• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.50-59
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• 1998

This paper presents stabilization and adaptive control of flexible single link robot manipulator system by self-recurrent neural networks that is one of the neural networks and is effective in nonlinear control. The architecture of neural networks is a modified model of self-recurrent structure which has a hidden layer. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. When a flexible manipulator is rotated by a motor through the fixed end, transverse vibration may occur. The motor toroque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipuators so that it is arresed as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid body motions, as well as the flexural vibrations. Therefore, a dynamic models for a flexible single link robot manipulator is derived, and then a comparative analysis was made with linear controller through an simulation and experiment. The results are proesented to illustrate thd advantages and imporved performance of the proposed adaptive control ove the conventional linear controller.

• Smart Structures and Systems
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• v.18 no.4
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• pp.663-682
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• 2016

Continuum manipulators as a kind of mechanical arms are useful tools in special robotic applications. In medical applications, like colonoscopy, a maneuverable thin and flexible manipulator is required. This research is focused on developing a basic module for such an application using shape memory alloys (SMA). In the structure of the module three wires of SMA are uniformly distributed and attached to the circumference of a flexible tube. By activating wires, individually or together, different rotation regimes are provided. SMA model is used based on Brinson work. The SMA model is combined to model of flexible tube to provide a composite model of the module. Simulating the model in Matlab provided a platform to be used to develop controller. Complex and nonlinear behavior of SMA make the control problem hard especially when a few SMA actuators are active simultaneously. In this paper, position control of the two degree of freedom module is under focus. An experimental control strategy is developed to regulate a desired position in the module. The simulation results present a reasonable performance of the controller. Moreover, the results are verified through experiments and show that the continuum module of this paper would be used in real modular manipulators.

• International Journal of Highway Engineering
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• v.17 no.1
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• pp.69-75
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• 2015

PURPOSES : The objective of this study is to evaluate the effectiveness of a geogrid reinforced subbase of permeable flexible pavement structures with respect to permanent deformation. METHODS : Experimental trials employing a repeated triaxial load test scheme were conducted for both a geogrid reinforced subbase material and a control specimen to obtain the permanent deformation properties based on the VESYS model. Along with this, a finite element-based numerical analysis was conducted to predict pavement performance with respect to the rutting model incorporated into the analysis. RESULTSAND CONCLUSIONS : The results of the experimental study reveal that the geogrid reinforcement seems to be effective in mitigating permanent deformation of the subbase material. The permanent deformation was mostly achieved in the early stages of loading and then rapidly reached equilibrium as the number of load applications increased. The ultimate permanent deformation due to the geogrid reinforcement was about 1.5 times less than that of the control specimen. Numerical analysis showed that the permeable, flexible pavement structure with the geogrid reinforced subbase also exhibits less development of rutting throughout the service life. This reduction in rutting led to a 20% decrease in thickness of the subbase layer, which might be beneficial to reduce construction costs unless the structural adequacy is not ensured. In the near future, further verification must be conducted, both experimentally and numerically, to support these findings.

• Journal of the Korean Ceramic Society
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• v.51 no.3
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• pp.190-196
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• 2014

Flexible $TiO_2$ films were deposited as dielectric materials for high-energy-density capacitors on polyethylene terephthalate (PET) substrates using a roll-to-roll sputtering method. Both the growth behavior and electrical properties of the flexible $TiO_2$ films were dependent on the sputtering pressure and $O_2$/Ar gas ratio during the sputtering process. All $TiO_2$ films had an amorphous structure regardless of the sputtering conditions due to the low substrate temperature. Microstructural characteristics such as the surface morphology and roughness of the films degraded with an increase in the sputtering pressure and $O_2$ gas concentration. The $TiO_2$ films deposited at a low pressure showed better electrical properties than those of films deposited at a high pressure. The $TiO_2$ films prepared at 10 mTorr exhibited a dielectric constant of approximately 90 at 1 kHz and a leakage current density of $5{\sim}6{\times}10^{-7}A/cm^2$ at 3 MV/cm.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.155-163
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• 2005

Pressure heating rollers with temperature control were mounted to a flat cable laminating machine (FCLM). Pressure heating rollers should be heated up to the setting temperature $(175^{\circ}C)$ and kept on to producing good quality flexible flat cables (FFC). Existing Pressure heating rollers took more than 70minutes to the setting temperature and did not keep on the setting temperature in production. Temperature controller, electric power controller, material and diameter of rollers and heat capacities were changed to improve the temperature control of the pressure heat rollers for better production of the FFC. Thus, the reaching time to the setting temperature (RT), temperature stability time (TST) and temperature hunting (TH) were measured and compared with the existing pressure rollers case. The RT of A roller was shortened by 50minutes, and B roller was shortened by 15minutes. The TST of A roller was shortened by 13minutes, and B roller was shortened by 15minutes. The THs of both A and B rollers were settled up to ${\pm}5^{\circ}C$. Finally, the productivity of the FCLM and the quality of the FFC were increased.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.14 no.4
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• pp.38-47
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• 2006

This study analyzes the expense structure of the air transport industry, based on the cost and income data of 18 major airlines, estimates the economic effectiveness of scale and conducts comparative analysis. As for the method of analysis, Translog cost function and the Fourier flexible function were used. The result showed that big companies had the economy of scale based on the Translog cost function, while the Fourier flexible function led to a estimation that expanding the input is not recommended, for the expansion of scale entails the poor economy of scale. It can be presumed that the economy of scale was estimated according to the U shape of the Translog cost function in the given data. On the other hand, the Fourier flexible cost function approaches the unknown function, as it is a Fourier series, and correctly infers the economy of scale based on the analyzed data. As for the flag carrier's economy of scale, it was inferred that the economy of scale existed by any of two functions. Therefore, the conclusion was that further expanding the scale will not cause any problem.

