RecurDyn<SUP>®</SUP>과 LabVIEW<SUP>®</SUP>기반 6축 수직 다관절로봇을 이용한 용접의 효율을 높이는 부가 축의 접목에 대한 연구

홍준락(Jun Rak Hong),정원지(Won Jee Chung),박승규(Seung Kyu Park),노성훈(Seong Hoon Noh) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11

This paper aims to realize 2-axis additional axes, which increases processing efficiency of a robot by controlling in harmful environments or design fields beyond human reach. Ultimately, this is to create temporal and efficient profits in industrial processing sites including welding and assembling 6-axis articulated robot (RS2). Also, using RecurDyn<SUP>Ⓡ</SUP>, a simulation-based technique is applied. And the motion paths of the welding rod will be compared for two cases in order to verify the necessity of the 2-axis additional axes: 1) when there are no 2-axis additional axes and 2) when there are 2- axis additional axes during welding using the RS2. For this purpose, the angle variations of RS2 axes required for a simulation are compared, on the assumption that each of the four points of the welding bed installed in the 2-axis additional axes of the welding rod in SolidWorks<SUP>Ⓡ</SUP> is point-welded. Then an actual 2-axis additional axes equipment will be grafted on to RS2 and the process times depending on the existence of 2-axis additional axes are compared using a PC-based robot control program, LabVIEW<SUP>Ⓡ</SUP>. The comparison will imply that grafting a 2-axis additional axes equipment on to a 6-axis articulated robot make it possible to control a robot easily, to decrease the process route and the process time drastically, and to maximize robot efficiency.

