• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.6034-6039
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• 2012

In this paper, this may appear to exacerbate it met slopes of the mobile robot moves to overcome this by driving can occur if the mobile robot system has its own sleep problems driving progress in until you hit the target and solvedriving straight driving safer model for adaptive fuzzy control method of mobile robot based control algorithm is proposed. First, we propose a model based adaptive fuzzy controller, if possible, the dynamics model of the mobile robot, including model-based controller is designed to determine if you can check the condition of the mobile robot climbing and driving the mobile robot to overcome the slope and the to overcome driving control. Enough considering the ground friction forces and ensure the stability of the mobile robot system and the disturbance compensation, etc. In this case, the controller design will be possible. In addition, the nonlinear model, the dynamic characteristics of the mobile robot control method of adaptive fuzzy control techniques in the design that you want to fully reflect Non-holonomic system of mobile robots and solve sleep problems, and will be useful enough, it was verified through computer simulations.

• Journal of Korean Tunnelling and Underground Space Association
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• v.6 no.4
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• pp.327-343
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• 2004

During tunnel construction, ground failures often occur due to existence of weak zones, such as faults, joints, and cavities, ahead of tunnel face. It is hard to detect effectively weak zones, which can lead underground structure to fail after excavation and before supporting, by using conventional characterization methods. In this study, an enhanced analytical method of predicting weak zones ahead of tunnel face is developed to overcome some problems in the conventional geophysical exploration methods. The analytical method is based on Coulomb's and Gauss' laws with considering the characteristics of electric fields subjected to rock mass. Using the developed method, closed form solutions are obtained to detect a spherical shaped zone and an oriented fault ahead of tunnel face respectively. The analytical results suggest that the presence of weak zones and their sizes, location, and states can be accurately predicted by combining a proper inversion process with resistance measured from several electrodes on the tunnel face. It appears that the skin depth or resistivity in rock mass is affected by the diameter of tunnel face, natural electric potential and noises induced by experimental measurement and spatial distribution of uncertain properties. The developed analytical solution is verified through experimental tests. About 1800 concrete blocks of 5cm by 5cm by 5cm in size are prepared and used to model a joint rock mass around tunnel face. Weak zones are simulated ahead of tunnel face with a material which has relatively higher conductivity than concrete blocks. Experimental results on the model test show a good agreement with analytical results.

• Journal of the Korean Applied Science and Technology
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• v.36 no.4
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• pp.1253-1258
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• 2019

The solid-state electrolyte based on polymer is applicable to various electrochemical devices including supercapacitor, battery, sensor, actuator and has great attention to develop its ionic conductivity from conventional polymer electrolyte by uisng wide range of ionic liquids. The research about ion gel as a solid state electrolyte with the ionic liquid has focused on the wearable and flexible electronic device to use as the high electrical and electrochemical performances, mechanical strength of polymer. In this work, we have investigated and developed solid-state electrolyte based on the ionic liquid and polymer with enhanced ionic conductivity and stability.

• Korean Chemical Engineering Research
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• v.47 no.6
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• pp.715-719
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• 2009

The phase change electrode board for the bio-information detection through electrical property response of phase change material was developed in this study. We manufactured the electrode board using Aluminum first that is widely used in conventional semiconductor device process. Without further treatment, these aluminum electrodes tend to contain voids in PETEOS(plasma enhanced tetraethyoxysilane) material that are easily detected by cross-sectional SEM(Scanning Electron Microscope). The voids can be easily attacked and transformed into holes in between PETEOS and electrodes after etch back and washing process. In order to resolve this issue of Al electrode board, we developed a electrode board manufacturing method using low resistivity TiN, which has advantages in terms of the step-coverage of phase change($Ge_2Sb_2Te_5$, GST) thin film as well as thermodynamic stability, without etch back and washing process. This TiN material serves as the top and bottom electrode in PRAM(Phase-change Random Access Memory). The good connection between the TiN electrode and GST thin film was confirmed by observing the cross-section of TiN electrode board using SEM. The resistances of amorphous and crystalline GST thin film on TiN electrodes were also measured, and 1000 times difference between the amorphous and crystalline resistance of GST thin film was obtained, which is well enough for the signal detection.

• Journal of the Korean Magnetics Society
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• v.14 no.5
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• pp.186-191
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• 2004

The variation of magnetic properties with insulating materials(glass frits, talc and polyamide) in compressed powder cores composed of Fe$\sub$73.5/Cu$_1$Nb$_3$Si$\sub$15.5/B$\sub$7/ nanocrystalline alloy powders(size: 250～850 $\mu\textrm{m}$) and 3 wt% insulators has been investigated. Larger permeability was obtained at the frequency lower than 300～400 kHz for the powder cores including ceramic insulators(glass frits and talc) as compared to the cores with polyamide, while at higher frequency than 1 MHz the permeability of the former cores decreased rapidly. Further the cores with ceramic insulators showed larger core loss and smaller peak quality factor attained at lower frequency. On the contrary, the powder cores with polyamide exhibited high stability of permeabilities up to several MHz and superior core-loss and quality-factor properties. Moreover the dc bias property was better in the wide field range for the cores having polyamide. The enhanced magnetic properties of polyamide-added cores were attributed to the more sufficient electrical insulation between magnetic particles, where the higher insulation state was considered to be obtained from the larger volume fraction of polyamide in the powder cores.

