Journal of the Korean Society for Precision Engineering

Design and Control of Master Device with Force Feedback for Teleoperated ERCP Guidewire Insertion: Woocheol Shin, SeongHyeon Won, YongJung Lee, Daehie Hong; J. Korean Soc. Precis. Eng. 2025;42(9):723-733.
Published online September 1, 2025; DOI: https://doi.org/10.7736/JKSPE.024.133

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ERCP (Endoscopic Retrograde Cholangiopancreatography) is a common procedure used to diagnose and treat biliary and pancreatic diseases. However, the repeated exposure to X-ray radiation during these procedures poses health risks to surgeons. Teleoperation systems can help reduce this exposure, but they face challenges such as the lack of force feedback and differences between the master device's mechanisms and the movements of surgical tools, which can diminish surgical precision. This study aimed to develop a master device with force feedback specifically for teleoperated ERCP guidewire insertion, drawing inspiration from the natural hand movements of surgeons. The device includes a ring-shaped translation control handle and a rotation control handle, both designed to allow unlimited movement, thereby intuitively replicating the operation of the guidewire. A force feedback system was incorporated to enable collision detection and prevent potential injuries during procedures. Experimental results showed that the proposed system enhances control precision, reduces handling inertia, and provides effective force feedback. These advancements ensure safer and more accurate guidewire manipulation, addressing key limitations of existing teleoperation systems. Ultimately, this device not only minimizes radiation exposure for surgeons but also facilitates intuitive and precise teleoperated ERCP procedures.

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Excavation Trajectory Planning based on Site Terrain Data: Chulwhan Im, Jangho Bae, Jinwoo Park, Seonwoo Kim, Daehie Hong; J. Korean Soc. Precis. Eng. 2024;41(11):841-847.
Published online November 1, 2024; DOI: https://doi.org/10.7736/JKSPE.024.068

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Excavators are crucial heavy equipment on construction sites, performing diverse earthwork tasks. The construction worksite is experiencing a labor shortage due to an aging workforce. Training new operators requires significant time and resources. Furthermore, the construction environment is hazardous, with a higher rate of excavator-related accidents. Autonomous excavators offer an effective solution by reducing the need for operators in risky environments and substituting skilled workers. Trajectory planning algorithms are vital for autonomous excavators, with skilled operators’ paths serving as important references. However, many studies do not adequately consider skilled operators’ methods or the actual excavation environment. This paper introduced a rule-based algorithm for excavation trajectory planning using terrain data. Based on analysis results of skilled operators’ paths, the proposed algorithm categorizes the excavation process into three stages, depending on the usage rate of the excavator"s joints. Terrain data were derived by projecting point clouds from a stereo depth camera onto a side plane. The path was modified if the excavation volume exceeded a set limit to avoid excessive load. The algorithm was tested with a 30-ton excavator, demonstrating validation of operability and efficiency similar to that of skilled operators.

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Strategy for Motor Grader Blade Rotation considering Soil Distribution: Jinkyu Lee, Jangho Bae, Oyoung Kwon, Hanul Kim, Chai Sol, Daehie Hong; J. Korean Soc. Precis. Eng. 2022;39(3):201-208.
Published online March 1, 2022; DOI: https://doi.org/10.7736/JKSPE.021.115

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Research on the automation of many types of construction equipment, including motor graders, is being actively conducted. In a motor grader cabin, the operator has difficulty observing the working environment because of a constructed field of view. Thus, workers rely on their experience and senses. Further, the working environment of the blade must be observed, and a control algorithm should be created to enable autonomous operation. In this study, a blade rotation control strategy considering the soil distribution was proposed. First, a co-simulation environment was constructed using RecurDyn for multibody dynamics analysis and EDEM for discrete element method simulation, and simulations were performed to determine the correlation between soil distribution and the blade rotation angle. Work quality and blade load were analyzed according to the simulation results. The optimal blade rotation angle according to soil distribution was obtained to develop the strategy for autonomous flattening and scattering work. The proposed control strategy was implemented in a 1/4 full-scale motor grader experimental setup. An experiment to evaluate work quality was conducted to validate the effectiveness of the proposed methods. The experimental results indicated that the proposed strategy effectively performed scattering work.