영화 스토리텔링의 공포감 창출에 관한 복합연구

박건용(Park, Gun Yong) 한국전시산업융합연구원 2017 한국과학예술융합학회 Vol.30 No.-

본 연구는 Z축과 공포감의 연관성에 대한 분석에서 시작 되었다. 화면 깊이 감의 미학적 함의에 대한 연구는 바쟁의 이탈리아 네오리얼리즘에 대한 선각자적인 연구가 대표적인데 그는 전경과 후경의 분리된 정서가 화면의 “모호함”을 창출한다고 분석 했다. 화면의 깊이 감에 관여하는 Z축과 조명은 전경과 후경을 명확하게 분리해 원근법과 미장센의 복합적 의미창출에 기여 하고 있다. Z축은 조명, 공포증(Phobia)적 대상과 결합하여 호러영화 스토리텔링의 극적 긴장감 창출에 기여하고 있다. 더불어 최근 가상현실(Virtual Reality) 콘텐츠의 경향 역시 Z축 중심 이동(Z-axis blocking)을 활발하게 사용하고 있는 추세이다. 하지만 안타깝게도 원근법 기반의 깊이감 창출을 위한 시각적 요소들에 대한 연구에 비해 Z축의 깊이감이 직접적으로 창출하는 공포감과 스토리텔링에 대한 기여에 대한 연구는 활발하지 못한 상황이다. 본 연구의 목적은 Z축과 조명을 활용한 공포감 창출과 이를 활용한 호러영화 스토리텔링 기법을 제시하는데 있다. 이를 위해 본 논문은 우선 〈컨저링〉의 Z축을 깊이감 구성에 기여하는 미장센 요소를 중심으로 분류한 후 Z축과 조명이 창출하는 공포감에 대해 다음과 같은 방법으로 연구한다. 연구내용 및 결과는 다음과 같다. 첫째, 프레임 속의 프레임 특히 문(doorway)를 활용한 공포창출을 분석하고 둘째, Z축 위의 “그늘과 그림자”와 공포증(Phobia)적 대상의 함의를 분석한다. 마지막으로 Z축 중심 이동과, 소스의 긴장감 공식(T = H vs F)과의 상관성을 분석한다. 문(doorway)의 활용은 등장인물의 행동과 시선을 유발하는 “Air of expectancy”가 발견되었고 Z축 위의 공포증(Phobia)적 대상은 “그늘과 그림자”와 결합되어 “자동반사적 공포감”과 “고등 인지적 공포감”으로 분류되어 나타난다는 것이 발견 되었다. 이러한 연구 결과를 바탕으로 소스의 긴장감 공식을 결합하여 Z축의 극적 긴장감 창출에 대해 결론에 도식화 하였다. 본 연구가 조명을 활용한 Z축의 환영과 공포효과 기법, Z축에 함의된 공포심리 연구와 Z축을 활용한 공포영화 스토리텔링 기법과 이를 활용한 창의적 콘텐츠 제작에 기여하기를 기대한다. This study began with an analysis of the relationship between the Z-axis and fear. A study on the aesthetic implication of the depth of screen sense is Bazin’s pioneering study of Italian neo-realism. He analyzed that the separate emotion of the foreground and background creates the “ambiguity” of the screen. Z-axis and illumination deeply involved in the depth of the screen clearly separate the foreground and background, contributing to the combined meaning of perspective and mise-en-scene. The Z-axis, combined with the lighting and phobia objects, contributes to the dramatic tension of the horror film Storytelling. In addition, recent tendency of virtual reality content is also actively using Z-axis blocking. Unfortunately, research on the contribution of Z-axis to fear and storytelling is not active compared to the study of visual elements for creating depth, based on perspective. The purpose of this study is to propose a horror movie storytelling technique using Z–axis and lighting. For this purpose, this paper first classifies the elements of mise-en-scene constituting the depth sense of the Z- axis of 〈The Conjuring〉 After the classification, study Z-axis and the fear that the illumination generates by the following method. The contents and results of the study are as follows. Firstly, we analyze fear creation using frame in frames, especially the doorway, Secondly analyze the implications of “shade and shadow” on the Z-axis and phobia objects. Finally, we analyze the correlation between Z-axis blocking and Soth’s tension factor (T = H vs F). The use of the doorway found the “Air of expectancy” that caused the characters to behave and gaze, and the Phobia object on the Z-axis combined with “Shade and Shadow” are categorized as “Auto Reflex Fear” and “High intellectual fears”. In conjunction with the Soth’s tension formula, as a results of these studies, it is plotted the creation of a dramatic tension using Z- axis. It is expected that this study will contribute to the development of Z–axis illusion and fear effect technique using illumination, horror psychology research implicated in Z–axis and horror movie storytelling technique using Z-axis and producing of creative contents.

대퇴골의 기계적 축을 이용한 원위 대퇴부의 회전 정렬

김광균(Kwang Kyoun Kim),이우석(Woo Suk Lee),허윤무(Youn Moo Heo),이진웅(Jin Woong Yi),이정범(Jung Bum Lee),채동식(Dong Sik Chae) 대한정형외과학회 2011 대한정형외과학회지 Vol.46 No.6

