• 대한수학회지
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• 제42권5호
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• pp.883-892
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• 2005

We classify N($\kappa$)-contact metric manifolds which satisfy $Z(\xi,\;X)\cdotZ\;=\;0,\;Z(\xi,\;X)\cdotR\;=\;0\;or\;R(\xi,\;X)\cdotZ\;=\;0$.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 한국초전도ㆍ저온공학회논문지
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• 제15권2호
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• pp.48-51
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• 2013

The thermal contact resistance (TCR) is one of the important components in the cryogenic systems. Especially, cryogenic measurement devices using a cryocooler can be affected by TCR because the systems have to consist of several metal components in contact with each other for heat transferring to the specimen without cryogen. Therefore, accurate measurement and understanding of TCR is necessary for the design of cryogenic measurement device using a cryocooler. The TCR occurs at the interface between metals and it can be affected by variable factors, such as roughness of metal surface, contact area and contact pressure. In this study, we designed TCR measurement system at various temperatures using a cryocooler as a heat sink and used steady state method to measure the TCR between metals. The copper is selected as a specimen in the experiment because it is widely used as a heat transfer medium in the cryogenic measurement devices. The TCR between Cu and Cu is measured for various temperatures and contact pressures. The effect of the interfacial materials on the TCR is also investigated.

• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1222-1228
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• 2002

This research is the development of a flexible tactile sensor array for service robots using PVDF (polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8${\times}$8 array using PVDF film was fabricated. In the fabrication procedure, the electrode patterns and the common electrode of the thin conductive tape were attached to both sides of the 281$\mu\textrm{m}$ thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for a stable structure. The proposed fabrication method is simple and easy to make the sensor. The sensor has the advantages in the implementing for practical applications because its structure is flexible and the shape of the each tactile element can be designed arbitrarily. The signals of a contact force to the tactile sensor were sensed and processed in the DSP system in which the signals are digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in a personal computer, and the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of the contact state was verified through the sensing examples.

• E2M - 전기 전자와 첨단 소재
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• 제10권2호
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• pp.141-149
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• 1997

L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ powders were prepared by both GNP(Glycine-Nitrate Process) and solid state reaction method in various of calcination temperature(800-1000.deg. C) and time in air. Also, L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ cathode contacts on YSZ(Yttria-Stabilized Zirconia) substrate were prepared by screen printing and sintering method as a function of sintering temperature(1100-1450.deg. C) in air. Sintering behaviors have been investigated by SEM(Scanning Electron Microscope) and porosity measurement. Compositional and structural characterization were carried out by X-ray diffractometer and ICP AES(Inductively Coupled Plasma-Atomic Emission Spectrometry) analysis. Electrical characterization was carried out by the electrical conductivity with linear 4 point probe method. As the calcination period increased in solid state reaction method, L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ phase increased. Although L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ single phase was obtained only for 48hrs at 1000.deg. C, in GNP method it was easy to get single and ultra-fine L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ powders with submicron particle size at 650.deg. C for 30min. The particle size and thickness of L $a_{0.7}$S $r_{0.3}$Mn $O_{3}$ cathode contact by solid state reaction method did not change during the heat treatment, while those by GNP method showed good sintering characteristics because initial powder size fabricated from GNP method is smaller than that fabricated from solid state reaction method. Based on enthalpy change from thermodynamic data and ICP-AES analysis, it was suggested to make cathode contact in composition of (L $a_{0.7}$S $r_{0.3}$)$_{0.91}$ Mn $O_{3}$ which have little second phase (L $a_{2}$Z $r_{2}$ $O_{7}$) for high efficient solid oxide fuel cells applications. As (L $a_{0.7}$S $r_{0.3}$)$_{0.91}$Mn $O_{3}$ cathode contact on YSZ substrate was sintering at 1250.deg. C the temperature that liquid phase sintering did not occur. It was possible to obtain proper cathode contacts with electrical conductivity of 150(S/cm) and porosity content of 30-40%.m) and porosity content of 30-40%.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.460-463
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• 1995

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.

• 통합자연과학논문집
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• 제11권1호
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• pp.39-43
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• 2018

Poly(hydroxyethyl methacrylate)-based hydrogels were surface-functionalized with spiropyran (SP) derivatives to obtain photochromic contact lenses. The contact lens reversibly changes from colorless to purple as response to UV light since colorless ring-closed SP state converts to purple ring-opened merocyanine (MC) state under UV light irradiation. The purple contact lens emits red light at 640 nm. Importantly, the presence of SP segments did not significantly affect the equilibrium water content (EWC) of the lens. SP-functionalized hydrogel lenses may find potential applications in developing light-adaptive ophthalmic materials.

• 센서학회지
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• 제20권2호
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• pp.77-81
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• 2011

This paper presents a single-pole eight-throw(SP8T) switch based on proposed a radio-frequency(RF) microelectromechanical systems (MEMS) switches. The proposed switch was driven by a double stop(DS) comb drive, with a lateral resistive contact. Additionally, the proposed switch was designed to have tapered signal line and bi-directionally actuated. A forward actuation connects between signal lines and contact part, and the output becomes on-state. A reverse actuation connects between ground lines and contact part, and the output becomes off-state. The SP8T switch of 3-stage tree topology was developed based on an arrangement of the proposed RF MEMS switches. The developed SP8T switch had an actuation voltage of 12 V, an insertion loss of 1.3 dB, a return loss of 15.1 dB, and an isolation of 31.4 dB at 6 GHz.

• 센서학회지
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• 제14권2호
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• pp.131-135
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• 2005

This paper describes the ohmic contact formation of single crystalline 3C-SiC thin films heteroepitaxially grown on Si(001) wafers. In this work, a TiW (Titanium-tungsten) film as a contact matieral was deposited by RF magnetron sputter and annealed with the vacuum and RTA (rapid thermal anneal) process respectively. Contact resistivities between the TiW film and the n-type 3C-SiC substrate were measured by the C-TLM (circular transmission line model) method. The contact phases and interface the TiW/3C-SiC were evaulated with XRD (X-ray diffraction), SEM (scanning electron microscope) and AES (Auger electron spectroscopy) depth-profiles, respectively. The TiW film annealed at $1000^{\circ}C$ for 45 sec with the RTA play am important role in formation of ohmic contact with the 3C-SiC substrate and the contact resistance is less than $4.62{\times}10^{-4}{\Omega}{\cdot}cm^{2}$. Moreover, the inter-diffusion at TiW/3C-SiC interface was not generated during before and after annealing, and kept stable state. Therefore, the ohmic contact formation technology of single crystalline 3C-SiC using the TiW film is very suitable for high temperature MEMS applications.

• 설비공학논문집
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• 제30권1호
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• pp.33-43
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• 2018

This study numerically investigated statistic and dynamic behaviors of the water droplet on plate with or without various structured-pillars at nano-scale by molecular dynamics simulation. This study considered smooth plate, plate with the rectangular-structured pillar, and the plate with dual-structured pillar under various characteristic energy conditions. The static behavior of water droplet depending on the plate shape, plate surface energy, and the pillar characteristics were examined. After the water droplet reaches its steady state, this study investigated the dynamic behavior of the water droplet by applying a constant force. Finally, this study investigated the static and dynamic behaviors of the water droplet by measuring its contact angle and contact angle hysteresis. As a result, we found that the structure was more hydrophobic.