• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.

• International Journal of Precision Engineering and Manufacturing
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• 제7권3호
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• pp.51-55
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• 2006

An adaptive tracking controller is presented for the vibration reduction of flexible manipulator employed in hazardous area by combining input shaping technique with sliding-mode control. The combined approach appears to be robust in the presence of severe disturbance and unknown parameter which will be estimated by least-square method in real time. In a maneuver strategy, it is found that a hybrid trajectory with a combination of low frequency mode and rigid-body mode results in better performance and is more efficient than the traditional rigid body trajectory alone which many researchers have employed. The feasibility of the adaptive tracking control approach is demonstrated by applying it to the simplified model of robot system. For the applications of the proposed technique to realistic systems, several requirements are discussed such as control stability and large system order resulted from finite element modeling.

• 동력기계공학회지
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• 제5권2호
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• pp.79-86
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• 2001

A method is presented for generating the path which significantly reduces residual vibration of the redundant, flexible robot manipulator in the presence of obstacles. The desired path is optimally designed so that the system completes the required move with minimum residual vibration, avoiding obstacles. The dynamic model and optimal path are effectively formulated and computed by using special moving coordinate, called VLCS, to represent the link flexibility. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables. A planar three-link manipualtor is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate path, in the presence of obstacles.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.274-279
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• 2000

Driving of the engine makes unbalance forces which induces vibration to the engine mount system. Active vibration control must be performed to reduce the vibration and the propagation of structure-born sound. In this study, the engine system is modeled as 3-dim. vibration system including flexible structures and an effective active noise control method is proposed. Also, appropriate actuator and sensor locations and types are selected. The miniature of the engine vibration system with multi-input multi-output is built and an active vibration control with multiple filtered-X LMS algorithm is applied to it. The applied control method was effective to reduce the transmitted vibration power through the rubber mount It showed the feasibility of the control of the engine vibration systems with flexible structures.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.2032-2035
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• 2003

This paper focused on the possibility of face recognition using Flexible let Point Setting method in Gabor Filter Based Face Recognition. Gabor Filter is very sensible to the Texture variation. Therefore, any little change in the face expression or rotation of posture make recognition rate down significantly. A suggested solution for this problem is the Flexible Jet Point Setting. A significant effect of this method is that the number of Jet Point has been reduced from over 150 to under 30 even though the change of recognition rate between two methods is neglectable, Furthermore a set of feature values which results from a set of Gabor filtering became insensible to face variation such as expression, rotation, and light effect. Retinex Algorithm which has been developed by NASA are used as pre-processing.

• 한국전산유체공학회지
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• 제11권1호
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• pp.21-28
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• 2006

Reliability Based Design Optimization(RBDO) is one of the optimization methods that minimize the product failure due to small changes of operating conditions or process errors. It searches the optimum that satisfies the safety margin of each constraint, and it gives stable and reliable designs. However, RBDO requires many times oj computational efforts compared with the conventional deterministic optimization(DO) to evaluate the probability of failure about each constraint, therefore it is hard to apply directly to large-scaled problems such as a flexible wing shape design optimization. For the efficient reliability analysis, the approximate reliability analysis method with the two-point approximation(TPA) is proposed In this study, the lift-to-drag ratio maximization designs are performed with 3-dimensional Navier-Stokes analysis and NASTRAN structural analysis, and the optimization results about the deterministic, FORM and SORM are compared.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.838-843
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• 2008

Since thickness deformation and lateral deflection often occurs during the collision of flexible bodies, they should be considered simultaneously in the impact analysis. The thickness deformation, however, cannot be considered in beam/shell theory since the thickness is assumed to be constant in the theory. So, solid elements are employed to estimate the thickness deformation. However, the CPU time increases significantly if solid elements are employed. In the present study, a modeling method for the impact analysis of a flexible body employing Hertzian contact theory is presented. The efficiency and the accuracy of the modeling method are discussed with some numerical examples.

• 한국생산제조학회지
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• 제19권3호
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• pp.307-312
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• 2010

In this study, advanced computational technique for mechatronic analysis has been developed for the efficient design and test of typical machine tool models. Flexible multi-body dynamic (FMBD) analysis method combined with motion controller including control logics is used to simulate typical operation conditions. The present FMBD machine tool model is composed of flexible column structure, rigid body spindle, vertical motion guide (arm) and screw elements. Driving motor clement with rotating degree-of-freedom is interconnected and governed by the designed Matlab Simulink control logic, and then the position of the spindle is feedback into the control logic. It is practically shown from the results that the investigation of designed machine tools with controller can be effectively conducted and verified.

• 한국신뢰성학회지:신뢰성응용연구
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• 제16권1호
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• pp.41-47
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• 2016

Purpose: The purpose of this study was to evaluate electrical and structural degradation of flexible CIGS sollar cell exposed to high temperature and humid atmosphere. Method: Accelerated degradation was performed for various time under $85^{\circ}C/85%RH$ and then electrical and structural properties were analyzed by 4-point probe method, scanning electron microscopy (SEM), energy dispersive spectroscopy (EDS), and X-ray diffraction (XRD). Results: Sheet resistance of the top ITO layer increased with exposure time to the high temperature and humid atmosphere. Blunting of the protrusion morphology of ITO layer was observed for the degraded specimen, while no phase change was detected by XRD. Oxygen was detected at the edge area after 300 hours of exposure. Conclusion: Increase in electrical resistance of the degraded CIGS solar cell under high temperature and humid environment was attribute to the oxygen or water absorption.

• 전기화학회지
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• 제17권4호
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• pp.237-244
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• 2014

We report novel and simple structure of supercapacitors fabricated by using flexible glass fibre separators as templates. This method does not require separate electrodes, binders and high pressure/temperature to build the supercapacitor unit cells as required by the conventional technology. The supercapacitors were fabricated by drop-casting solution mixtures of carbonaceous active materials/gel electrolytes onto two sides of glass fibre separators. Two carbonaceous materials (nanoscaled activated carbons, multi-walled carbon nanotubes) were investigated as electrode materials. The electrochemical measurements reveal that the separatorbased supercapacitors using ACs successfully demonstrated significant mass specific capacitance ($22.3F\;g^{-1}$) and energy density ($9.7Wh\;kg^{-1}$), indicating this method can be useful in fabricating flexible, wearable and stretchable energy storage devices in more straightforward and cost-effective way than current technology.