• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• 세라미스트
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• 제10권3호
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• pp.48-54
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• 2007

Glass-ceramics transparent above $10\;{\mu}m$ in the infrared, have been synthesized. They are based on germanium and antimony sulphides or selenides associated to alkali halides. They are prepared by heating glass samples at temperatures above the glass transition, as a function of time. Ceramisation can be controlled, so that sub-100 nm crystals are generated in the glass matrix. Then, low light scattering is achieved and the transparency window of the original glass is maintained. When gallium sulphide is added, glass ceramics can be doped with rare-earth ions. Emissions from the $^4F_{3/2}$ and $^4I_{13/2}$ of $Nd^{3+}$ and $Er^{3+}$ ions, respectively, are more intense in glass-ceramics, as compared to their vitreous counterpart. Examination of band profiles and decaytimes show that rare-earth ions are embedded in both crystalline and glassy environments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.193-196
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• 2003

This paper describes a micro DC-DC converter using LTCC(Low Temperature Cofired Ceramics) technology. We have designed a inductor, an embedded structure to maximize the effect of miniaturizing, and applied the Neumann's formula to calculate inductance. Also, we have implemented a micro DC-DC conveter of which whole volume is $13{\times}18{\times}0.13[mm^3]$ by embeding other passive components such as resistors and capacitors.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2001년도 춘계학술발표대회 논문집
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• pp.151-154
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• 2001

Shape memory alloy (SMA) has demonstrated its potentials for various smart structure applications. SMA wires undergo a reversible phase transformation from martensite to austenite as temperature increases. This transformation leads to shape recovery and associated recovery strains. If SMA actuators are embedded off the neutral surface and are oriented in arbitrary angles with respect to a beam axis, then the beam bends and twists due to the coupling effects of recovery strains activated. In this study, the bending and twisting of a SMA/Composite beam were controlled by both electric resistive heating and passive elastic tailoring. 3-dimensional finite element formulations were derived and validated to analyze the responses of the SMA/Composite beam. Numerical results show that the shape of the SMA/Composite beam can be controlled by judicious choices of control temperatures, SMA angles, and elastic tailoring.

• 전기학회논문지
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• 제59권9호
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• pp.1615-1620
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• 2010

A thin film thermoelectric cooler for COB direct assembly was proposed and the COB cooler structure was modeled by electrical equivalent circuit by using SPICE model of thermoelectric devices. The embedded cooler attached between the die chip and metal plate can offer the possibility of thin film active cooling for the COB direct assembly. We proposed a driving method of TEC by using pulse width modulation technique. The optimum power to the TEC is simulated by using a SPICE model of thermoelectric device and passive components representing thermal resistance and capacitance. The measured and simulated results offer the possibility of thin film active cooling for the COB direct assembly.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1684-1689
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• 2003

This paper concerns the analytical modeling and dynamic analysis of advanced cantilevered blade structure implemented by a dual approach based on structural tailoring and viscoelastic materials technology. Whereas structural tailoring uses the directionality properties of advanced composite materials, the passive materials technology exploits the damping capabilities of viscoelastic material(VEM) embedded into the host structure. The structure is modeled as a composite thin-walled beam incorporating a number of nonclassical features such as transverse shear, secondary warping, anisotropy of constituent materials, and rotary inertias. The case of VEM spreaded over the entire span of the structure is considered. The displayed numerical results provide a comprehensive picture of the synergisitic implications of the application of both techniques, namely, the tailoring and damping technology on vibration response of thin-walled beam structure exposed to external time-dependent excitations.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 2006년도 Extended Abstracts of 2006 POWDER METALLURGY World Congress Part2
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• pp.1218-1219
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• 2006

The shrinkage variation of Low Temperature Cofired Ceramics(LTCC) limits the size of the substrates that impose limitations on embedded passive components. This paper focuses on the method of minimizing or controlling planar shrinkage and reducing distortion during firing. The laminated sheets of alumina and glass were sintered at varying temperature, and depending on the amount of the glass ceramics. When the sintered of multi-layer structure with $Al_2O_3/Glass/Al_2O_3$, the glass infiltrated entirely into $Al_2O_3$ layer at the temperature of about $950^{\circ}C$ or higher.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 하계학술대회 논문집 Vol.9
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• pp.322-322
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• 2008

Low-temperature co-fired ceramics (LTCC) have turned out to be very promising technology in accordance with the rapid developments in semiconductor technology. The demands for compact electrical assemblies, smaller power loss as well as high signal density can be fulfilled by LTCC. And for the multi-layered ceramic devices with embedded passive components such as high dielectric constant decoupling capacitor, LTCC materials require the several conditions to avoid delamination and internal cracks. For the present study, diopside-based glass is chosen as the LTCC substrate material in view of its high coefficient of thermal expansion (CTE). From the experimental resultsn the influence of each element on the CTE change can be revealed.