목적: 기계적 축에 수직으로 촬영한 단층 촬영 영상에서 원위 대퇴부의 회전 축들의 관계를 조사, 분석하고자 하였다. 대상 및 방법: 기계적 축에 수직으로 촬영된 삼차원 단층 촬영 영상 50예를 대상으로 원위 대퇴부의 해부학적 상과간 축, 수술적 상과간축, 전후방 축, 실제 후과간 축간의 관계와삼차원 재조합 대퇴골 영상에서 해부학적 상과간 축, 전후방 축, 실제 후과간 축과의 관계를 조사하였다. 결과: 단층 촬영 영상에서 실제 후과간 축에 대해 해부학적 상과간 축, 수술적 상과간 축, 전후방 축이 이루는 각은 6.34±1.23°, 2.43±1.56°, 96.52±1.77°였다. 해부학적 상과간 축에 대한 전후방 축 및 수술적 상과간 축이 이루는 각은 90.19±1.61°, 3.91±0.90°였다. 삼차원 재조합 모델에서 실제 후관간 축에 대해 해부학적 상과간 축 및 전후방 축이 이루는 각은 6.29±1.86°, 93.33±3.76°였다. 해부학적 상과간 축에 대한 전후방 축이 이루는 각은 87.04±4.11°였다. 결론: 기계적 축에 수직으로 촬영한 단층 촬영 영상을 이용하여 원위 대퇴부의 회전 축을 측정하는 방법은 제한성이 있는 방법이며, 특히 해부학적 상과간 축을 이용한 측정방법이 전후방 축에 비해 정확한 측정 방법으로 생각된다. Purpose: To measure and to analyze the relationships among the rotational axes of the distal femoral region by means of 3-dimensional (3D) computed tomographic (CT) images taken perpendicularly to the mechanical axis and a 3D rendering program. Materials and Methods: Fifty cases involving the lower extremity were included in this study, which used 3D computed tomographic angiograms. CT images of the perpendicular cross-sections to the mechanical axis of the femur were obtained by processing 3D recombinant images using Aquaris NET<SUP>®</SUP>. The following anatomical angles were obtained from axial imaging using the 3D reconstructed bone model: transepicondylar axis, surgical transepicondylar axis, anteroposterior axis, and real posterior condylar axis. Results: In the tomographic images, the angles to the real posterior condylar axis formed by the anatomical femoral transepicondylar axis, the anatomical femoral transepicondylar axis, and the anteroposterior axis were 6.34± 1.23°, 2.43± 1.56°, and 96.52±1.77°, respectively. The angles to the anatomical femoral transepicondylar axis formed by the anteroposterior axis and the surgical femoral transepicondylar axis were 90.19±1.61° and 391±0.90°, respectively. In the recombinant 3D femur model. the angles to the real posterior condylar axis formed by the anatomical femoral transepicondylar axis and the anteroposterior axis were 6.29±1.86°, and 93.33±3.76°, respectively. And, the angle for anteroposterior axis from anatomical transepicondylar axis was 87.04±4.11°. Conclusion: The method of measuring the rotational axes of the distal femur using the CT image taken perpendicularly to the mechanical axis is considered reproducible. In particular, the measurement method using the anatomical transepicondylar axis is more accurate than that using the anteroposterior axis.

