• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.1
• /
• pp.67-76
• /
• 1997

In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.

• Journal of applied mathematics & informatics
• /
• v.30 no.5_6
• /
• pp.699-717
• /
• 2012

In this paper, we deal with the robust mixed $H_2/H_{\infty}$ guaranteed-cost control problem involving uncertain neutral stochastic distributed delay systems. More precisely, the aim of this problem is to design a robust mixed $H_2/H_{\infty}$ guaranteed-cost controller such that the close-loop system is stochastic mean-square exponentially stable, and an $H_2$ performance measure upper bound is guaranteed, for a prescribed $H_{\infty}$ attenuation level ${\gamma}$. Therefore, the fast convergence can be fulfilled and the proposed controller is more appealing in engineering practice. Based on the Lyapunov-Krasovskii functional theory, new delay-dependent sufficient criteria are proposed to guarantee the existence of a desired robust mixed $H_2/H_{\infty}$ guaranteed cost controller, which are derived in terms of linear matrix inequalities(LMIs). Furthermore, the design problem of the optimal robust mixed $H_2/H_{\infty}$ guaranteed cost controller, which minimized an $H_2$ performance measure upper bound, is transformed into a convex optimization problem with LMIs constraints. Finally, two simulation examples illustrate the design procedure and verify the expected control performance.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2008.04a
• /
• pp.71-74
• /
• 2008

The main object of this paper is concentrated on distance control of two robot arms of a humanoid using Fuzzy Logic Controller (FLC) for handling a common object. Serial Link Robot arms are widely used in most significantly in Humanoids serving for older people and also in various industrial applications. A method is proposed here that separates the interconnections between two robot arms so that the resulting model of two arms is decomposed into fuzzy logic based controller. The distance between two end effectors is always kept equal to that of the diameter of an object to be handled, so that the object would not fall down. Mathematical model of this system was obtained to simulate the behavior of serial robotic arms in close loop control before using fuzzy logic controller. Lagrangian equation of motion has been used to obtain the appropriate mathematical model of Robotic arms. The results are shown to provide some improvement over those obtained by more conventional means.

• Journal of Microbiology and Biotechnology
• /
• v.30 no.5
• /
• pp.633-641
• /
• 2020

Microbial rhodopsins are a superfamily of photoactive membrane proteins with the covalently bound retinal cofactor. Isomerization of the retinal chromophore upon absorption of a photon triggers conformational changes of the protein to function as ion pumps or sensors. After the discovery of proteorhodopsin in an uncultivated γ-proteobacterium, light-activated proton pumps have been widely detected among marine bacteria and, together with chlorophyll-based photosynthesis, are considered as an important axis responsible for primary production in the biosphere. Rhodopsins and related proteins show a high level of phylogenetic diversity; we focus on a specific class of bacterial rhodopsins containing the '3 omega motif.' This motif forms a stack of three non-consecutive aromatic amino acids that correlates with the B-C loop orientation and is shared among the phylogenetically close ion pumps such as the NDQ motif-containing sodium-pumping rhodopsin, the NTQ motif-containing chloride-pumping rhodopsin, and some proton-pumping rhodopsins including xanthorhodopsin. Here, we reviewed the recent research progress on these 'omega rhodopsins,' and speculated on their evolutionary origin of functional diversity.

• International Journal of Precision Engineering and Manufacturing
• /
• v.9 no.4
• /
• pp.57-62
• /
• 2008

The aim of this investigation was to extract the fatigue properties at the designated fatigue life of copper foil and observe the mean stress and stress amplitude effects on both the fatigue life and the corresponding surface morphology. Tensile tests were performed to determine the baseline monotonic material properties of the proportional limit and ultimate tensile strength. Constant amplitude fatigue tests were carried out using a feedback-controlled fatigue testing machine. The mean stress and the stress amplitude were changed to obtain the complete nominal stress-life curves. An atomic force microscope was utilized to observe the relationship between the fatigue damage and the corresponding changes in surface morphology. A Basquin's exponent of-0.071 was obtained through the fatigue tests. An endurance limit of 122 MPa was inferred from a Haigh diagram. The specimen surface became rougher as the number of fatigue cycles increased, and there was a close relationship between the fatigue damage and the surface roughness evolution.

• Bulletin of the Korean Chemical Society
• /
• v.27 no.2
• /
• pp.237-242
• /
• 2006

$Fe_3O_4$ and $CoFe_2O_4$ magnetic nanoparticles have been synthesized successfully in aqueous solution and coated with oleic acid. The solid and organic solution of the synthesized nanoparticles was obtained. Self-assembled monolayer films were formed using organic solution of these nanoparticles. The crystal sizes determined by Debye-Scherre equation with XRD data were found close to the particle sizes calculated from TEM images, and this indicates that the synthesized particles are nanocrystalline. Especially, EDS, ED, FT-IR, TGA/DTA and DSC were used to characterize the nanoparticles and the oleic acid adsorption, and it was found that oleic acid molecule on the $Fe_3O_4$ nanoparticle is a bilayer adsorption, while that on $CoFe_2O_4$ nanoparticle is single layer adsorption. The superparamagnetic behavior of the nanoparticles was documented by the hysteresis loop measured at 300 K.

