• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.428-433
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• 1997

This paper presents a new control strategy for the position and force control of flexible manipulators. The governing equation of motion of a two-link flexible manipulator which features piezoceramic actuators bonded on each flexible beam is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller on the basis of the rigid-mode dynamics. In the controller formulation, the sliding mode controller with perturbation estimation(SMCPE) is adopted to determine appropriate control gains. The SMCPE is then incorporated with the fuzzy technique to mitigate inherent chattering problem while maintaining the stability of the system. A set of fuzzy parameters and control rules are obtained from a relation between estimated perturbation and actual perturbation. During the commanded motion, undesirable oscillation is actively suppressed by applying feedback control voltages to the piezoceramic actuators. These feedback voltages are also determined by the SMCPE. Consequently, accurate force and position control of a two-link flexible manipulator are achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.81-88
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• 2006

Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.1
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• pp.101-108
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• 2012

Initial shape analysis for cable-stayed bridges should be able to find optimizated initial cable forces and unstrained length that minimize deflection and bending moments of the deck and pylon. Comparison study of an improved initial force method and TCUD method for determination of initial cable forces in cable-stayed bridges is presented in this paper. For this purpose, an elastic catenary cable element and a nonlinear frame element are firstly described. And concepts and algorithm of two analysis methods are then presented. Finally to demonstrate the validity and the accuracy of two methods, numerical examples for initial state problems of cable-stayed bridges are given and compared based on these methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.3
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• pp.58-64
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• 2003

Pogo is the instability resulting from the interaction between rocket structure and propulsion system of liquid propellant rocket. The coupling of structure and propulsion system can lead to severe problem in rocket. For the analysis of pogo, a time-invariant linearized mathematical model is developed for a selected flight time. Propulsion system is modeled using element representations for each components. Rocket structure is modeled using FEM. Form the results of modal analysis of structure, the behavior of structure can be represented. System equations for coupling structure and propulsion system are composed. The stability in obtained by the eigen solution of system matrix. The optimization of the design variables such as size, place of accumulator for suppressing pogo instability in carried out. This article of study can be used to determine the degree of stability, and guide the design of pogo suppression system.

• Journal of the Microelectronics and Packaging Society
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• v.23 no.2
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• pp.79-84
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• 2016

A flexible electronic device deformed by external force causes the failure of a semiconductor die. Even without failure, the repeated elastic deformation changes carrier mobility in the channel and increases resistivity in the interconnection, which causes malfunction of the integrated circuits. Therefore it is desirable that a semiconductor die be placed on a neutral line where the mechanical stress is zero. In the present study, we investigated the effects of design factors on the position of neutral line by finite element analysis (FEA), and expected the possible failure behavior in a flexible face-down packaging system assuming flip-chip bonding of a silicon die. The thickness and material of the flexible substrate and the thickness of a silicon die were considered as design factors. The thickness of a flexible substrate was the most important factor for controlling the position of the neutral line. A three-dimensional FEA result showed that the von Mises stress higher than yield stress would be applied to copper bumps between a silicon die and a flexible substrate. Finally, we suggested a designing strategy for reducing the stress of a silicon die and copper bumps of a flexible face-down packaging system.

• Journal of the Microelectronics and Packaging Society
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• v.24 no.4
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• pp.31-37
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• 2017

Recently, there has been substantial interest in flexible and wearable devices whose properties and performances are close to conventional devices on hard substrates. Despite the advancement on flexible devices with organic semiconductors or carbon nanotube films, their performances are limited by the carrier scattering at the molecular to molecular or nanotube-to-nanotube junctions. Here in this study, we demonstrate on the vertical semiconductor crystal array embedded in flexible polymer matrix. Such structures can relieve the strain effectively, thereby accommodating large flexural deformation. To achieve such structure, we first established a low-temperature solution-phase synthesis of single crystalline 3D architectures consisting of epitaxially grown ZnO constituent crystals by position and growth direction controlled growth strategy. The ZnO vertical crystal array was integrated into a piece of polydimethylsiloxane (PDMS) substrate, which was then mechanically detached from the hard substrate to achieve the freestanding ZnO-polymer composite. In addition, the characteristics of transferred ZnO were confirmed by additional structural and photoluminescent measurements. The ZnO vertical crystal array embedded in PDMS was further employed as pressure sensor that exhibited an active response to the external pressure, by piezoelectric effect of ZnO crystal.