양안시 조건에 따른 양안굴절검사 값의 변화

박상배,정연홍,김대현,김영훈,임병관,김광배 대한시과학회 2006 대한시과학회지 Vol.8 No.2

본 연구는 비정시 환자의 양안시 조건과 관련하여, 양안굴절검사를 시행할 경우 구 면 원주 굴절력과 원주 축의 변화들에 영향을 주는지 그리고 어떤 방법으로 영향을 주는지를 평가하기 위해 시행되었다. 기존의 연구에 따르면 양안굴절검사를 시행할 경우 대부분의 환자들에서 마이너스 굴절력의 감소와 축의 변화가 있다고 하였다.7 세에서 58 세 사이의 다양한 연령대의 115명의 환자들을 대상으로 통상적인 단안굴절 검사 후 경사각이 설정된 험프리 즉시 대비 (HIC) 검사를 실시하였다. 원거리 안편위 와 원주축의 편위 사이에 상관관계가 있었다 (F = 3.296, p = 0.012). 양안굴절검사에서 단위 조절량에 대한 조절성 폭주비 (AC/A 비)와 구면굴절력 (F = 1.627, p = 0.010), 원주 굴절력 (F = 1.739, p = 0.004) 및 원주 축의 편위 (F = 1.702, p = 0.005) 사이 에 유의 한 상 관관계가 있었다. 그러나 대상 환자에서 폭주 근점 (NPC) 과 구변굴절력 (F = 0.793, p = 0.667), 원주굴절력 (F = 0.783, p 二0.677) 및 원주축의 편위 (F = 1.448 p = 0.14이와는 어 떤 관련성도 없었다. 양안굴절검사에서 원주축의 내회선 편위 현상이 나타난 환자의 구변굴절력 (t = -3.452, p = 0.001) 과 원주굴절력 (t = -5.571, p 二0.000) 은 감소하였으며, 원주 축은 평균 5.73 :t 8.00。내회선하였다. 원주축의 외회선 편위가 발생한 환자의 원 주굴절력은 감소하였고 (t = -3.630, p = 0.000), 원주축은 평균 5.38 :t5.36。외회선 편위 하였으며, 원주축의 변화가 없는 경우 구면 원주굴절력의 변화도 없는 것으로 나타났 다 (t 二-1.621 , p 二0.113). 원거리 안편위의 형태와 AC/A 비에 의해 구변 원주굴절력 값에 변화가 있으며, 원주축은 원거리 안편위 유형에 따라서 원주축의 회선방향에 특 정적인 차이가 있음을 알 수 있았다. 이상의 결과들은 단안굴절검사와 양안굴절검사 사이의 구변-원주굴절력 값과 원주축의 편위 값을 비교한 기존의 연구들의 결과들과 유사한 값을 보였다. 본 연구에서 나타난 결과들은 양안굴절검사에서 비정시 환자의 양안시 조건이 구면 원주굴절력의 변화와 원주축의 편위에 영향을 미치는 주요 인자 로서 역할을 할 수도 있다는 것을 나타낸다고 할 수 있다. 향후 좀 더 많은 환자를 대상으로 원거리 안편위 형태와 원주 축의 편위 사이의 관계에 대해 연구할 필요가 있을 것이다 The objective of this study was to determine whether and in which way the changes of sphero-cylindrical power and cylindrical axis deviation during binocular refraction after monocular refraction, especially in regard to the binocular visual condition of the ametropia patient. Most authors reported previously that binocular refraction will change the values of monocular refraction toward less minus spherical power and axis changes in most patient. One hundred fifteen patients varying in age from 7 to 60 were performed Humphriss immediate contrast(HIC) test with pantoscopic tilt angle after conventional monocular refraction. There was correlation between the distance deviation pattem and the cylindrical axis deviation(F = 3.296, p 二0.012). There was significant correlation between the spherical power(F = 1.627, p = 0.01이, cylindrical power(F = 1.739, p = 0.004) and cylindrical axis deviation change(F = 1.702, p = 0.005) and the accommodative convergence/accommodation(AC/ A) ratio in binocular refraction. But none of our patients was found to have correlation between the near point convergence and spherical power(F = 0.793, p = 0.667), cylindric허 power(F = 0.783, p = 0.677) and cylindrical axis deviation change(F = 1.448 p = 0.140) and NPC. The spherical power(t = -3.452, p = 0.001) and cylindrical power(t = -5.571, p = 0.000) decreased and the cylidrical axis changed to 5.73:!:8.00o in the patients having incyclo-deviation of cylindrical axis. The cylindrical power(t = -3.630, p = 0.000) decreased and the cylindrical axis changed to 5.38:!:5.360 in the patients having excyclo-deviation of cylindrical axis. But it was revealed that there was no change of sphero-cylindrical power in the patients having no change in cylindrical axis(t = -1.621, p 二0.113). The sphero-cylindrical power was changed by distance deviation pattem and AC/ A ratio. And there was significant difference in findings between the cylindrical axis deviation and distance deviation pattem of the patient. These results are in agreement with those of previous studies comparing sphero-cylindrical power and cylindrical axis deviation values between monocular refraction and binocular refraction. The findings in this study provide that the binocular visual condition of the ametropic patient may play a significant role in the sphero-cylindrical changes and cylindrical axis deviation in binocular refraction. Future studies will be required to ascertain the correlation between the cylindrical axis deviation and the distance deviation pattem.

