• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• The Korean Journal of Ceramics
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• v.4 no.1
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• pp.43-46
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• 1998

We have investigated the formation and thermal stability of cobalt aluminide(CoAl) thin films on GaAs. In order to obtain cobalt-aluminide thin films, we deposited a multilayer of Co/Al on GaAs, and subsequently annealed the samples at 80$0^{\circ}C$ for 30 min. After annealing, single-phase cobalt aluminide was produced showing a flat and uniform interface with GaAs. which indicates that cobalt aluminide (CoAl) is thermally stable with GaAs. In addition, the adherence and mechanical properties of the as-deposited, and annealed Co/Al multilayer structure on GaAs are compatible with those required for device fabrication processes. The electrical property of the CoAl/GaAs contact shows rectifying characteristics, indicating that the diodes were usable as rectifying gate electrodes.

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.350-355
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• 2005

The running stability and safety of a railway vehicle depends on the design characteristics and the contact condition between wheel and rail. In this paper, numerical simulations using ANSYS and ADAMS were done on the basis of the experimental observations. The results show that 0.6 Hz of the tail car motion is due to the natural mode of car combination of the KTX. The effects of the conicity of wheel and the lateral stiffness of the secondary suspension on the running stability were analyzed numerically using ADAMS/RAIL. The results also show 0.6 Hz as like the experimental observations. And the adoption of the wheel of GV40(${\lambda}=0.025$) brought the sway motion at the tail cars, but XP55(${\lambda}=0.055$) did not when the secondary lateral stiffness of the KTX was greater than 0.3 MN/m.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.1017-1022
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• 1996

This paper presents results of dynamic analysis of the missile initial motion arising from the missile detent force. Using ADAMS (Automatic Dynamic Analysis of Mechanical System) software, a non-linear 46-DOF (Degree of Freedom) model is developed for the launcher system including missile and launch tube contact problem. From the dynamic analysis, it is found that initial angular velocity of the missile increases when the missile detent force increases (more than 18 g) and also rocket exhaust plume is taken into account. To achieve the missile launching s ability, it needs to reduce the missile initial detent force and exhaust plume area of the launcher. Results of the dynamic analysis on the system natural frequency agree well with those obtained from experimental modal tests. The overall results suggest that the proposed method is a useful tool for prediction of initial missile stability as well as d :sign of the missile launcher system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.40-46
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• 2004

Magnetic bearing has been adopted to support a rotor by electromagnetic force without mechanical contact and lubrication process. The recent growth of magnetic bearing applications in many industrial fields requires more accurate design of bearing-rotor system. Due to external forces and uncertainties of magnetic bearing system the actual performance and stability my be worse than it is designed. This paper describes the governing equations of rotor magnetic bearing systems and/or the designing of robust controller via standard $H_{\infty}$ control problem. The system stability and response characteristics are studied by simulations and verified with experimental results.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09a
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• pp.518-519
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• 2006

A connection between pulse-periodical laser radiation power and stability of liquid-metal contacts between powder particles during selective laser sintering (SLS) is determined based on analysis solving the problem of stability of liquid column in the gravity and capillary forces field. On the grounds of obtained relationships the optimization of pulse-periodical laser radiation power and SLS-process duration is realized, that allows to produce voluminous powder porous materials with pre-determined physical and mechanical properties and surface geometry. Results of metallographic investigations of powder porous materials of titanium powder produced with technological regimes calculated by means of obtained relationships are given in the work

• Korean Journal of Materials Research
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• v.16 no.10
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• pp.614-618
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• 2006

The thermal stability of Cu/Ti(or Ta)/NiSi contacts was investigated. Ti(Ta)-capping layers deposited to form NiSi was utilized as the Cu diffusion barrier. Ti(Ta)/NiSi contacts was thermally stable upto $600^{\circ}C$. However when Cu/Ti(Ta)/NiSi contacts were furnace-annealed at $300{\sim}400^{\circ}C$ for 40 min., the Cu diffusion was found to be effectively suppressed, but NiSi was dissociated and then Ni diffused into the Cu layer to form Cu-Ni solutions. On the other hand, the Ni diffusion did not occur for the Al/Ti/NiSi system. The thermal instability of Cu/Ti(Ta)/NiSi contacts was attributed to the high heat of solution of Ni in Cu.

• The Journal of Advanced Prosthodontics
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• v.1 no.1
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• pp.19-25
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• 2009

STATEMENT OF PROBLEM. Primary stability at the time of implant placement is related to the level of primary bone contact. The level of bone contact with implant is affected by thread design, surgical procedure and bone quality, etc. PURPOSE. The aim of this study was to compare the initial stability of the various taper implants according to the thread designs, half of which were engaged to inferior cortical wall of type IV bone(Group 1) and the rest of which were not engaged to inferior cortical wall(Group 2) by measuring the implant stability quotient(ISQ) and the removal torque value(RTV). MATERIAL AND METHODS. In this study, 6 different implant fixtures with 10 mm length were installed. In order to simulate the sinus inferior wall of type IV bone, one side cortical bone of swine rib was removed. 6 different implants were installed in the same bone block following manufacturer s recommended procedures. Total 10 bone blocks were made for each group. The height of Group 1 bone block was 10 mm for engagement and that of group 2 was 13 mm. The initial stability was measured with ISQ value using Osstell $mentor^{(R)}$ and with removal torque using MGT50 torque gauge. RESULTS. In this study, we found the following results. 1. In Group 1 with fixtures engaged to the inferior cortical wall, there was no significant difference in RTV and ISQ value among the 6 types of implants. 2. In Group 2 with fixtures not engaged to the inferior cortical wall, there was significant difference in RTV and ISQ value among the 6 types of implants(P < .05). 3. There was significant difference in RTV and ISQ value according to whether fixtures were engaged to the inferior cortical wall or not(P < .05). 4. Under-drilling made RTV and ISQ value increase significantly in the NT implants which had lower RTV and ISQ value in Group 2(P < .05). CONCLUSIONS. Without being engaged to the inferior cortical wall fixtures had initial stability affected by implant types. Also in poor quality bone, under-drilling improved initial stability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• JSTS:Journal of Semiconductor Technology and Science
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• v.17 no.2
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• pp.277-282
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• 2017

Nickel germanide (NiGe) is one of the most promising alloy materials for source/drain (S/D) of Ge MOSFETs. However, NiGe has limited thermal stability up to $450^{\circ}C$ which is a challenge for fabrication of Ge MOSFETs. In this paper, a novel method is proposed to improve the thermal stability of NiGe using Co interlayer. As a result, we found that the thermal stability of NiGe was improved from $450^{\circ}C$ to $570^{\circ}C$ by using the proposed Co interlayer. Furthermore, we found that current-voltage (I-V) characteristic was improved a little by using Co/Ni/TiN structure after post-annealing. Therefore, NiGe formed by the proposed Co interlayer that is, Co/Ni/TiN structure, is a promising technology for S/D contact of Ge MOSFETs.