• 제어로봇시스템학회논문지
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• 제15권2호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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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.

• 한국정밀공학회지
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• 제14권12호
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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.

• 콘크리트학회논문집
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• 제19권1호
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• pp.3-9
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• 2007

구조물의 성능평가에 대한 관심이 높아지면서 비파괴 검사 기술에 대한 요구는 계속 증가하고 있다. 이 중에서 전자파법을 이용한 비파괴 검사 기술은 콘크리트 구조물의 균열 탐사에 유용하다고 입증되어 왔고 탄소섬유 (FRP)로 보강된 콘크리트 구조물의 계면 박리를 탐사하는데도 효율적으로 쓰일 수 있을 것으로 예상되었다. 또한 초음파법을 이용한 비파괴 검사 기술도 적용 가능할 것으로 예상되었다. 이번 연구의 목적은 전자기파법 및 초음파법을 이용하여 FRP로 보강된 콘크리트 구조물의 박리를 탐사하기 위한 신뢰성 있는 기술을 개발하는데 있다. 기초 실험을 위하여 스티로폼을 이용하여 인위박리 콘크리트 보강시편을 제작하였고 측정을 실시하였다. 전자기파법을 이용한 연구에서는 기존 안테나 대신에 중심 주파수 15 GHz, 대역폭 10 GHz의 성능을 가진 혼 안테나를 사용하였고 초음파법을 이용한 연구에서는 콘크리트 균열용 상용 장비인 TR-300에 박리측정용 탐촉자를 사용하여 측정을 실시하였다. 두 가지 방법 모두 박리의 유무를 판별하는데 성공하였고 더욱 정밀한 결과를 위하여 향후 연구 방향을 제시하였다.

• 문화기술의 융합
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• 제8권6호
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• pp.905-910
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• 2022

졸음운전은 교통사고 발생률을 높이고 사망사고로 이어지기 때문에 많은 사회적 관심이 필요하다. 졸음운전으로 인한 사고 건수는 매년 증가하고 있다. 따라서 전 세계적으로 이 문제를 해결하기 위해 다양한 생체신호 측정을 위한 연구가 수행되고 있다. 본 논문에서는 그 중에 비접촉 방식의 생체신호 분석에 중점을 두고 있다. 주행중인 차량에서는 엔진, 타이어, 차체 진동 등 다양한 노이즈가 발생한다. 압전센서로 주행중인 차량에서 운전자의 심박수와 호흡수를 측정하기 위해 차량 진동을 완충할 수 있는 센서 플레이트를 설계했고 차량에서 발생하는 노이즈를 줄일 수 있었다. 또한 압전센서의 신호 기반 CNN-LSTM 앙상블 학습 기법으로 모델을 추출하여 운전자가 수면중인지 아닌지 분류하는 시스템을 개발했다. 수면 상태를 학습시키기 위해 30초마다 피험자의 생체 신호를 획득하였고, 797개의 데이터를 비교 분석하였다.

• 한국산학기술학회논문지
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• 제22권4호
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• pp.10-16
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• 2021

본 연구에서는 신축성 인덕터를 이용한 센서 응용을 위한 상태 감지 회로로써 패리티-시간 대칭 구조를 고려한 모델을 제안하고자 한다. 신축성 인덕터를 이용한 센서 구동 회로로써 트랜지스터를 이용한 부성 미분 저항 회로를 적용하여 신축성 인덕터를 보다 효율적으로 활용할 수 있는 방법을 제안하고, 패리티-시간 대칭 구조의 결합 공진 회로에 대한 특성 분석을 통해 고전적 공진 회로에 비해 향상된 분해능을 갖는 모델을 설계하였다. 특히, 보다 실질적인 전산모의실험결과를 얻기 위해, 신축성 인덕터 모델의 경우에는 참고문헌의 실험결과를 참고하여 본 연구 모델에 적용하였다. 전산모사를 통해 본 연구에서 사용한 부성 미분 저항 회로를 통해 저항 성분 뿐만 아니라 위상 성분도 제어됨을 확인하였으며, 이러한 결과를 통해 신축성 인덕터의 특성 변화에 따른 회로의 불균형을 부성 미분 저항 회로를 이용하여 보완할 수 있음을 고찰하였다. 이러한 특성을 이용하여 패리티-시간 대칭 구조를 구현할 수 있었으며, 이에 대한 특성에 대하여 논의하였다. 특히, 본 연구에서 제안하는 패리티-시간 대칭 구조의 센서 구동 회로에 대한 주파수 특성의 결과로부터 기존의 고전적 공진 회로에 비해 Q-factor가 최대 20배까지 커질 수 있음을 확인하였다.

• Tribology and Lubricants
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• 제11권5호
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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.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2012년도 제43회 하계 정기 학술대회 초록집
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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.

• 비파괴검사학회지
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• 제23권4호
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• pp.334-341
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• 2003

중수로 압력관이 주위를 둘러싸고 있는 칼란드리아관과 접촉될 경우, 압력관의 내면과 외면의 온도차로 인하여 수소(중수소)의 열 확산이 발생하며 결과적으로 압력관 외면에 수소화물 블리스터가 형성된다. 수소화물 블리스터는 음향학적으로 지르코늄 매질과 연속성을 가지기 때문에 일반적인 초음파 검사법으로는 탐지하기가 어렵다. 지르코늄 압력관 외면에 발생한 작은 수소화물 블리스터를 압력관 내면에서 탐지하기 위하여 초음파 모드 변환 및 속도비 방법을 개발하였다. 정적인 열확산 실험 장치를 사용하여 압력관 외면에 수소화물 블리스터를 성장시켰다. 종파 에코의 비행시간과 모드 변환된 반사 횡파 에코의 비행시간을 측정하여 종파 대 횡파 속도비를 계산하였으며 이를 속도비를 수정된 등고선 표현 방식으로 나타냈다. 초음파 속도비 방법이 일반적인 종파 비행시간방법보다 수소화물 블리스터 탐지 감도가 우수하며 블리스터 형상화 측면에서도 실제 형상과 유사하게 재현하고 있음을 알 수 있었다. 또한 중수로 압력관 초음파 검사사양과 동일하게 최적화 조건에서 수소화물 블리스터 탐지한계는 보수적인 관점에서 압력관 외면에 나타나는 크기를 기준으로 약 $500{\mu}m$로 평가되었다.