• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1227-1233
• /
• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1994.04a
• /
• pp.45-50
• /
• 1994

최근의 로봇 매니퓰레이터는 고정밀, 고생산성, 유연성 자동화를 추구한다. 이에 따라 매니퓰레이터는 운동 정확성, 고속성, 안정성이 더욱 향상되어야 한다. 특히 매니퓰레이터 관절부의 탄성은 동적 변형 및 진동을 유발함으로써 운동 정확성과 안정성을 현저히 저하시킨다. 이러한 복잡하고 불확실한 구조를 갖는 로봇 시스템의 고속, 정확한 운동 제어를 위해서는 보다 효과적인 고급 제어 기법 및 제어 장치의 개발이 요구된다. 본 연구에서는 이러한 문제에 대한 하나의 대응 방법으로 인간의 지식 처리 방법을 모방한 퍼지제어를 적용하여 그 가능성을 본다.

• Korean Journal of Materials Research
• /
• v.9 no.1
• /
• pp.65-72
• /
• 1999

In order to minimize flexible printed circuit(FPC), which is used in computer, communication, medical facility, aviation space industry, it is required to improve the interfacial adhesion of polymide/epoxy or polyimide/polyimide consists of FPC. In this study, it was considered to improve the adhesion strength of polyimide/epoxy joint by introducing functional group on polyimide film and improving mechanical property of epoxy. Functional group on polyimide film was introduced by changing polyimide film surface to polyamic acid in KOH aqueous solution. The optimum conditions for surface modification were the concentration of 1M KOH and treatment time of 5min. Also, the optimum adhesion strength of polyimide/epoxy joint was obtained using rubber modified epoxy and polyamic acid as a base resin and curing agent of epoxy adhesive, respectively. The degree of surface modification of polyimide film examined with contact angle measurement of FTIR, thus modification of polyimide to polyamic acid was identified. Fracture surface of plymide/epoxy joint was analyzed by scanning electron microscopy, and modified polyamic acid reimidezed to polymide as increasing curing temperature.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.26 no.3
• /
• pp.298-307
• /
• 2016

In the building process of FPSOs(floating production, storage and offloading units) is the increasing demand of high performance piping joints that can be installed on its turret system and maintain smooth and long-term flow of ultra-high pressure crude oil, being subjected to external excitations such as wind and wave on the sea. Following such a trend, in this paper, a new-type piping joint of four effective degrees of freedom has been designed, and its dynamic characteristics predicted through mathematical modeling and computer simulations. Moreover, via an example it was shown how the yaw motion in particular can be independently controlled for future durability test despite strong kinetic couplings.

• The Journal of Korea Robotics Society
• /
• v.6 no.3
• /
• pp.220-229
• /
• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Ocean Systems Engineering
• /
• v.14 no.1
• /
• pp.1-16
• /
• 2024

This paper investigates the impact of local joint flexibility (LJF) on the fatigue life of jacket-type offshore platforms. Four sample platforms with varying geometric properties are modeled and analyzed using the Opensees software. The analysis considers the LJF of tubular joints through the equivalent element and flexible link approaches, and the results are compared to rigid modeling. Initially, modal analysis is conducted to examine the influence of LJF on the frequency content of the structure. Subsequently, fatigue analysis is performed to evaluate the fatigue life of the joints. The comparison of fatigue life reveals that incorporating LJF leads to reduced fatigue damage and a significant increase in the longevity of the joints in the studied platforms. Moreover, as the platform height increases, the effect of LJF on fatigue damage becomes more pronounced. In conclusion, considering LJF in fatigue analysis provides more accurate results compared to conventional methods. Therefore, it is essential to incorporate the effects of LJF in the analysis and design of offshore jacket platforms to ensure their structural integrity and longevity.

