• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.184-191
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• 2009

The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.80-84
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• 1996

This paper aims at reviewing the Possibility application over normal or abnormal, detection used by AE and the wear characteristics of grinding process. In this study, when diamond bur in dentistry with chosen grinding conditions were tuned at grinding. The variation of grinding resistance and hE signal is detected by the use of AE measuring system. The tests are carried out in accordance with diamond burs and workpiece; arcyl and bovine. According to the experiment results, the following can be expected; AE has the possibility to detect the state normality and abnormality. However, the grinding resistance measuring can find it difficult to detect it. It can be accurately excerpted from AE occurrence pattern in contact start point of diamond bur and bovine, grinding condition and derailment point. It is known that AE$\_$rms/ is well compatible with grinding resistance. According to the increase of the material removal rate, the specific energy of the diamond bur is inclined to decrease and the grinding resistance has a tendency to increase.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.66-72
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• 1997

This paper aims at reviewing the possibility application over normal or abnormal, detection used by AE and the wear characteristics of grinding process. In this study, when diamond bur in dentistry with chosen grinding conditions were tuned at grinding. The variation of grinding resistance and AE signal is detected by the use of AE measuring system. The tests are carried out in accordance with diamond burs and workpiece: arcyl and bovine. According to the experiment results, the following can be expected: AE has the possibility to detect the state normality and abnormality. Hpwever, the grinding resistance measuring can find it difficult to detect it. It can be accurately excepted from AE occurrence pattern in contact start point of diamond bur and bovine, grinding condition and derailment point. It is known that AErms is well compatible with grinding resistance. According to the increase of the material removal rate, the specific energy of the diamond bur is inclined to dectease and the grinding resistance has a tendency to increase.

• Journal of the Korea Concrete Institute
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• v.19 no.1
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• pp.3-9
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• 2007

With a growing concern about the state of infrastructure worldwide, the demand for the development of reliable nondestructive testing techniques (NDT) is ever increasing. Among possible NDT techniques, microwave method is proven to be effective in fast and non-contact inspection of concrete structures and inclusions inside concrete. It is also found that the microwave method has a potential in detecting the delamination between fiber reinforced polymers (FRP) plate and concrete. On the other hand, ultrasonic method can be another way to find the delamination. In this paper, the research work needed for the development of a reliable microwave method and ultrasonic method is studied in the measurements of concrete specimens reinforced with FRP. Concrete specimens are made with FRP and artificial delamination inside. A microwave measurement system with hom antennas with high center frequency and broad frequency bandwidth are used to image inside concrete specimens for the detection of debonding between concrete and FRP. Also, ultrasonic method is used for the same condition. Both results are compared with each other.

• The Journal of the Convergence on Culture Technology
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• v.8 no.6
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• pp.905-910
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• 2022

Drowsy driving requires a lot of social attention because it increases the incidence of traffic accidents and leads to fatal accidents. The number of accidents caused by drowsy driving is increasing every year. Therefore, in order to solve this problem all over the world, research for measuring various biosignals is being conducted. Among them, this paper focuses on non-contact biosignal analysis. Various noises such as engine, tire, and body vibrations are generated in a running vehicle. To measure the driver's heart rate and respiration rate in a driving vehicle with a piezoelectric sensor, a sensor plate that can cushion vehicle vibrations was designed and noise generated from the vehicle was reduced. In addition, we developed a system for classifying whether the driver is sleeping or not by extracting the model using the CNN-LSTM ensemble learning technique based on the signal of the piezoelectric sensor. In order to learn the sleep state, the subject's biosignals were acquired every 30 seconds, and 797 pieces of data were comparatively analyzed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.4
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• pp.10-16
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• 2021

This paper proposes a model that considers the parity-time symmetric structure as a state detection circuit for sensor applications using a stretchable inductor. In particular, to obtain a more practical computer simulation result, the stretchable inductor model was applied to this study model by referring to previously reported experimental results. The resistance component and phase component were controlled through the negative differential resistance circuit used in this study. In addition, the imbalance of the circuit caused by a change in the characteristics of the stretchable inductor could be compensated for using a negative differential resistance circuit. In particular, an analysis of the frequency characteristics of the sensor driving circuit of the parity-time symmetric structure proposed in this study confirmed that the Q-factor could be increased up to 20 times compared to the conventional resonant circuit.

• Tribology and Lubricants
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• v.11 no.5
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• pp.128-135
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• 1995