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Path Planning Strategy for Implementing a Machine Control System in Grader Operations
Jae-Yoon Kim, Jong-Won Seo, Wongi S. Na, Sung-Keun Kim
Applied Sciences.2024; 14(20): 9432. CrossRef

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Manufacturing Automation System of Freeform Concrete Formwork Using S-LOM Method: Joonhyeok Sim, Hakmin Kim, Kyunwoo Park, Chanwoo Kim, Daehie Hong; J. Korean Soc. Precis. Eng. 2020;37(1):43-50.
Published online January 1, 2020; DOI: https://doi.org/10.7736/JKSPE.019.125

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The number of freeform buildings has been continuously increasing, serving as a landmark representing a country or a city. However, most of the freeform buildings have been built with conventional construction methods and required a tremendous amount of construction cost. This study seeks to apply additive manufacturing technologies to the freeform concrete formwork. Among many additive manufacturing techniques, the study focuses on the Laminated Object Manufacturing (LOM) method because of its advantages on building speed and cost. Also, the LOM technique is modified by using sloped angle at the side surface of the laminated layer (called Sloped-LOM or S-LOM), which yields great increase in the accuracy. We built a new FreeForm Formwork 3D Printer (named F3D printer) using the new approach. The F3D printer consists of a 5-axis laser cutting device for sloped cutting of EPS (Expanded Poly-Styrene) sheets with high speed, an auto pallet changer for EPS feeding, and a palletizer for EPS loading. This paper introduces the S-LOM method and the F3D printer, and the comparisons of the outputs from the conventional method and S-LOM method through actual formwork production.

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Optimization Design of Student KSAE BAJA Knuckle Using SLM 3D Printer
Young Woo Im, Geon Taek Kim, Hyeon Sang Shin, Kang Min Kim, Bu Hyun Shin, Jong Won Lee, Jinsung Rho
Journal of the Korean Society for Precision Engineering.2023; 40(9): 719. CrossRef
Development of Connection Technology between Multi-Point Press and Flexible Mold for Manufacturing Free-Form Concrete Panel
Jiyeong Yun, Jongyoung Youn, Jihye Kim, Donghoon Lee
Buildings.2022; 12(6): 767. CrossRef
Development of an Adaptive Slicing Algorithm of Laminated Object Manufacturing Based 3D Printing for Freeform Formwork
Dongyoun Lee, Junho Hong
Buildings.2022; 12(9): 1335. CrossRef
Optimal slope cutting algorithm for EPS free-form formwork manufacturing
Harim Kim, Heejae Ahn, Chanwoo Kim, Dongyoun Lee, Taehoon Kim, Yeonho Ko, Hunhee Cho
Automation in Construction.2022; 143: 104527. CrossRef
Seismic Performance of F3D Free-Form Structures Using Small-Scale Shaking Table Tests
Min Jae Park, Gain Cheon, Robel Wondimu Alemayehu, Young K. Ju
Materials.2022; 15(8): 2868. CrossRef
An Analytical Study of the Latest Trends of Free-Form Molds
Jongyoung Youn, Jiyoung Yun, Sungjin Kim, Bumjin Han, Sunglok Do, Donghoon Lee
Sustainability.2022; 14(5): 3084. CrossRef
Development of Side Mold Control Equipment for Producing Free-Form Concrete Panels
Jiyeong Yun, Kyeongtae Jeong, Jongyoung Youn, Donghoon Lee
Buildings.2021; 11(4): 175. CrossRef

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Automation Control System for Servo Prep Column of High-Performance Liquid Chromatography Based on Fuzzy Inference Control: Oyoung Kwon, Hyung Suk Park, Seok Geun Oh, Daehie Hong; J. Korean Soc. Precis. Eng. 2019;36(12):1135-1140.
Published online December 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.12.1135

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This paper describes a control system for the servo prep column of High-Performance Liquid Chromatography (HPLC) based on fuzzy inference control. The key technology in pharmaceutical and biotechnology industries is refining performance and efforts to reduce costs by purifying target compounds with high purity at high yield while maintaining target compounds, is the major focus of new product development. Among the many refinement techniques, the most popular chromatographic methods require a column that can charge the resin with excellent performance and reproducibility. However, the present HPLC prep column has a hydraulic for control moving stopper and compressed chemical compound. It always causes irregular performances of the column. This paper presents automation control with a servo motor that prevents slurry issues and improves efficiency of the prep column reproducibility and provides easy automation. As an automation method, cortex-m4 as an embedded processor and operating system with LabVIEW, are used to control the HPLC system. To generate the heuristic data for the fuzzy inference control, experiments are conducted to identify correlation between data such as pressure sensor and motor speed. The result will improve performance of the servo prep column of HPLC for automation control based on fuzzy inference control.