• Journal of IKEEE
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• v.8 no.1 s.14
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• pp.96-107
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• 2004

In this paper, a new integral variable structure regulation controller(IVSRC) is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to origin without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in oder to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems together with the closed loop stability. The design of the proposed IVSRC is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two link manipulator under parameter uncertainties and payload variations, in view of no reaching phase, no overshoot, predetermined response with prescribed accuracy, easy change of output performance, separation of design phase, and so on.

• Proceedings of the Korea Association of Crystal Growth Conference
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• 1996.06a
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• pp.522-522
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• 1996

An investigation of the effects of transverse magnetic field and Peltier effect on melt convection and macrosegregation in vertical Bridgman crystal grosth of Te doped InSb was been carried out by means of microstructure observation, Hall measurement, electrical resistivity measurement and X-ray analysis. Before the experiments, Interface stability, convective instability and suppression of convection by magnetic field were calculated theoretically. After doping 1018, 1019 cm-3 Te in InSb, the temperature of Bridgman furnace was set up at $650^{\circ}C$. The samples were grown in I.D. 11mm, 100mm high quartz tube. The velocity of growth was about 2${\mu}{\textrm}{m}$/sec. In order to obtain the suppression of convection by magnetic field in the middle of growth, 2-4KG magnetic field was set on the melt. For searching of the shape of solid-liquid interface and the actual velocity of crystal growth, let 2A current flow from solid to liquid for 1second every 50seconds repeatedly (Peltier effect). The grown InSb was polycrystal, and each grain was very sharp. There was no much difference between the sample with and without magnetic field at a point of view of microstructure. For the sample with Peltier effect, the Peltier marks(striation) were observed regularly as expected. Through these marks, it was found that the solid-liquid interface was flat and the actual growth velocity was about 1-2${\mu}{\textrm}{m}$/sec. On the ground of theoretical calculation, there is thermosolutal convection in the Te doped InSb melt without magnetic field in this growth condition. and if there is more than 1KG magnetic field, the convection is suppressed. Through this experiments, the effective distribution coefficients, koff, were 0.35 in the case of no magnetic field, and 0.45 when the magnetic field is 2KG, 0.7 at 4KG. It was found that the more magnetic field was applied, the more convection was suppressed. But there was some difference between the theoretical calculation and the experiment, the cause of the difference was thought due to the use of some approximated values in theoretical calculation. In addition to these results, the sample with Peltier effect showed unexpected result about the Te distribution in InSb. It looked like no convection and no macrosegregation. It was thought that the unexpected behavior was due to Peltier mark. that is, when the strong current flew the growing sample, the mark was formed by catching Te. As a result of the phenomena, the more Te containing thin layer was made. The layer ruled the Hall measurement. The values of resistivity and mobility of these samples were just a little than those of other reference. It was thought that the reason of this result was that these samples were due to polycrystal, that is, grain boundaries had an influence on this result.

• Journal of the Korean Geosynthetics Society
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• v.10 no.2
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• pp.67-72
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• 2011

CMDS (Coal Mine Drainage Sludge) is mainly generated from acid mine drainage during physicochemical treatment or electrical purification. CMDS is well worth considering on recycling possibilities in various areas. This research applies the liner and cover materials using waste disposal landfill generally to treat acid mine drainage sludge. In this Part I of the two parts paper, physico-chemical characteristics of CMDS, bentonite and cement to prepare the liner have been identified using XRD, XRF, FESEM. In addition, combining their physicochemical characteristics, the optimum mixing ratio has been determined to be 1: 0.5: 0.3 for CMDS: bentonite: cement by the batch tests. Initial permeability of CMDS was $7.10{\times}10^{-7}cm/s$. Through the leaching test, it was confirmed that its mixture was environmentally safe. In the Part 2, a large-scale Lysimeter was used to simulate the effects of the layer on the freeze/thaw for evaluation on field applicability and stability.

• Journal of Environmental Science International
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• v.26 no.2
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• pp.231-238
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• 2017

Rapid industrial development has led to a serious problem of pollution in the industrial sector. With the increasing social need for environmental protection, research on air pollution prevention equipment for reducing pollutants in industrial processes is actively being undertaken. The deterioration of existent, installed facilities, their increased emission rates, and the strengthening of the effluent quality standards make complying with permissible emission standards difficult. In fact, installing new electric precipitators or complementing existent facilities is inevitable. The expansion and complementation of the installed electrical precipitators have led to improvements in dust collection efficiency, shorter working times, and lower costs. Because of its easy installation and simple manufacturing process, the production method with the discharge electrode of an electric precipitator is widely used. The following conclusions were reached by classifying discharge electrodes into four types based on the production method and mutually comparing them by their dust collection efficiency. None of the four types used in this study were damaged by impact. However, we were able to confirm some strain from the compression sites of both type A and type B. Both type B and type C are expected to have greater dust collection efficiencies than the other models due to their large vibration transmissibility. Moreover, the high vibrational energy is expected to cause rapping damage during its operation. Particularly, in the case of type B, some of the strain was found at the end of the compression site. The coupling schemes of both type C and type D are out of vibration transmissibility. On the other hand, the ability to maintain straightness and solidity of the side is regarded as outstanding and stable. Type D has outstanding on-site workability, considering the presence of locking, structural stability, and work conditions. From these experiments, we determined that type C is the most ideal connection method of discharge electrode, considering its construction period of renovation. Type C is inferior to type D with regard to on-site workability. However, type C has outstanding dedusting transmission with regard to the straightness, solidity maintenance, and vibration of shearing stress.

• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.