• Advances in robotics research
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• v.1 no.1
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• Proceedings of the Korean Vacuum Society Conference
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• 2008.08a
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• pp.73-73
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• 2008

• Science of Emotion and Sensibility
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• v.15 no.4
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• pp.469-476
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• 2012

The purpose of this study is to derive design guideline for logo design development of smart clothing using flexible plastic optical fiber. In a criterion of guideline derivation for logo design, the first, it is a question of whether it indicates an appropriate degree of brightness across the front of flexible plastic optical fiber. The second, it is a question of whether it indicates relatively an uniform brightness characteristic across the front of flexible plastic optical fiber. For this, the brightness characteristic of flexible plastic optical fiber according to the angle changes and the length of flexible plastic optical fiber was analyzed by the 'Experiment 1'. To deduce guideline for the logo design of the actual garment, the brightness characteristic of flexible plastic optical fiber about the main morpheme of the capital letter of alphabet was analyzed by the 'Experiment 2'. Based on the results of the two experiment, this study derived design guideline and limitations for logo design of smart clothing visualized by the flexible plastic optical fiber.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.668-674
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• 2001

An experimental study was performed for two types of co-axial cylindrical shell structures in order to establish the relationship between in-air dynamic characteristics and in-water ones and to observe hydrodynamic mass effects on their mode shapes when submerged. The outer cylinders are prepared with two kinds to get more insights on the fluid-structure interaction phenomena: one is flexible, which means that the outer cylinder has almost same stiffness as the inner one, and the other is a rigid one whose stiffness is more than ten times of the inner one's(it might be regarded as the scaled-down model of the reactor internals). The finite element. analyses were also implemented to support the experimental results. The results show that the natural frequencies of a co-axial cylindrical shell structure in water are remarkably lower than those in air due to the fluid mass effects. In case of the flexible-to-flexible cylinders, there exist in-phase and out-of-phase mode shapes and they are affected by the annular gap between the. co-axial cylinders. For the in-phase mode the in-water natural frequency decreases exponentially as the gap increases, while it slightly increases in case of the out-of-phase mode due to the squeezing effect of the gap fluid. In the flexible-to-rigid case, the normalized natural frequency(in-water frequency/in-air one) of the inner cylinder(core barrel model) ranges between in-phase and out-of-phase mode frequencies of the flexible-to-flexible co-axial cylindrical structure having identical dimensions. Also the normalized natural frequency of the inner cylinder of the flexible-to-rigid one moves from near of the in-phase mode frequency into the out-of-phase mode value of the flexible-to-flexible case as circumferential mode number(n) increases.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.489.2-489.2
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• 2014

The planar type flexible piezoelectric energy harvesters (PEH) based on PbZr0.52Ti0.48O3 (PZT) thin films on the flexible substrates are demonstrated to convert mechanical energy to electrical energy. The planar type energy harvesters have been realized, which have an electrode pair on the PZT thin films. The PZT thin films were deposited on double side polished sapphire substrates using conventional RF-magnetron sputtering. The PZT thin films on the sapphire substrates were transferred by PDMS stamp with laser lift-off (LLO) process. KrF excimer laser (wavelength: 248nm) were used for the LLO process. The PDMS stamp was attached to the top of the PZT thin films and the excimer laser induced onto back side of the sapphire substrate to detach the thin films. The detached thin films on the PDMS stamp transferred to adhesive layer coated on the flexible polyimide substrate. Structural properties of the PZT thin films were characterized using X-ray diffraction (XRD) and scanning electron microscopy (SEM). To measure piezoelectric power generation characteristics, Au/Cr inter digital electrode (IDE) was formed on the PZT thin films using the e-beam evaporation. The ferroelectric and piezoelectric properties were measured by a ferroelectric test system (Precision Premier-II) and piezoelectric force microscopy (PFM), respectively. The output signals of the flexible PEHs were evaluated by electrometer (6517A, Keithley). In the result, the transferred PZT thin films showed the ferroelectric and piezoelectric characteristics without electrical degradation and the fabricated flexible PEHs generated an AC-type output power electrical energy during periodically bending and releasing motion. We expect that the flexible PEHs based on laser transferred PZT thin film is able to be applied on self-powered electronic devices in wireless sensor networks technologies. Also, it has a lot of potential for high performance flexible piezoelectric energy harvester.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.