2축 부가 축을 이용한 6축 수직 다관절로봇의 용접공정 효율 증대를 위한 연구

홍준락(Jun-Rak Hong),조현민(Hyeon-Min Jo),정원지(Won-Jee Chung),박승규(Seung-Kyu Park),노성훈(Seong-Hoon Noh) 한국기계가공학회 2017 한국기계가공학회지 Vol.16 No.6

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using RecurDyn<SUP>Ⓡ</SUP>, a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in Solidworks<SUP>Ⓡ</SUP> is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using LabVIEW<SUP>Ⓡ</SUP>.

Measuring Parametric and Volumetric Errors in a Four-Axis CMM Using a Hole Plate

Tsung-Han Hsieh,Ming-Xian Lin,Kuan-Ting Yeh 한국정밀공학회 2024 International Journal of Precision Engineering and Vol.25 No.5

Recently, a four-axis coordinate measuring machine (four-axis CMM), which consists of three linear axes and a single rotary axis, has been more widely used than a traditional three-axis CMM. The volumetric error influences the accuracy of the four-axis CMM. There are 27 parametric errors that contribute to the volumetric error. This study utilized a touch probe to measure the hole plate. This methodology can evaluate errors more accurately and reflect the operational conditions of the machines. The main procedures are as follows: (1) The hole plate was sequentially set up in three different planes. The touch probe was used to measure the hole plate using five different styluses. (2) The 27 parametric errors were analyzed using the coordinate deviations. The volumetric error was constructed using homogeneous transformation matrices. The volumetric error ranged from 0.35 to 1.55 μm without the single rotary axis and from 0.35 to 2.83 μm with the single rotary axis. (3) Three metrology instruments, namely a laser interferometer, an autocollimator, and a polygon-autocollimator, were used to validate the proposed methodology and verify the measured parametric errors. The absolute maximum differences compared to the laser interferometer for three parametric positioning errors and the autocollimator for six parametric rotational errors for the three linear axes were 0.56 μm and 0.54″, respectively. Additionally, the absolute maximum difference of one parametric positioning error for the single rotary axis, compared with the polygon-autocollimator, was 0.75″. The En-values were 0.27, 0.54, and 0.27, respectively. These results demonstrate the effectiveness and reliability of the proposed methodology for the industry’s four-axis CMMs.

Sequential Measurement of Position-independent Geometric Errors in the Rotary and Spindle Axes of a Hybrid Parallel Kinematic Machine

Seung-Han Yang,Dong-Mok Lee,Hoon-Hee Lee,Kwang-Il Lee 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.12

We propose a technique to measure position-independent geometric errors (PIGEs) in the rotary and spindle axes of a hybrid parallel kinematic machine (PKM). The PKM investigated here includes one more rotary axis than an Exechon PKM, which is used to improve the productivity of hybrid processes, such as machining and direct-energy-deposition three-dimensional metal printing. Errors in the measured position and orientation of the rotary axis, and the orientation of the spindle axis produce volumetric errors in the processed workpiece. If accuracy is to be improved, the deviation of each axis must be measured and compensated. In our approach, errors are measured using three methodologies that require only control of the rotary axis: in the first, no off set is applied to account for positional deviation of the rotary axis; in the second, an off set is used to correct the orientation of the rotary axis; and in the third, a tool off set is used to correct the orientation of the spindle axis. We developed an algorithm that uses the three measured datasets to identify PIGEs. The proposed method was applied to a hybrid PKM and the PIGEs were measured and compensated. This technique uses simple measurement paths and sequential measurements to correct rotary and spindle axis errors, and could therefore be widely used in industry.