• Steel and Composite Structures
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• v.19 no.6
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• pp.1333-1354
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• 2015

A higher order analytical solution for static analysis of a truncated conical composite sandwich panel subjected to different loading conditions was presented in this paper which was based on a new improved higher order sandwich panel theory. Bending analysis of sandwich structures with flexible cores subjected to concentrated load, uniform distributed load on a patch, harmonic and uniform distributed loads on the top and/or bottom face sheet of the sandwich structure was also investigated. For the first time, bending analysis of truncated conical composite sandwich panels with flexible cores was performed. The governing equations were derived by principle of minimum potential energy. The first order shear deformation theory was used for the composite face sheets and for the core while assuming a polynomial description of the displacement fields. Also, the in-plane hoop stresses of the core were considered. In order to assure accuracy of the present formulations, convergence of the results was examined. Effects of types of boundary conditions, types of applied loads, conical angles and fiber angles on bending analysis of truncated conical composite sandwich panels were studied. As, there is no research on higher order bending analysis of conical sandwich panels with flexible cores, the results were validated by ABAQUS FE code. The present approach can be linked with the standard optimization programs and it can be used in the iteration process of the structural optimization. The proposed approach facilitates investigation of the effect of physical and geometrical parameters on the bending response of sandwich composite structures.

• Journal of the Semiconductor & Display Technology
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• v.11 no.1
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• pp.29-33
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• 2012

In this study, we have investigated the structural and electrical characteristics of IZO thin films deposited under hydrogen atmosphere on flexible substrate for the OLED (organic light emitting diodes) devices. For this purpose, PES was used for flexible substrate and IZO thin films were deposited by RF magnetron sputtering under hydrogen ambient gases (Ar, $Ar+H^2$) at room temperature. In order to investigate the influences of the hydrogen, the flow rate of hydrogen in argon mixing gas has been changed from 0.1sccm to 0.5sccm. All the samples show amorphous structure regardless of flow rate. The electrical resistivity of IZO films increased with increasing flow rate of $H^2$ under $Ar+H^2$. All the films showed the average transmittance over 85% in the visible range. The OLED device was fabricated with different IZO electrodes made by configuration of IZO/$\acute{a}$-NPD/DPVB/$Alq_3$/LiF/Al to elucidate the performance of IZO substrate. OLED devices with the amorphous-IZO (a-IZO) anode film show good current density-voltage-luminance characteristics. This suggests that flat surface roughness and low electrical resistivity of a-IZO anode film lead to more efficient anode material in OLED devices.

• International Journal of Naval Architecture and Ocean Engineering
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• v.2 no.2
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• pp.112-118
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• 2010

The numerical study about the vortex-induced vibration and vortex shedding in the wake has been presented. Prior to the numerical simulation of flexible riser systems concerning engineering conditions, efficiency validating of the proposed FSI solution method have been performed. The comparison between numerical simulation and published experimental data shows that the CFD method designed for FSI solution could give acceptable result for the VIV prediction of flexible riser/pipe system. As meaningful study on VIV and vortex shedding mode with the focus on flexible riser model systems, two kinds of typical simulation cases have been carried out. One was related to the simulation of vortex visualization in the wake for a riser model subject to forced oscillation, and another was related to the simulation of fluid-structure interaction between the pipes of coupled multi-assembled riser system. The result from forced oscillation simulation shows that the vortex-induced vibration with high response frequency but small instantaneous vibration amplitude contributes to vortex conformation as much as the forced oscillation with large normalized amplitude does, when the frequency of forced oscillation was relatively high. In the multi-assembled riser systems, it has been found that the external current velocity and the distance between two pipes are the critical factors to determine the vibration state and the steady vibration state emerging in quad-pipe system may be destroyed more easily than dual-pipe system.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.431-431
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• 2013

Flexible Organic Light Emitting Diode (OLED) displays are required for future devices. It is possible that plastic substrates are instead of glass substrates. But the plastic substrates are permeable to moisture and oxygen. This weak point can cause the degradation of fabricated flexible devices; therefore, encapsulation process for flexible substrate is needed to protect organic devices from moisture and oxygen. Y.G. Lee et al.(2009) [1] reported organic and inorganic multilayer structure as an encapsulation barrier for enhanced reliability and life-time.Flowable Oxide process is a low-temperature process which shows the excellent gap-fill characteristics and high deposition rate. Besides, planarization is expected by covering dust smoothly on the substrate surface. So, in this research, Bi-layer structured is used for encapsulation: Flowable Oxide Thin film by PECVD process and Al2O3 thin film by ALD process. The samples were analyzed by water vapor transmission rate (WVTR) using the Calcium test and film cross section images were obtained by FE-SEM.