• Korean Chemical Engineering Research
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• v.57 no.3
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• pp.432-437
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• 2019

An atmospheric pressure floating electrode-dielectric barrier discharge (FE-DBD) system having flexible electrodes was developed and its plasma characteristics was investigated. Polytetrafluoroethylene (PTFE), polydiemethylsiloxane (PDMS), and polyethylene terephthalate (PET) were used as flexible dielectrics for flexible powered-electrodes. The optical intensity and electron temperature of the atmospheric pressure FE-DBD plasma increased with the voltage applied to the powered electrode, and increased in the order of PTFE < PDMS < PET at a fixed voltage. This behavior was explained in terms of the change in the capacitance of the flexible dielectrics with the dielectric type and voltage, implying that the plasma characteristics of an atmospheric pressure FE-DBD having flexible electrodes can be controlled by modulating the flexible dielectrics for the flexible powered-electrode and the voltage applied to the powered electrode. Because an atmospheric pressure FE-DBD system can generate a plasma along the curvature of skins, it is expected to have useful applications in plasma medicine.

• Journal of Power System Engineering
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• v.21 no.1
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• pp.57-62
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• 2017

The flexible joint with bellows and flange is made by welding bellows and flange in general. The welded parts cause a crack or demage in the flexible joint due to continuous vibration and fatigue limit. This paper is concerned with development of flexible joint with non-welded, free rotation of flange and non-packing to improve fatigue failure condition between bellows and flange. The support box and support plate that are components of press part are designed to compress fore-end of bellows only without demage of bellows. The production system of flexible joint is designed with piston attached on the compression side. The simulation is performed using Deform 3D software. As the result of simulation, the shape of compressed bellows was most proper in the compression power of $157kg{\cdot}f$ and any deformation has not occurred at a part besides fore-end. The result show that the production possibility of the designed flexible joint.

• Journal of Mechanical Science and Technology
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• v.16 no.12
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• pp.1583-1593
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• 2002

This paper discusses the model validation and vibration suppression of an AMB flexible rotor via additional LQG controller. The main difficulty in the vibration suppression of the flexible rotor using AMB is to realize a controller that can minimize resonance without injuring the stabilized rigid modes. In order to solve this problem, simple scheme for system modeling and controller design are developed. Firstly, the AMB flexible rotor is stabilized with a PID controller, which leads to a new stable rotor-bearing system. Then, authors propose the model validation procedure using measured open-loop frequency responses to obtain an accurate model of the AMB flexible rotor system. After that, LQG controller with modal weighting is designed to suppress resonances of the stable rotor-bearing system. Due to the poor controllability and observability of flexible modes compared to rigid ones, balancing of two Gramians is prerequisite for the fair LQG controller design. Simulation with step disturbance and experimental results of unbalance response up to 10,000 rpm verified the effectiveness of the proposed scheme.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.479-483
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• 2006

As high-definition television(HDTV) broadcasting were generalized, there have been many researches and developments about large storage capacity and fast data transfer rate in optical disk drives(ODD). Pickup actuators must have high flexible mode frequencies and gain margins. Flexible modes are caused by the flexibility of moving parts in the actuator and a servo bandwidth is limited by them. As a result, the system becomes unstable for high-speed operations in high density reading and recording. In this paper, we suggest improved modeling method that considers the bonding layer. And, flexible mode frequency of actuator is improved by Design of Experiment of lens holder. Magnet circuit is designed considering the relation with moving part. Through improving yoke design, the magnetic flux is changed and DC tilt is reduced. Consequently, we designed actuator which has high flexible mode frequency and gain margins.