• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.97.6-97
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• 2002

In this paper, we present an arrayed flexible tactile sensor, which can detect contact normal forces as well as positions. The tactile sensor is developed using Polyvinylidene Fluoride (PVDF) that is known as piezoelectric polymer, and the surface electrode is fabricated using silk-screening technique with silver. We develop a charge amplifier in order to amplify the small signal from the sensor, and a fast signal processing unit by using a DSP chip. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In the future, the developed sensor is applied to a dexterous robotic hand...$\textbullet$ Tactile sensing, PVDF, Robot hand

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1689-1696
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• 2000

This paper proposes a new adaptive control scheme for flexible-link robots. A model-based nonlinear control scheme is designed based on a V-shape Lyapunov function, and then the nonlinear control i s extended to a model-based adaptive control to cope with parametric uncertainties in the dynamic model. The proposed control guarantees the global exponential or global asymptotic stability of the overall control system with all internal signals bounded. The effectiveness of the proposed control is shown by computer simulation.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.2
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• pp.140-150
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• 1995

A symbolic layout generator, called Flexible Module Generator (FMG), has been developed for transgorming a given CMOS circuit netlist into an optimized symbolic layout. Contrary to other conventional module generators which place transistors either in horizontal or in vertical direction, FMG places transittors in any hence can multiples of 90$^{\circ}$. This flexible layout style can maximize the diffusion sharing and hence can reduce the wire-length for both of area minimization and performance improvement. In FMG, transistors are initially randomly placed and then selected transistors are iteratively replaced using an optimization technique based on simulated evolution. Whenever a transistor is replaced, the affected nets are rerouted. Constraints on the shape, aspect ratio, and critical path delays are considered during the optimization process. Routing is performed by using a modified maze router on polysilicon, metal 1, and metal 2 interconnection layers. additional routing grids are added, if necessary, for complete routing. Unused rows or columns are removed after routing for area minimization. Experimental reasults show that FMG synthesizes satisfactory layouts.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.3
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• pp.25-34
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• 1992

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

• Tribology and Lubricants
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• v.32 no.3
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• pp.75-81
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• 2016

Future electronics such as electronic paper and foldable cellphone are required to be flexible and transparent and should have a high performance. In order to fabricate the flexible electronics using flexibility transfer process, techniques for transferring various devices from rigid substrate onto flexible substrate by elastomeric stamp, have been developed. Adhesion between the elastomeric stamp and various devices is crucial for successful transfer process. The adhesion can be controlled by the thickness of the stamp, separation velocity, contact load, and stamp surface treatment. In this study, we fabricated the bump shape stamp consisting of a UV-curable polymer and investigated the effects of curing condition, separation velocity, and contact load on the adhesion characteristics of bumps. The bumps with hemispherical shape were fabricated using a dispensing process, which is one of the ink-jet printing techniques. Curing conditions of the bumps were controlled by the amount of UV irradiation energy. The adhesion characteristics of bumps are evaluated by adhesion test. The results show that the pull-off forces of bumps were increased and decreased as UV irradiation energy increased. For UV irradiation energies of 300 and 500 mJ/cm², the pull-off forces were increased as the separation velocity increased. The pull-off forces also increased with the increase of contact load. In the case of UV irradiation energy above 600 mJ/cm², however, the pull-off forces were not changed. Therefore, we believe that the bump shape stamp can be applied to roll-based transfer process and selective transfer process as an elastomeric stamp.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.04a
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• pp.287-294
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• 1999

The tensegrity structure by prestressed cable, which may have large freedom in scale and form and therefore are received much attention from the view points of their light weight and aesthetics, is a very flexible and geometrically unstable structure because the cable material has little initial rigidity. For the stable self-equilibrated state of the usually very deformable structure, the method to find the optimal initial stress by the shape analysis is proposed in this paper. The proposed procedure is to derive the nonlinear finite element formula of cable and truss members considering geometric nonlinearity and used to modified load incremental method adding to Newton-Raphson method with the proposed condition for optimal initial stress. The result of the shape analysis for the tensegrity structure with the radius of 30m is shown the almost approximated shape to architectural shape and the changed procedure of initial stress

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.213-215
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• 2009

Using the object recognition processing on the captured images, we can inspect whether a packaging process is performed correctly in real time. So we realized the functions that acquire an image of each state of the packaging process using a camera, extract each object in the image, and inspect the packaging process using the extracted object data. In case an object shape is solid, for object search, a shape-based matching algorithm was used which searches the object utilizing the informations on the shape. In case an object shape is not solid, and Is flexible, gray-level difference of the pixels in the limited image region including the object was used to recognize the object.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.04a
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• pp.177-184
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• 2003

The purposes of this study are to develop the real coding genetic algorithm and to obtain the shape optimization of a cable domes by using this scheme. Generally, the structural performance of the cable dome is influenced very sensitively by prestress, geometry and length of the mast because of flexible structures. So, it is very important to decide the optimum shape to get maximum stiffness of cable domes. We use the two models to verify the usefulness of this algorithm for shape optimization and analyze the roof system of Seoul olympic gymnastic arena as one analytical model of practical structures

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.10a
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• pp.51-58
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• 2000

Dynamic relaxation method is a shape finding analysis method for flexible structures by introducing the dynamic equilibrium equation. However, it is difficult for shape finding to estimate the most appropriate values for the mass and damping on each shape because the values are random one. In this study, the unit mass, the unit damping and the principal direction stiffness are utilized to avoid the random values, and the Newmarks assumption is introduced during the dynamic analysis. By introducing variant time increment method presented, the convergence time is reduced, that is, it can be reduced the total times for analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.12
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• pp.3109-3117
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• 1994

To operate a flexible mechanism in high speed its weight must be reduced as far as the structural strength does not decrease too much, but a light-weighted mechanism causes undesirable elastodynamic responses deteriorating the system performance. Besides, clearance within the connections of mechanisms causes rapid wear, increased noise and vibration. Even if the problems described above must be considered in the initial design stage, there has been no effective design process which takes account of the correlation between dynamic characteristics of flexible mechanism and the clearance effect at the joint. In this study, the generalized elastodynamic governing equations which include dynamic characteristics and boundary conditions of flexible mechanism are derived by variational calculus and solved by using FFM theory. To take the clearance effect at joint into account a new dynamic model is presented and also the method of modified stiffness/damping matrix is proposed to activate the dynamic clearance model, which cooperates with the developed governing equation very easily. As the results of this study, the proposed method(modified stiffness/damping matrix) to calculate clearance effect was proved to be superior to the existing one(force reaction method) in solution convergency and calculation performance. Besides this method can be easily adopted to the complex shape joint without calculation of reaction force direction.