• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1227-1233
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• 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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1994년도 춘계학술대회논문집; 영남대학교, 20 May 1994
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• pp.45-50
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• 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.

• 한국재료학회지
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• 제9권1호
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• pp.65-72
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• 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.

• 한국소음진동공학회논문집
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• 제26권3호
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• pp.298-307
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• 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.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 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
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• 제14권1호
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• pp.1-16
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• 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
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• 제35권3호
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• pp.7-14
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• 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
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• 제52권4호
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• pp.250-257
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• 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.

• 마이크로전자및패키징학회지
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• 제20권2호
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• pp.17-22
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• 2013

본 연구에서는 Sn-58Bi 솔더를 이용한 경성 인쇄 회로 기판 (Rigid printed circuit board, RPCB)과 연성 인쇄회로 기판 (Flexible printed circuit board, FPCB) 간의 열압착 접합 시, 접합 조건에 따른 기계적 특성에 대하여 연구하였다. 접합 온도와 접합 시간을 변수로 열압착 접합을 실시하여 $90^{\circ}$ 필 테스트(Peel test)를 통해 접합 강도를 측정하고, 단면과 파단면을 관찰하였다. 접합 온도가 증가할수록 접합 강도가 증가하였으며, 접합 시간에 따른 접합 강도의 변화 또한 관찰할 수 있었다. 접합 시간이 증가하면서 접합부의 파괴에 영향을 미치는 요인이 솔더 층에서 금속간 화합물(Intermetallic compound, IMC) 층으로 변화하는 것을 관찰할 수 있었다. 필 테스트 과정의 F-x(Force-distance) curve를 통해 파괴 에너지를 계산하여 금속간 화합물이 접합 강도에 미치는 영향을 평가하였으며, 본 연구에서 $195^{\circ}C$, 7초 조건이 접합 강도와 파괴 에너지가 가장 높게 나타나는 최적 접합 조건으로 도출되었다.

• 한국지능시스템학회논문지
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• 제15권3호
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• pp.318-323
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• 2005

본 논문에서는 불확실성을 포함한 연속시간 비선형 동적 시스템에 대한 퍼지 모델 기반 제어기의 지능형 디지털 재설계를 위한 조직적인 방법을 제안한다. 불확실 비선형 시스템을 표현하기 위해 연속시간 불확실 TS 퍼지 모델이 구성된다. 그리고, 안정화와 추적을 위한 퍼지 모델 기반 제어기 설계를 위해 PDC 기법이 이용된다. 마지막으로, 설계된 연속시간 제어기는 지능형 디지털 재설계 기법을 이용함으로써 이산시간 제어기로 전환됨을 증명하는 방법을 제안한다. 이 새로운 설계 기법은 퍼지 모델 기반 제어 이론과 불확실성을 가진 비선형 동적 시스템에 대한 진보된 디지털 재설계 기법의 통합을 위한 조직적이고, 효과적인 틀을 제공한다 마지막으로, 단일 링크 유연 로봇 시스템의 모의 실험을 이용해 개발된 설계 방법의 효용성과 실행 가능성을 입증한다.