• Journal of Welding and Joining
• /
• v.35 no.3
• /
• pp.7-14
• /
• 2017

The effect of high temperature-moisture on corrosion and mechanical properties for Sn-0.7Cu, Sn-3.0Ag-0.5Cu (SAC305) solders on flexible substrate was studied using Highly Accelerated Temperature/Humidity Stress Test (HAST) followed by three-point bending test. Both Sn-0.7Cu and SAC305 solders produced the internal $SnO_2$ oxides. Corrosion occurred between the solder and water film near flexible circuit board/copper component. For the SAC305 solder with Ag content, furthermore, octahedral corrosion products were formed near Ag3Sn. For the SAC305 and Sn-0.7Cu solders, the amount of internal oxide increased with the HAST time and the amount of internal oxides was mostly constant regardless of Ag content. The size of the internal oxide was larger for the Sn-0.7Cu solder. Despite of different size of the internal oxide, the fracture time during three-point bending test was not significantly changed. It was because the bending crack was always initiated from the three-point corner of the chip. However, the crack propagation depended on the oxides between the flexible circuit board and the Cu chip. The fracture time of the three-point bending test was dependent more on the crack initiation than on the crack propagation.

• Journal of Preventive Medicine and Public Health
• /
• v.52 no.4
• /
• pp.250-257
• /
• 2019

Objectives: Flatfoot, or low medial longitudinal arch, contributes to back and lower extremity injuries and is caused by weak abductor hallucis (AbdH) muscles. The purpose of this study was to investigate the effects of short foot exercise (SFE) alone or with neuromuscular electrical stimulation (NMES) on navicular height, the cross-sectional area (CSA) of the AbdH muscle, and AbdH muscle activity in flexible flatfoot. Methods: Thirty-six otherwise healthy people with flexible flatfoot were randomly assigned to a group that received SFE with placebo NMES treatment (the control group) or a group that received both SFE and NMES treatment (the experimental group). Each group received 4 weeks of treatment (SFE alone or SFE with NMES). Navicular height, the CSA of the AbdH muscle, and AbdH muscle activity were assessed before and after the intervention. Results: No significant differences were found in navicular height or the CSA of the AbdH muscle between the control and experimental groups, while AbdH muscle activity showed a statistically significant difference between the groups ($SFE=73.9{\pm}11.0%$ of maximal voluntary isometric contraction [MVIC]; SFE with $NMES=81.4{\pm}8.3%$ of MVIC; p<0.05). Moreover, the CSA of the AbdH muscle showed a statistically significant increase after treatment in the SFE with NMES group ($pre-treatment=218.6{\pm}53.2mm^2$ ; $post-treatment=256.9{\pm}70.5mm^2$ ; p<0.05). Conclusions: SFE with NMES was more effective than SFE alone in increasing AbdH muscle activity. Therefore, SFE with NMES should be recommended to correct or prevent abnormalities in people with flexible flatfoot by a physiotherapist or medical care team.

• Journal of the Microelectronics and Packaging Society
• /
• v.20 no.2
• /
• pp.17-22
• /
• 2013

We investigated the optimum bonding conditions for thermo-compression bonding of electrodes between flexible printed circuit board(FPCB) and rigid printed circuit board(RPCB) with Sn-58Bi solder as interlayer. In order to figure out the optimum bonding conditions, peel test of FPCB/RPCB joint was conducted. The peel strength was affected by the bonding conditions, such as temperature and time. The fracture energies were calculated through F-x (Force-displacement) curve during peel test and the relationships between bonding conditions and fracture behaviors were investigated. The optimum condition for the thermo-compression bonding with Sn-58Bi solder was found to be temperature of $195^{\circ}C$ and time of 7 s.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.3
• /
• pp.318-323
• /
• 2005

In this paper, we propose a systematic method of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear system. A parallel distributed compensation (PDC) technique is then used to design a fuzzy model based controller for both stabilization and tracking. Finally, the designed continuous-time controller is converted to an equivalent discrete-time controller by using an intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy model based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, the single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.