A COMPARATIVE STUDY OF THE ANGLES BETWEEN CROWN AXIS AND ROOT AXIS IN MESIODISTAL DIRECTION BY USING ORTHOPANTOMOGRAM

Kim, Young Joon,Choi, Hyun Sil 대한치과교정학회 1996 대한치과교정학회지 Vol.26 No.6

Orthopantomogram is commonly used to evaluate root parallelism. "Good parallelism" between roots is widely accepted as one of the guidelines of a successful orthodontic treatment. In case there was a large angle between crown axis and root axis, and if we valued only the position of crown in establishing occlusal relationship without considering of the situation of root, the problem of root arrangement between adjacent teeth would be occurred. The estimate of root parallelism in mesiodistal direction before and after orthodontic treatment must be emphasized. The intent of this study was to determine the clinical importance and correlation of the angle between crown axis and root axis. Orthopantomograms of 105 orthodontic patients being treated in Yonsei university were used in this study. Twenty-eight teeth in both maxilla and mandible were selected and analyzed quantitively to evaluate the angle between crown axis and root axis, and obtain the correlationship among the individual teeth. The results are as follows: 1. Among the teeth presenting normal distribution, the maxillary right canine showed the largest mean value(5.73±4.42°), which was composed of the crown-root angles, and the mandibular left lateral incisor showed the smallest mean value(0.60±3.76°). 2. The crown-root angles of the maxillary incisors and the first molars, and the mandibular central incisors and the first molars didn`t show normal distribution and the ranges of these angles were dispersed. 3. Significant differences were present between the crown axis and the root axis except for lower first premolars.(p<0.05) 4. No significant difference was present for the crown-root angle between right and left side.(p<0.05) 5. No significant difference was present for the crown-root angle between male and female except for lower left first premolar.(p<0.05) 6. In the upper right quadrant, significant correlations were present between crown-root angles of the central incisor and lateral incisor, lateral incisor and canine. In the upper left quadrant, significant correlations were present between crown-root angles of the central incisor and lateral incisor. In the lower right quadrant, significant correlations were present between crown-root angles of the central incisor and lateral incisor, first molar and second molar. In the lower left quadrant, significant correlations were present between crown-root angles of the central incisor and lateral incisor, lateral incisor and canine, first molar and second molar.(p<0.05)

Radiologic Evaluation of the Renal Axis in Patients with an Accessory Renal Artery

최준호,김형중,임주원,고영태,이은하 대한영상의학회 2010 대한영상의학회지 Vol.62 No.3

Purpose: The purpose of this study is to evaluate the association between an accessory renal artery (ARA) and the renal axis seen on radiographs. Materials and Methods: The MDCT axial images of 428 patients were used to detect the presence of an ARA and its location. The plain radiographs were used to measure the renal axis angle, which was the angle between the longitudinal spinal axis and the renal axis. We correlated these results to determine the association between an ARA and the renal axis. Results: Of the 856 kidneys (428 patients), 19 kidneys had an ARA in the upper pole, 63 kidneys had an ARA in the hilum and 20 kidneys had an ARA in the lower pole. The mean renal axis angles of these three groups were 16.7 degrees, 15.9 degrees and 11.2 degrees respectively. The mean renal axis angle without an ARA was 16.8 degrees. The renal axis angles with an ARA in the upper pole or hilum showed no significant differences compared to those without an ARA. However, the renal axis angle with an ARA in the lower pole was significantly smaller than those without an ARA. Conclusion: On plain radiographs, the axis of kidneys with an ARA in the lower pole maybe more vertical than those without an ARA.

나노 임프린트 장비의 외란에 따른 변위 해석

이정석(Jung Suk Lee),이성훈(Sung Hoon Lee),정재일(Jay I. Jeong),임홍재(Hong Jae Yim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5

We analyze the stiffness of the precision stage for the nano-imprinting lithography equipment according to the number of the actuator axis. The precision stage should have enough stiffness to keep commanded position when the external force is induced on the stage, since the UV-nanoimprint process may induce the unbalanced force on the stage in X-Y direction. The experiments are conducted to obtain the stiffness of each axis for the 3-axis precision stage. The simulation is also executed to analyze the deformation of each axis when the external force is induced on the stage system. Based on the experiments and the simulation results on the 3-axis stage, we proposed new design criterion for the 4-axis stage that adopts the additional actuator on the fourth axis. We predict and compare the static deformation of the 4-axis stage when the same external forces as the case of 3-axis stage are induced on the 4-axis stage.