• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• Applied Science and Convergence Technology
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• v.23 no.4
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• pp.192-199
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• 2014

The electronic property of graphene was investigated by hydrazine treatment. Hydrazine ($N_2H_4$) highly increases electron concentrations and up-shifts Fermi level of graphene based on significant shift of Dirac point to the negative gate voltage. We have observed contact resistance and channel length dependent mobility of graphene in the back-gated device after hydrazine monohydrate treatment and continuously monitored electrical characteristics under Nitrogen or air exposure. The contact resistance increases with hydrazine-treated and subsequent Nitrogen-exposed devices and reduces down in successive Air-exposed device to the similar level of pristine one. The channel conductance curve as a function of gate voltage in hole conduction regime keeps analogous value and shape even after Nitrogen/Air exposure specially whereas, in electron conduction regime change rate of conductance along with the level of conductance with gate voltage are decreased. Hydrazine could be utilized as the highly effective donor without degradation of mobility but the stability issue to be solved for future application.

• Progress in Superconductivity and Cryogenics
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• v.14 no.3
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• pp.33-37
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• 2012

An HTS racetrack-type coil without turn-to-turn insulation was characterized by critical current, sudden discharge, and over-current tests with respect to external pressures applied to the straight sections of the coil. The thermal stability of the non-insulated HTS racetrack-type coil was remarkably enhanced with increasing external pressure applied to the straight sections of racetrack-type coil. Furthermore, over-current test results confirmed that the non-insulated HTS racetrack-type coil with increased turn-to-turn thermal contact has the potential to be manufactured into field coils of HTS wind turbine generators with highly enhanced thermal and electrical stabilities.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.24 no.3
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• pp.111-115
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• 1998

We investigated the stability of all-trans-retinol on the liquid crystalline O/W emulsion composed of mainly alkyl polyglycerine, alkyl polyglucose and glycerine, and compared the activity of all-trans-retinol in the various forms of liquid crystal. Under certain conditions, novel liquid crystalline gel was formed around oil droplets, and layers of this liquid crystalline gel were very wide and rigid. (SWLC; Super Wide Liquid Crystal) SWLC was very helpful to stabilize retinol in O/W emulsion. After storage at 45 C for 4 weeks, all-trans-retinol in O/W emulsion composed of SWLC retained above 85% of the activity upon HPLC analysis, whereas those within no liquid crystalline emulsion gave 47% and normal liquid crystalline emulsion composed of fatty alcohols gave 40 60%. Retinol in oil phase is nealy insoluble in pure water, but in cosmetic emulsion systems can be slightly solubilized into water because emulsifiers and polyols in emulsion systems function as solubilizers. In this case, water in outer phase acts as a media for oxygen transporation$.$and thus destabilizes retinol. As a result, retinol in O/W emulsion has a tendency to become unstable. SWLC surrounding oil droplet which contains retinol is wide and rigid, therefore reduces contact between inner phase and outer phase To make SWLC, properties of emulsifiers are very important phase transition temperature should be high, and the structure of surfactants should be bulky, and their ratio should be suitable to make rigid and wide liquid crystalline gel layer in order to reduce contact between retinol in inner phase and water in outer phase.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.9
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• pp.1380-1386
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• 2012

It is important to consider supply voltage stability in case of design and construction of a substation at electric railway because a urban transit is operated by electricity and it is driven simultaneous in the same section. This paper study on variation of the dynamic characteristic of supply voltage according to the track environment and spatial distribution as driving of urban transits. Simulation tool, TOM(Train Operations Model) software is used to ensure stability of feeder system being used around the world. As results of simulation, voltage of the contact wire is in limits on driving operation diagram of urban transits. Also, it has confirmed that there is a correlation the phase current, depending on the speed of urban transit and track environment like vertical gradients and curve radius.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1235-1241
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• 2001

Pantograph design process must be considered in terms of stability of aerodynamics and reduction of aeroacoustics. Furthermore Pantograph needs to be insensible to severe circumstance condition like typhoon, tunnel, a change of season. In this paper, robust design of panhead sections is conducted based on the Taguchi's design of experiment method. In the aeroacoustic noise analysis, an acoustic analogy using the Ffowcs Williams and Hawkings (FW-H) equation is used to calculate the flow induced sound pressure level. From the near-field CFD analysis data, the far-field noise is predicted at the positions of 25m away from panhead contact strips. Based on aerodynamic (CFD) and aeroacoustic (FW-H) analysis data, the optimal sizing and positioning ofpanhead elements are determined using robust design optimization method. Design parameters such as thickness, length and radius are controllable factors, while outdoor air temperature and atmospheric pressure are considered as uncontrollable factors in the context of Taguchi's approach. A number of CFD simulation and aeroacoustic analysis are performed based on orthogonal arrays. Using a parameter design procedure associated with signal-to-noise (SIN) ratio and sensitivity analysis, an optimal level of design parameters are extracted to minimize the disconnection ratio between contact strips and catenary system, and reduce the far-field aeroacoustic noise.

• Transactions of the Society of Information Storage Systems
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• v.9 no.2
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• pp.42-47
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• 2013

In this study, we have experimentally analyzed how the surface properties of transparent electrode layer influence the photovoltaic performance of bulk heterojunction organic solar cell by the contact angle measurement and X-ray photoelectron spectroscopy(XPS) observation. As a result, the power conversion efficiency of test devices improved from 0.64% to 1.83% and 2.15% by UV-ozone exposure and $O_2$ plasma treatment, respectively. Thus, we conclude that the surface activation process is very important for better performance and stability in addition to the cleaning process of carbonate residue on the surface.

• Korean Journal of Materials Research
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• v.29 no.10
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• pp.639-646
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• 2019

Ink-jet printing is a manufacturing process technology that directly prints a digitalized design pattern onto a substrate using a fine ink jetting system. In this study, environmentally friendly yellow aqueous ceramic ink is synthesized by mixture of distilled water, yellow ceramic pigment and additives for ink-jet printing. The graft polymer, which combines electrostatic repulsion and steric hindrance mechanism, is used as a surfactant for dispersion stability of aqueous ceramic ink. Synthesized ceramic ink with graft polymer surfactant shows better dispersion stability than did ceramic ink with PAA surfactant; synthesized ink also shows desirable ink-jet printability with the formation of a single ink droplet during printability test. Finally, ceramic ink printed on glass substrate and ceramic ink with graft polymer surfactant shows a high contact angle without surface treatment on glass substrate. Consequently, it is confirmed that the ceramic ink with graft polymer surfactant can achieve high printing resolution without additional surface treatment process.

• Journal of Electrochemical Science and Technology
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• v.13 no.1
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• pp.159-166
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• 2022

The assembly of the micron-sized Si/CNT/carbon composite wrapped with graphene (SCG composite) is designed and synthesized via a spray drying process. The spherical SCG composite exhibits a high discharge capacity of 1789 mAh g^-1 with an initial coulombic efficiency of 84 %. Moreover, the porous architecture of SCG composite is beneficial for enhancing cycling stability and rate capability. In practice, a blended electrode consisting of spherical SCG composite and natural graphite with a reversible capacity of ~500 mAh g^-1, shows a stable cycle performance with high cycling efficiencies (> 99.5%) during 100 cycles. These superior electrochemical performance are mainly attributed to the robust design and structural stability of the SCG composite during charge and discharge process. It appears that despite the fracture of micro-sized Si particles during repeated cycling, the electrical contact of Si particles can be maintained within the SCG composite by suppressing the direct contact of Si particles with electrolytes.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.