• Journal of the Korean Applied Science and Technology
• /
• v.16 no.1
• /
• pp.75-81
• /
• 1999

HF purification performance of an ion exchange membrane(IEM) was evaluated with 0.5% HF spiked with 10ppb of Fe, Ni and Cu nitrates. The result show that after less than five turnovers through an IEM, the metallic impurity concentration drops below 1ppb. The decrease rate can be fitted to a model assuming the experimental tanks to be continuously stirred tank reaction and that the metallic impurity concentration after the IEM is a function of the single-pass purification efficiency of the membrane, the concentration before purification and the metals desorbed form the IEM. The Concentration after purification was investigated up to a cumulative Fe loading of 300ppb in the 23 liter recirculated loop. It increases linearly vs. cumulative loading and can be explained by the Langmuir theory resulting in a purification efficiency at the equilibrium of close to 99.5% in this loading regime.

• JSTS:Journal of Semiconductor Technology and Science
• /
• v.14 no.4
• /
• pp.383-390
• /
• 2014

This paper presents an excitatory CMOS neuron oscillator circuit design, which can synchronize two neuron-bursting patterns. The excitatory CMOS neuron oscillator is composed of CMOS neurons and CMOS excitatory synapses. And the neurons and synapses are connected into a close loop. The CMOS neuron is based on the Hindmarsh-Rose (HR) neuron model and excitatory synapse is based on the chemical synapse model. In order to fabricate using a 0.18 um CMOS standard process technology with 1.8V compatible transistors, both time and amplitude scaling of HR neuron model is adopted. This full-chip integration minimizes the power consumption and circuit size, which is ideal for motion control unit of the proposed bio-mimetic micro-robot. The experimental results demonstrate that the proposed excitatory CMOS neuron oscillator performs the expected waveforms with scaled time and amplitude. The active silicon area of the fabricated chip is $1.1mm^2$ including I/O pads.

• Journal of the Korean Chemical Society
• /
• v.57 no.2
• /
• pp.272-278
• /
• 2013

Extract of ginger has been evaluated as a green inhibitor for the corrosion of steel in sulfide polluted NaCl solution using potentiodynamic polarization, electrochemical impedance spectroscopy (EIS) and electrochemical frequency modulation (EFM) techniques. Potentiodynamic polarization measurements showed that this extract acts as a mixed type inhibitor but mainly inhibits the cathodic reaction. The inhibition efficiency was found to increase with inhibitor concentration reaching to approximately 83.9% using 250 ppm of ginger. Nyquist plots show a single capacitive loop in uninhibited and inhibited solutions. From EFM the causality factors are very close to theoretical values which indicate that the measured data are of good quality. The adsorption process of the studied extract on steel surface obeys Temkin adsorption isotherm. The results obtained from the different electrochemical techniques were in good agreement which prove the validity of these tools in measurement of corrosion rate. Ginger extract has no effect on Escherichia Coli and can be applied safely on waste water treatment plants.

• Proceedings of the KIEE Conference
• /
• 2003.07c
• /
• pp.1923-1925
• /
• 2003

본 논문은 유리 기판과 실리콘 기판의 양극접합과 CMP공정을 통하여 정전기력으로 구동되는 마이크로 비틀림 액추에이터를 제작하고 이 제작된 액추에이터의 성능을 개선하는 방법과 실험에 관한 것이다. 이 비틀림 액추에이터는 미소 거울로 사용하기 위해 제작하였다. 미소 거울은 영상을 정확히 반사하거나 회절 시키는 것이 목적이지만 MEMS 공정의 특성 문제로 인해 일관적인 성능을 나타내는 것이 비교적 힘들다. 따라서 이를 개선하기 위해선 구조적인 접근 보다 실제 구동될 때의 현상을 보상하는 것이 필요하다. 일정한 입력전압에 비례하는 미소 거울의 변위를 알고 이를 기준으로 하여 시스템을 구동하여야 한다. 여기서 인가되는 전압에 비례하는 변위가 정확한지 측정을 해야 하고 만약 오차가 있다면 이를 개선하여야 한다. 또한 구동 시 발생하는 overshoot 현상과 작은 떨림 현상을 줄이고 빠른 시간 내에 응답하도록 시스템을 보상하여야 한다. 본 논문에선 PID 제어기법을 사용하여 $0.5^{\circ}$의 각도로 구동할 때를 기준으로 이 때의 구동전압 200V를 인가하고 오차를 측정하여 시스템을 보상하였다.