 제안한다. 비접촉식 광센서는 대상물체 쪽으로 움직이면서 포커스 에러 신호를 얻어 투명판의 형상과 두께를 측정할 수 있다. 센서 내부 온도를 ${\pm}0.1^{\circ}$ 제어한 상태에서 다수의 실험 측정을 수행하여 ${\pm}2{mu}m$의 측정 오차를 가지는 우수한 결과를 보이고 있다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2004년도 제22회 춘계학술대회논문집
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• pp.634-643
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• 2004

In this paper are presented a concept of a new supersonic air inlet, which is designated a Multi-Row Disk (MRD) inlet, aiming at performance improvement under off-design conditions, and results of wind tunnel tests examined performance characteristics of the MRD inlet. The MRD inlet is frequently called ‘a skeleton inlet’ because of its appearance. The performance of a conventional axisymmetric inlet with a solid center body (spike) deteriorates under off-design Mach number conditions. It is due to the fact that total pressure recovery (TPR) governed by the throat area of inlet and mass capture ratio (MCR) governed by an incidence position of an oblique shock from the spike tip into the cowl can not be controlled independently in such air inlet. The MRD inlet has the spike that is composed of a tip cone and several disks arranged downstream of it, based on the experimental fact that several deep cavities on a conical surface have little negative effect on the boundary layer growth. The overall spike length of the MRD inlet is adjustable to the given flight speed by changing space between disks so that a spillage flow can be controlled independently from controlling the throat area. It could be made clear from the result of wind tunnel tests that the MRD inlet improves TPR by 10% compared with a conventional inlet with a solid spike under off-design conditions.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.54-58
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• 2007

This paper describes an atomic force microscope (AFM)-based instrument for measuring the nanoscale cutting edge profiles of diamond cutting tools. The instrument consists of a combined AFM unit and an optical sensor to align the AFM tip with the top of the diamond cutting tool edge over a submicron range. In the optical sensor, a aser beam is emitted from a laser diode along the Y-axis and focused to a small beam spot with a diameter of approximately $10{\mu}m$ at the beam waist, which is then received by a photodiode. The top of the tool edge is first brought into the center of the beam waist by adjusting it in the X-Z-plane while monitoring the variation in the photodiode output. The cutting tool is then withdrawn and its top edge position at the beam center is recorded. The AFM tip can also be positioned at the beam center in a similar manner to align it with the top of the cutting edge. To reduce electronic noise interference on the photodiode output and thereby enhance the alignment accuracy, a technique is applied that can modulate the photodiode output to an AC signal by driving the laser diode with a sinusoidal current. Alignment experiments and edge profile measurements of a diamond cutting tool were carried out to verify the performance of the proposed system.

• 항공우주기술
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• 제7권1호
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• pp.24-29
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• 2008

최근의 유가인상과 관련하여 상업용 및 군용 항공기 운용시의 연료 효율을 높이고자 하는 노력이 가속화되고 있다. 관련 연구에 의하면 수송기와 비즈니스 젯 항공기에 있어서 윙렛은 공력/구조적 효율성을 향상시키고, 적은 중량 증가로 저속 수송기의 상승 성능을 향상시킨다고 보고된 바 있다. 윙렛은 일반적으로 날개 끝에 장착되는 작은 공력면이며, 날개에 수직에 가깝게 장착되어 날개 끝단 와류의 순환 유동장내에서 작용한다. 윙렛의 설계는 위치, 높이, 테이퍼비, 후퇴각, 익형, toe-out 및 켄트각 등 많은 요소를 고려해야 하는 매우 복잡한 과정이다. 최근에는 미국 보잉사의 B737-800과 B787 등의 최신 기종에서 Blended 윙렛을 성공적으로 적용하여 날개끝의 길이를 늘리는 것(Wing Tip Extension) 보다 적은 추가 중량으로 같은 순항 성능을 도출하는데 성공하였다. 윙렛의 점성저항으로 인하여 최소항력은 증가하지만 높은 양력계수에서는 유도항력의 감소로 전체 항력이 감소하게 됨을 알 수 있다. 따라서, 윙렛은 강한 날개끝 와류를 발생시키는 높은 양력계수에서 순항하는 항공기에 더욱 적합하다.