Atomic force microscopy/friction force microscopy (AFM/FFM) techniques are increasingly used for tribological studies of engineering surfaces at scales, ranging from atomic and molecular to microscales. These techniques have been used to study surface roughness, adhesion, friction, scratching/wear, indentation, detection of material transfer, and boundary lubrication and for nanofabrication/nanomachining purposes. Micro/nanotribological studies of single-crystal silicon, natural diamond, magnetic media (magnetic tapes and disks) and magnetic heads have been conducted. Commonly measured roughness parameters are found to be scale dependent, requiring the need of scale-independent fractal parameters to characterize surface roughness. Measurements of atomic-scale friction of a freshly-cleaved highly-oriented pyrolytic graphite exhibited the same periodicity as that of corresponding topography. However, the peaks in friction and those in corresponding topography were displaced relative to each other. Variations in atomic-scale friction and the observed displacement has been explained by the variations in interatomic forces in the normal and lateral directions. Local variation in microscale friction is found to correspond to the local slope suggesting that a ratchet mechanism is responsible for this variation. Directionality in the friction is observed on both micro- and macro scales which results from the surface preparation and anisotropy in surface roughness. Microscale friction is generally found to be smaller than the macrofriction as there is less ploughing contribution in microscale measurements. Microscale friction is load dependent and friction values increase with an increase in the normal load approaching to the macrofriction at contact stresses higher than the hardness of the softer material. Wear rate for single-crystal silicon is approximately constant for various loads and test durations. However, for magnetic disks with a multilayered thin-film structure, the wear of the diamond like carbon overcoat is catastrophic. Breakdown of thin films can be detected with AFM. Evolution of the wear has also been studied using AFM. Wear is found to be initiated at nono scratches. AFM has been modified to obtain load-displacement curves and for nanoindentation hardness measurements with depth of indentation as low as 1 mm. Scratching and indentation on nanoscales are the powerful ways to screen for adhesion and resistance to deformation of ultrathin fdms. Detection of material transfer on a nanoscale is possible with AFM. Boundary lubrication studies and measurement of lubricant-film thichness with a lateral resolution on a nanoscale have been conducted using AFM. Self-assembled monolyers and chemically-bonded lubricant films with a mobile fraction are superior in wear resistance. Finally, AFM has also shown to be useful for nanofabrication/nanomachining. Friction and wear on micro-and nanoscales have been found to be generally smaller compared to that at macroscales. Therefore, micro/nanotribological studies may help def'me the regimes for ultra-low friction and near zero wear.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.08a
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• pp.115-116
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• 2012

The demand for flexible electronic systems such as wearable computers, E-paper, and flexible displays has increased due to their advantages of excellent portability, conformal contact with curved surfaces, light weight, and human friendly interfaces over present rigid electronic systems. This seminar introduces three recent progresses that can extend the application of high performance flexible inorganic electronics. The first part of this seminar will introduce a RRAM with a one transistor-one memristor (1T-1M) arrays on flexible substrates. Flexible memory is an essential part of electronics for data processing, storage, and radio frequency (RF) communication and thus a key element to realize such flexible electronic systems. Although several emerging memory technologies, including resistive switching memory, have been proposed, the cell-to-cell interference issue has to be overcome for flexible and high performance nonvolatile memory applications. The cell-to-cell interference between neighbouring memory cells occurs due to leakage current paths through adjacent low resistance state cells and induces not only unnecessary power consumption but also a misreading problem, a fatal obstacle in memory operation. To fabricate a fully functional flexible memory and prevent these unwanted effects, we integrated high performance flexible single crystal silicon transistors with an amorphous titanium oxide (a-TiO2) based memristor to control the logic state of memory. The $8{\times}8$ NOR type 1T-1M RRAM demonstrated the first random access memory operation on flexible substrates by controlling each memory unit cell independently. The second part of the seminar will discuss the flexible GaN LED on LCP substrates for implantable biosensor. Inorganic III-V light emitting diodes (LEDs) have superior characteristics, such as long-term stability, high efficiency, and strong brightness compared to conventional incandescent lamps and OLED. However, due to the brittle property of bulk inorganic semiconductor materials, III-V LED limits its applications in the field of high performance flexible electronics. This seminar introduces the first flexible and implantable GaN LED on plastic substrates that is transferred from bulk GaN on Si substrates. The superb properties of the flexible GaN thin film in terms of its wide band gap and high efficiency enable the dramatic extension of not only consumer electronic applications but also the biosensing scale. The flexible white LEDs are demonstrated for the feasibility of using a white light source for future flexible BLU devices. Finally a water-resist and a biocompatible PTFE-coated flexible LED biosensor can detect PSA at a detection limit of 1 ng/mL. These results show that the nitride-based flexible LED can be used as the future flexible display technology and a type of implantable LED biosensor for a therapy tool. The final part of this seminar will introduce a highly efficient and printable BaTiO3 thin film nanogenerator on plastic substrates. Energy harvesting technologies converting external biomechanical energy sources (such as heart beat, blood flow, muscle stretching and animal movements) into electrical energy is recently a highly demanding issue in the materials science community. Herein, we describe procedure suitable for generating and printing a lead-free microstructured BaTiO3 thin film nanogenerator on plastic substrates to overcome limitations appeared in conventional flexible ferroelectric devices. Flexible BaTiO3 thin film nanogenerator was fabricated and the piezoelectric properties and mechanically stability of ferroelectric devices were characterized. From the results, we demonstrate the highly efficient and stable performance of BaTiO3 thin film nanogenerator.

• Journal of the Korean Society for Nondestructive Testing
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• v.23 no.4
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• pp.334-341
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• 2003

When the pressure tubes(f are in contact with the calandria tube(CT) in the pressurized heavy water reactor(PHWR), the temperature difference between inner and outer wall of W results in a thermal diffusion of hydrogen (deuterium) and hydride blisters are formed on the outer surface of PT. Because the hydride blisters and zirconium matrix are acoustically continuous, it is not easy to distinguish the blisters from the matrix with conventional ultrasonic method. An ultrasonic velocity ratio method was developed to detect small hydride blisters on the zirconium pressure tube. Hydride blisters were grown in the PT specimen using a steady state thermal diffusion device. The flight times of longitudinal echo and reflected shear echo from the outer surface were measured accurately. The velocity ratio of the longitudinal wave to the shear wave was calculated and displayed using contour plot. Compared to the conventional flight time method of longitudinal wave, the velocity ratio method shows superior sensitivity to detect smaller blisters as well as better images for the blister shapes. Detectable limit of the outer shape of the hydride blisters was conservatively estimated as $500{\mu}m$, with the same specifications of ultrasonic transducer used in the actual PHWR pressure tube inspection.