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Development of PS Synchronize Wale for Construction of Earth Retaining Temporary Structure: Kyungnam Kim, Myungmin Jeong, Daehie Hong; J. Korean Soc. Precis. Eng. 2019;36(10):947-952.
Published online October 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.10.947

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Since earth pressure changes depend on soil depth and surrounding situations, the construction of earth retaining temporary structures should be able to measure the change of the earth pressure and cope with the changes. When the underground excavation and construction of earth retaining temporary structure repeatedly occur, the excavation should be less interfered by the earth retaining structure. A PS synchronize wale measures the horizontal deflection of the structure and generates tension on the wire rope by controlling the hydraulic cylinder so that the wale is in safe range. Since the horizontal load is canceled by pre-stress bending moment, the number of struts the horizontal load is reduced making the excavation interference is small. We evaluated the horizontal deflection of the PS synchronize wale with increasing tension and verified that the deflection of the PS synchronize wale can cancel out the horizontal load in the safety range of 5 mm. This occurs through a universal testing machine experiment simulating earth pressure. We are in the process of applying the PS synchronize wale to a test bed and expect it to be safer and more efficient than existing methods.

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A Study on Optimal Cutting Condition of EPS Foam Cutting Based on Collimated CO₂ Laser Beam: Hakmin Kim, Joonhyeok Sim, Sangyeol Jeong, Daehie Hong; J. Korean Soc. Precis. Eng. 2019;36(9):859-865.
Published online September 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.9.859

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It is possible to produce irregular structures quickly and accurately using rapid prototyping technology. However, there are still some obstacles in fabricating large-scale structures. In order to overcome these technical hitches, equipment has been developed for manufacturing irregular structures using EPS, making it an easy process. Conventional laser cutting systems can produce undesirable slopes in the structure when cutting EPS due to the divergence of the laser beam, resulting in step differences in the overall shape. Therefore, the objective of this study was to reduce the divergence of the laser beam using a concave lens and to find the optimal cutting conditions of the EPS through cutting experiments. As a result of the study, it was confirmed that the collimated beam cutting system can reduce the cutting slopes compared to the focused beam cutting system. In addition, experimental equations for depth of cut with cutting speed and laser intensity were derived.

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Optimal slope cutting algorithm for EPS free-form formwork manufacturing
Harim Kim, Heejae Ahn, Chanwoo Kim, Dongyoun Lee, Taehoon Kim, Yeonho Ko, Hunhee Cho
Automation in Construction.2022; 143: 104527. CrossRef
Development of an Adaptive Slicing Algorithm of Laminated Object Manufacturing Based 3D Printing for Freeform Formwork
Dongyoun Lee, Junho Hong
Buildings.2022; 12(9): 1335. CrossRef
Manufacturing Automation System of Freeform Concrete Formwork Using S-LOM Method
Joonhyeok Sim, Hakmin Kim, Kyunwoo Park, Chanwoo Kim, Daehie Hong
Journal of the Korean Society for Precision Engineering.2020; 37(1): 43. CrossRef

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An Assistive Control Strategy Using Arm Swing Information for 1DoF Hip Exoskeleton for Hemiplegic Gait Rehabilitation: Wooseok Seo, Joon Ho Kwon, Yeonho Ko, Daehie Hong; J. Korean Soc. Precis. Eng. 2019;36(4):419-424.
Published online April 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.4.419

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Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user"s intention. The user"s walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user"s quantitative intention for gait, and suggests for a control strategy to assist user"s movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.

