• 한국CDE학회논문집
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• 제14권1호
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• pp.18-24
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• 2009

This paper proposes an analytical method of evaluating the maximum error by modeling the exact tool path for the tool traverse singular region in five-axis machining. It is known that the NC data from the inverse kinematics transformation of 5-axis machining can generate singular positions where incoherent movements of the rotary axes can appear. These lead to unexpected errors and abrupt operations, resulting in scoring on the machined surface. To resolve this problem, previous methods have calculated several tool positions during a singular operation, using inverse kinematics equations to predict tool trajectory and approximate the maximum error. This type of numerical approach, configuring the tool trajectory, requires much computation time to obtain a sufficient number of tool positions in a region. We have derived an analytical equation for the tool trajectory in a singular area by modeling the tool operation into a linear and a nonlinear part that is a general form of the tool trajectory in the singular area and that is suitable for all types of five-axis machine tools. In addition, we have evaluated the maximum tool-path error exactly, using our analytical model. Our algorithm can be used to modify NC data, making the operation smoother and bringing any errors to within tolerance.

• 환경위생공학
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• 제15권3호
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• pp.120-127
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• 2000

To facilitate the carriage of goods and products, an improvement of the transportation system is greatly needed in Korea. The construction of the Kyung Bu canal that can traverse over the wide area of southern Korea os proposed to be one of the most favorable choices to resolve this need. To fulfill this plan, we investigated the possibility of connecting the Han River (in the midwest) with the Nak-tong River (in the southeast) via the Cho-ryeong tunnel (20.5 km long and 125 m high). According to topographic and geological mapping analysis, we are capable of selecting the optimal locations for the tunnels and locking systems. The water requirement for high locking systems can be satisfied by constructing additional dams above the Choong-ju area or by introducing water saving lock system. The results of our investigation support the idea such a canal system, if constructed, could lead to a revolution of the Korea's transportation system.

• 건축역사연구
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• 제25권1호
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• pp.33-46
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• 2016

The old house at No'eun-ri, located in Hongseong-gun Hongbuk-myeon of the Chungcheong Nam-do province, really seems like the old house of late Seong Sam-mun who died in 1456. The original structure of the house seems to have been symmetrical, in terms of its left and right sides, and the females' chamber(Anchae) as well as the guest quarters(Haeng'rang-chae) would have featured a Matbae(맞배) fashion. The flank chamber and corridor would have displayed a multi-storied shape, and people would have been able to traverse the inside of the house all the way to the second story of the residence. We can see such shapes and dispositions from other 'ㅁ'-shaped houses - found in Chungnam and Gyeongbuk regions - which are now considered as distinct characteristics of certain residences constructed before the war with the Japanese in the 1590s, confirmed from extant vestiges and historical records of that time period. It can be concluded that the old house at No'eun-ri does harbor the traits and elements that resembled the upper class residences of the Joseon dynasty's early half period.

• 대한기계학회논문집B
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• 제32권10호
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• pp.784-790
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• 2008

The feasibility and the accuracy of the correlation coefficient(CC) method for the determination of particle positions along the optical axis in digital particle holography were verified by alidation experiments. A traverse system with capable of high precision was used to move the particle objects by exact known distances between several different positions. The particle positions along the optical axis were calculated by the CC method and compared with their exact values to obtain the errors of the focal plane determination. The tested particles were 2D dots in a calibration target along with different sized glass beads and droplets that reflected and caused a three-dimensional effect. The results show that the CC method can work well for both the 2D dots and the 3D particles. The effect of other particles on the focal plane determination was also investigated. The CC method can locate the focal plane of particles with a high precision, regardless of the existence of other particles.

• Clinical Endoscopy
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• 제51권6호
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• 대한디지털의료영상학회논문지
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• 제12권2호
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• pp.113-117
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• 2010

This research attempts to qualitatively evaluate the intensity change by radiopharmaceuticals and obtain computed tomography using phantom injected with various nuclide. Cylindrical phantom is used for comparing and analysing the effect on diagnosis image during radiopharmaceuticals inspection. Inside of the phantom, water is injected and computed tomography image is scanned. During nuclear medicine invitro, frequently used radiopharmaceuticals, $^{99m}TcO_4$ 20 mCi and $^{18}F$ 14 mCi, is diluted in the water phantom and scanned in the same method. Traverse image obtained by CT scan is divided into six traverse image in the same slice of each scanned image. CT-number(HU) value of 10 measuring point is measured in 2 cm interval based on the center of the phantom. Measured HU value, based on the water phantom, is compared with the image after injecting $^{99m}TcO_4$ and $^{18}F$. Average scale of water is 2.8~1.6 HU, $^{99m}TcO_4$ is 3.0~1.6 HU and $^{18}F$ is 1.2~0 HU. Average of water is $2.3{\pm}0.17$ HU, $^{99m}TcO_4$ is $2.2{\pm}0.85$ HU and F-18 is $0.7{\pm}0.95$ HU. Based on water, reduced value of about 0.1 HU and about 0.5 HU is acquired from $^{99m}TcO_4$ and F-18. Radionuclide used in nuclear medicine inspection utilizes 100~200 KeV energy and obtains image through scintillation camera and PET-CT utilizes 511 KeV positron annihilation energy to obtain image. What we learned from this research is that gamma rays from these energies used in CT scan for diagnosis purpose or radioactive therapy plan can change the intensity of the image. The nuclear medicine inspection for reducing the effect of emitted gamma ray diagnosis image should be obtained after a period of time considering half-life which would be reduced distortion or changed in image.

