• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1588-1593
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• 2008

This paper describes a real-time isometric pinch force prediction algorithm from surface electromyogram (sEMG) using multilayer perceptron (MLP) for human robot interactive applications. The activities of seven muscles which are observable from surface electrodes and also related to the movements of the thumb and index finger joints were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. Four muscles were selected for the force prediction by using the Fisher linear discriminant analysis among seven muscles, and the four muscle activities provided effective information for mapping sEMG to the pinch force. The MLP structure was designed to make training efficient and to avoid both under- and over-fitting problems. The pinch force prediction algorithm was tested on five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.112 ${\pm}$ 0.082 and CORR = 0.932 ${\pm}$ 0.058. These results imply that the proposed algorithm is useful to measure the produced pinch force without force sensors in real-time. The possible applications include controlling bionic finger robot systems to overcome finger paralysis or amputation.

• Macromolecular Research
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• 제15권7호
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• pp.610-616
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• 2007

We developed a coarse-grained force field and have extended it to polystyrene with longer chain length. A systematic method was introduced and was utilized to explain how the coarse-grained force field for polystyrene could be developed from the atomistic simulation in the paper. We elected to use polystyrene with different chain lengths of 20, 40 and 80 monomers in this study. In three cases, we utilized the same new mapping scheme. The coarse-grained force field does reproduce the bond, angle, and radial distribution of the atomistic model. The coarse-grained model proved successful, as shown by analyses of the static and dynamic properties of different chain lengths.

• 한국전기전자재료학회논문지
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• 제19권7호
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• pp.618-623
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• 2006

Hydrogenated Diamond-like carbon (DLC) films were prepared by the radio frequency plasma enhanced chemical vapor deposition (RF PECVD) method on silicon substrates using methane $(CH_4)$ and hydrogen $(H_2)$ gas. The wear track on the DLC films was examined after the ball-on disk (BOD) measurement with a Raman mapping method. The BOD measurement of the DLC films was performed for 1 to 3 hours with a 1-hour step time. The sliding traces on the hydrogenated DLC film after the BOD measurement were also observed using an optical microscope. The surface roughness and cross-sectional images of the wear track were obtained using an atomic force microscope (AFM). The novel Raman mapping method effectively shows the graphitization of DLC films of $300{\mu}m\times300{\mu}m$ area according to the sliding time by G-peak positions (intensities) and $I_D/I_G$ ratios.

• Steel and Composite Structures
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• 제44권4호
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• pp.473-488
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• 2022

A high-speed railway (HSR) bridge may undergo long-term deformation due to the degradation of material stiffness, or foundation settlement during its service cycle. In this study, an analytical model is set up to evaluate the influence of this long-term vertical bridge deformation on the track geometry. By analyzing the structural characteristics of the HSR track-bridge system, the energy variational principle is applied to build the energy functionals for major components of the track-bridge system. By further taking into account the interlayer's force balancing requirements, the mapping relationship between the deformation of the track and the one of the bridge is established. In order to consider the different behaviors of the interlayers in compression and tension, an iterative method is introduced to update the mapping relationship. As for the validation of the proposed mapping model, a finite element model is created to compare the numerical results with the analytical results, which show a good agreement. Thereafter, the effects of the interlayer's different properties of tension and compression on the mapping deformations are further evaluated and discussed.

• 한국초전도학회:학술대회논문집
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• 한국초전도학회 2007년도 High Temperature Superconductivity Vol.XVII
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• pp.88-88
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• 2007

• 공업화학
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• 제17권4호
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• pp.381-385
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• 2006

에멀젼 입자 표면의 새로운 형태학적 분석을 위하여 원자간력 현미경을 이용한 위상지연 가시화법을 응용하여 폴리우레탄 수지와 아크릴레이트 수지로 구성된 폴리우레탄 아크릴레이트 하이브리드 에멀젼의 형태 및 물성 연구를 시도하였다. 데이터의 분석을 위하여 순수한 수분산 폴리우레탄과 아크릴레이트 에멀젼 입자를 각각 합성하였고, 유사한 형태로 합성된 두 입자에 대한 각각의 서로 다른 위상지연의 크기를 얻을 수 있었다. 이들 데이터를 기준으로 수십 나노미터의 분해능으로 폴리우레탄 속에 혼성된 아크릴 수지의 입자표면을 구별하고 특성을 분석하였다. 따라서 위상지연 가시화법의 응용으로 서로 다른 2가지 화합물의 특성을 구분하고 이를 가시화 할 수 있는 새로운 가능성을 제시하였고, 이러한 분석법은 유기 합성 고분자의 입자 표면분석 및 물성연구에 유용함을 기술하였다.

• 한국결정성장학회지
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• 제17권2호
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• pp.52-56
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• 2007

본 연구에서는 초고진공(UHV, ultra high vacuum) 분자선 에피성장(MBE, molecular beam epitaxy) 시스템을 제작하여, ZnSe/GaAs[001]을 증착하였고, 증착된 박막의 특성을 SEM(scanning electron microscopy), AFM(atomic force microscopy)으로 조사하여, 분자층 단위의 조밀하고 균일한 표면특성을 보이고 있음을 확인할 수 있었다 XRD(x-ray diffractometer)를 이용하여, GaAs[001]기판의 XRD peak 위치와 ZnSe 박막의 XRD peak 위치가 각자 일치함을 확인할 수 있었다. PL(photoluminescence)로는 대략 437nm에서 발광하는 것이 관측되었으며, 2인치 ZnSe 박막의 PL mapping을 측정하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 한국재료학회지
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• 제27권9호
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• pp.484-488
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• 2017

In the present study, domain evolution processes of a near-morphotropic PZT ceramic during poling was studied using vertical piezoresponse force microscopy (PFM). To perform macroscopic poling in bulk polycrystalline PZT, poling was carried out in a stepwise fashion, and PFM scan was performed after unloading the electric field. To identify the crystallographic orientation and planes for the observed non-$180^{\circ}$ domain walls in the PFM images, compatibility theory and electron backscatter diffraction (EBSD) were used in conjunction with PFM. Accurate registration between PFM and the EBSD image quality map was carried out by mapping several grains on the sample surface. A herringbone-like domain pattern consisting of two sets of lamellae was observed; this structure evolved into a single set of lamellae during the stepwise poling process. The mechanism underlying the observed domain evolution process was interpreted as showing that the growth of lamellae is determined by the potential energy associated with polarization and an externally applied electric field.

• 한국자동차공학회논문집
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• 제12권1호
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• pp.122-129
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• 2004

Finite element analysis was performed to analyze structural safety of a new heavy-duty direct injection diesel engine. A half section of the in-line 6-cylinder engine was selected as a computational domain. A mapping method was used to project heat transfer coefficients from CFD results of engine coolant flow onto the FE model. The accurate setting of thermal boundary condition on the FE model was expected to result in improved prediction of temperature, cylinder bore distortion, and stresses. Characteristics of high cycle fatigue were investigated by assuming the engine was operated under the following five loading conditions repeatedly; assembly force, assembly force with thermal loading, alternating maximum gas pressure loading at each cylinder combined with assembly force and thermal loading. Distribution of fatigue safety factor was calculated by using it Haigh diagram in which the maximum and the minimum stresses were selected from the five loading cases.