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Measurement, Evaluation, and Control of Active Intelligent Gait Training Systems—Analysis of the Current State of the Art
Yi Han, Chenhao Liu, Bin Zhang, Ning Zhang, Shuoyu Wang, Meimei Han, João P. Ferreira, Tao Liu, Xiufeng Zhang
Electronics.2022; 11(10): 1633. CrossRef

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Application of LOM for Freeform Architecture: Sangyeol Jeong, Joonhyuk Sim, Hakmin Kim, Dongbin Shin, Daehie Hong; J. Korean Soc. Precis. Eng. 2017;34(12):903-909.
Published online December 1, 2017; DOI: https://doi.org/10.7736/KSPE.2017.34.12.903

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Additive Manufacturing (AM) techniques have been applied to many fields. Among them, the Fused Deposition Method (FDM) has been utilized in construction application with concrete paste instead of plastic resin. This paper presents feasibility study of applying Laminated Object Manufacturing (LOM) process especially for freeform architecture. We developed 3D printer of LOM technique equipped with sloped cutting capability. In that way, the surface quality can be improved even with thick laminated sheets. The feasibility of this novel approach was proved through building a freeform bench, and comparing its building time and manufactured freeform surface quality.

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Recent developments in improving the fracture toughness of 3D-printed fiber-reinforced polymer composites
Tayyab Khan, Murad Ali, Zakia Riaz, Haider Butt, Rashid K. Abu Al-Rub, Yu Dong, Rehan Umer
Composites Part B: Engineering.2024; 283: 111622. CrossRef
How temperature-induced depolymerization and plasticization affect the process of structural relaxation
Roman Svoboda, Jana Machotová, Štěpán Podzimek, Pavla Honcová, Maria Chromčíková, Martina Nalezinková, Jan Loskot, Aleš Bezrouk, Daniel Jezbera
Polymer.2024; 290: 126549. CrossRef
Seismic Performance of F3D Free-Form Structures Using Small-Scale Shaking Table Tests
Min Jae Park, Gain Cheon, Robel Wondimu Alemayehu, Young K. Ju
Materials.2022; 15(8): 2868. CrossRef
Optimal slope cutting algorithm for EPS free-form formwork manufacturing
Harim Kim, Heejae Ahn, Chanwoo Kim, Dongyoun Lee, Taehoon Kim, Yeonho Ko, Hunhee Cho
Automation in Construction.2022; 143: 104527. CrossRef
Development of an Adaptive Slicing Algorithm of Laminated Object Manufacturing Based 3D Printing for Freeform Formwork
Dongyoun Lee, Junho Hong
Buildings.2022; 12(9): 1335. CrossRef
Realization of Circular Economy of 3D Printed Plastics: A Review
Caihan Zhu, Tianya Li, Mohamedazeem M. Mohideen, Ping Hu, Ramesh Gupta, Seeram Ramakrishna, Yong Liu
Polymers.2021; 13(5): 744. CrossRef
Manufacturing Automation System of Freeform Concrete Formwork Using S-LOM Method
Joonhyeok Sim, Hakmin Kim, Kyunwoo Park, Chanwoo Kim, Daehie Hong
Journal of the Korean Society for Precision Engineering.2020; 37(1): 43. CrossRef
A Study on Optimal Cutting Condition of EPS Foam Cutting Based on Collimated CO2 Laser Beam
Hakmin Kim, Joonhyeok Sim, Sangyeol Jeong, Daehie Hong
Journal of the Korean Society for Precision Engineering.2019; 36(9): 859. CrossRef

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A Study on the Tolerance of Composite Seam Clamp for Paper Container Forming Process: Junho Hong, Hyoungjong Wi, Sang Yeol Jeong, Hakmin Kim, Daehie Hong; J. Korean Soc. Precis. Eng. 2017;34(7):443-448.
Published online July 1, 2017; DOI: https://doi.org/10.7736/KSPE.2017.34.7.443

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Precise installation of a seam clamp is crucial as failure to do so will lead to defects, compromising the quality of paper containers. Even experts spend 90-120 minutes, which comprises 4.7 percent -6.25 percent of the replacement and adjustment process on a paper container manufacturing machine. To overcome an undesirable replacement procedure, a composite seam clamp was devised. The objective of this paper is to enhance the quality of a seam of a paper container and reduce time replacing seam clamps. The composite seam clamp was designed based on the Guerin process. Silicon rubber, which can be used in the temperature range of the paper container manufacturing process (110-130℃), was selected. To validate performance of the steel and composite seam clamp, 13 error situations resulted from translation and rotating misalignment of seam clamps were set and simulated. Through FEM (Finite Element Method) simulation, this paper confirms that the composite seam clamp shows higher transmission of clamping pressure compared to steel seam clamps in error situations. The feasibility of the composite seam clamp was validated in reducing replacement time of seam clamps through on-site tests.