• 한국측량학회지
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• 제21권4호
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• pp.373-381
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• 2003

본 연구에서는 GPS 및 토털스테이션 측량을 시설물 현황도 작성에 적용하기 위한 구체적인 방법을 제시하였다. GPS 망조정에 의한 기준점측량 결과 본 연구에 사용된 4등 삼각점의 표고 신뢰도가 약 l0cm 이내임을 알 수 있었다. 또한, 국토지리정보원에서 공고한 국가좌표 변환계수에 대한 검증결과 평균제곱근오차가 $\pm$0.546m로 나타나 1/10,000 이하의 축척에 적용할 수 있음을 확인할 수 있었다. 측점간 평균거리가90m인 도근점에 대하여 토털스테이션의 표고결정 정확도를 분석한 결과, 직접수준측량의 성과를 기준으로 평균제곱근오차가 $\pm$9mm로 나타나 토털스테이션에 의한 간접수준측량도 비교적 정확함을 알 수 있었다. 또한 도근점을 이용하여 GPS/RTK 방법의 정확도 분석을 실시한 결과 평균제곱근오차는, 수평위치에 대하여 토털스테이션의 성과를 기준으로 $\pm$33mm, 표고에 대해서는 직접수준측량의 성과를 기준으로 $\pm$15mm로 나타났다. 현황측량에 대하여 토털스테이션과 GPS/RTK측량을 비교한 결과, GPS 측량이 가능한 지역에서는 토털스테이션보다 GPS/RTK 측량방법이 더욱 신속하고 경제적이나, GPS 현황측량은 건물 등에 의해 측량이 불가능한 지역이 많음을 알 수 있었다.

• 한국정보처리학회논문지
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• 제2권1호
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• pp.119-129
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• 1995

본 논문에서는 분산 실시간 프로그램의 스케줄가능성 분석 방법을 제안한다. 스케 줄가능성 분석을 위한 여러 가지 방법이 개발되었지만, 이 방법들은 가능한 모든 상 태공간을 추적하거나 고정 우선순위 스케줄 방법을 사용했기 때문에 지수적인 시간 과 공간의 복잡성을 야기한다. 따라서 상태 공간을 줄여서 더 이른 시간단위에서 스케 줄가능성을 조사하는 방법이 필요하다. 본 논문에서 제시한 스케줄가능성 분석 방법은 번역시간에 결정될 수 있는 프로세스들의 최대 수행시간, 주기, 마감시간, 동기화 시 간을 고려하여 동기화 동작 이후에 남는 계산시간과 마감시간의 차이를 계산하여 실시 간 프로세스가 마감시간을 지키는가를 판단하는 새로운 알고리즘을 제안하고, 실험을 통하여 그 성능을 평가한다. 실험에 의하여 Fredette의 방법과 비교하면 약 50퍼센트 정도 더 이른 단위시간에 스케줄이 불가능함을 판단할 수 있다.

• 한국측량학회지
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• 제11권1호
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• pp.61-66
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• 1993

위치결정은 삼각측량, 다각측량, 천문측량으로 결정하지만, 측점이 이동하는 경우는 종래의 측량방법으로는 불가능하다. 인공위성측량은 이러한 문제점을 해결하여 자동차에서 위치를 확인하는 것이 가능하다. 자동차 위치결정의 이론적 방법은 인공위성위치결정시스템을 사용할 수 있으며, 위성측량시스템 중공학적으로 가장 활용범위가 넓고 이용이 편리한 것은 1980년대 완성된 미국의 GPS로서 궤도고도 20,000km 상공에 6개의 궤도면에 4개씩 총 24개의 위성을 배치하여 전세계 어디에서도 수초안에 위치를 측량하는 시스템이다. 이 시스템은 항공기나 선박 등의 항법유도에 이용되고 있다. 따라서 본 연구에서는 GPS를 이용한 인공위성측량방법으로 자동차위치결정을 실용화시키고자 하는 실험적 연구이다. 연구방법에는 1점측위와 상대측위를 비교하였다.

• 한국군사과학기술학회지
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• 제13권2호
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• pp.180-187
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• 2010

In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.