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3D Cutting Machine of EPS Foam for Manufacturing Free-Formed Concrete Mold: Junghwan Seo, Daehie Hong; J. Korean Soc. Precis. Eng. 2017;34(1):35-39.
Published online January 1, 2017; DOI: https://doi.org/10.7736/KSPE.2017.34.1.35

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We used a construction method using a CNC milling machine, where free-formed molds were made by cutting EPS (Expanded PolyStyrene) foam with the CNC machine, to build free-formed buildings. CNC milling is off-the-shelf technology that can easily cut EPS foam; however its production cost is too high and the time to manufacture an EPS mold is too long. This paper proposes a novel cutting machine with a fast and cost effective mechanism to manufacture EPS concrete molds. Our machine comprises a cutter and Cartesian coordinate type moving mechanism, where the cutter cuts EPS foam using a hotwire in the shape of ‘Π’ and is capable of adjusting its cutting angle in real-time while keeping its cutting width. We proved through cutting experiments on the CNC machine that cutting time was greatly shortened compared to the conventional method and that the resulting concrete mold satisfied manufacturing precision.

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Development of Side Mold Control Equipment for Producing Free-Form Concrete Panels
Jiyeong Yun, Kyeongtae Jeong, Jongyoung Youn, Donghoon Lee
Buildings.2021; 11(4): 175. CrossRef
Manufacturing Automation System of Freeform Concrete Formwork Using S-LOM Method
Joonhyeok Sim, Hakmin Kim, Kyunwoo Park, Chanwoo Kim, Daehie Hong
Journal of the Korean Society for Precision Engineering.2020; 37(1): 43. CrossRef

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Variable Impedance Control and Fuzzy Inference Based Identification of User Intension for Direct Teaching of a Mobile Robot: Jong Hyeon Ko, Jang Ho Bae, Daehie Hong; J. Korean Soc. Precis. Eng. 2016;33(8):647-654.
Published online August 1, 2016

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Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

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Development of In-wheel Actuator for Active Walking Aids Equipped with Torque Sensor for User Intention Recognition: Seung-Hwan Lim, Tae-Keun Kim, Dong Yeop Kim, Jung-Hoon Hwang, Bong-Seok Kim, Chang Woo Park, Jae-Min Lee, Daehie Hong; J. Korean Soc. Precis. Eng. 2014;31(12):1141-1146.
Published online December 1, 2014

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As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

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A Control System Using Butterworth Filter for Loss-in-Weight Feeders: In-Jae Kang, Sung-Min Moon, Joon Ho Kwon, Daehie Hong; J. Korean Soc. Precis. Eng. 2014;31(10):905-911.
Published online October 1, 2014

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A Loss-in-Weight (LIW) feeder, a type of automated measuring device, is a continuous feeder used in many mass production industries. Due to its versatility, there have been constant demands of LIW feeders in food production supply lines as well as chemical and pharmaceutical industries. In this paper, the process of designing a LIW feeder system with better performance will be examined and compared with commercial products. This system is characterized by low pass Butterworth filter and feed forward PI control. The filter is for noise disposal caused by dynamic condition of a LIW feeder. The feed forward PI control, based on linearity feature of feeders, is adequate for stable driving of the system. At the end, a possible evaluation method of LIW system will be proposed to verify the specific achievement of this paper.

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A Surface Adaptive Moving Mechanism for Wind Turbine Blade Maintenance Robot: Byunggon Kim, Sora Park, Minsoek Jun, Kyungtae Jun, Daehie Hong; J. Korean Soc. Precis. Eng. 2013;30(9):969-975.
Published online September 1, 2013

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As energy shortage is getting more serious, wind energy source is more promoted around the world. Blade is a key component of wind turbine. Local breakages and/or contamination in the blade bring degradation in aerodynamic efficiency and life-time. However, it is not easy and even dangerous for human workers to access the blade for inspection and maintenance since its size is huge and located at high mountains and rough sea, which are windy places. This paper deals with a novel moving mechanism that efficiently carries human workers or robots to the wind turbine blade. The proposed mechanism utilizes flexible tube with pressurized air that rolls and climbs over the blade surface. So, the tube naturally adapts the changing surface of the blade and acts no harm to it. This paper discusses about its concept, detail design, and advantages. The feasibility of the proposed mechanism is proved through experiments prototype.