• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.11 s.254
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• pp.1401-1407
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• 2006

In a haptic interface system with a nanoscale virtual environment (NVE) using an atomic force microscope (AFM), impedance scaling is important. In order to explicitly derive the relationship between performance and impedance scaling factors, a nanoscale virtual coupling (NSVC) concept and a selection method of scaling factors of velocity (or position) and force are introduced. An available scaling factor region is represented based on Llewellyn's absolute stability criteria and the physical limitation of the haptic device. Experiments have been performed for tele-nanomanipulation tasks such as positioning, indenting and nanolithography with available force scaling factor in the NVE.

• Carbon letters
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• v.25
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• pp.1-13
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• 2018

Gold functionalized graphene oxide (GOAu) nanoparticles were reinforced in acrylonitrile-butadiene rubbers (NBR) via solution and melt mixing methods. The synthesized NBR-GOAu nanocomposites have shown significant improvements in their rate of curing, mechanical strength, thermal stability and electrical properties. The homogeneous dispersion of GOAu nanoparticles in NBR has been considered responsible for the enhanced thermal conductivity, thermal stability, and mechanical properties of NBR nanocomposites. In addition, the NBR-GOAu nanocomposites were able to show a decreasing trend in their dielectric constant (${\varepsilon}^{\prime}$) and electrical resistance on straining within a range of 10-70%. The decreasing trend in ${\varepsilon}^{\prime}$ is attributed to the decrease in electrode and interfacial polarization on straining the nanocomposites. The decreasing trend in electrical resistance in the nanocomposites is likely due to the attachment of Au nanoparticles to the surface of GO sheets which act as electrical interconnects. The Au nanoparticles have been proposed to function as ball rollers in-between GO nanosheets to improve their sliding on each other and to improve contacts with neighboring GO nanosheets, especially on straining the nanocomposites. The NBR-GOAu nanocomposites have exhibited piezoelectric gauge factor (${GF_{\varepsilon}}^{\prime}$) of ~0.5, and piezo-resistive gauge factor ($GF_R$) of ~0.9 which clearly indicated that GOAu reinforced NBR nanocomposites are potentially useful in fabrication of structural, high temperature responsive, and stretchable strain-sensitive sensors.

• Medical Lasers
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• v.9 no.1
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• pp.44-50
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• 2020

Background and Objectives To evaluate the rotational stability of AcrySof toric intraocular lenses (IOL) by considering lapse of postoperative time and influence of capsulorhexis contraction. Materials and Methods A prospective, masked, single center study was conducted on 19 patients who had undergone microcoaxial cataract surgery and AcrySof toric IOL implantation. Slit-lamp retroillumination photographs of anterior segments were obtained from all patients after 1 week, 1 month and 3 months post-surgery. The degree of alteration of the postoperative IOL axis alignment and the amount of anterior capsular shrinkage were analyzed using Adobe Photoshop software. Results The mean degree of toric IOL axis misalignment was 2.18 (±20.2) degrees at 3 months follow-up. Quadrant analysis of the capsulorhexis aperture area at 1 week and 1 month post-operative, showed counterclockwise IOL rotation when the capsule contraction was dominant in the haptic part as well as clockwise rotation when dominant in the non-haptic part (p = 0.015). Conclusion The direction and degree of AcrySof toric IOL rotation differed throughout the follow-up period. Since most misalignments were found on the first post-operative day, physicians should try to minimize peri-operative risk factors that influence IOL rotation. There was also a correlation between the part of anterior capsule contraction and the direction of IOL rotation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.4
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• pp.1813-1818
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• 2014

This paper presents the stability analysis of the haptic system including a human impedance using the Routh-Hurwitz criterion. The reflective force is computed from a virtual spring model and is transferred to a human operator using the first-order-hold method. The stability boundary conditions are induced and the relation among a virtual spring ($K_w$), the mass ($M_h$), the damping ($B_h$) and the stiffness ($K_h$) of a human impedance is analyzed. Hence the stability boundary of the virtual spring ($K_w$) is proposed as $K_w{\leq}54413{\sqrt{(M_h+M_d)(B_h+B_d)}}-0.486K_h$ when the sampling time is 1 ms. The average relative error is about 0.5% when the mathematical analysis results are compared with the results of the stability boundary model.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.1
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• pp.12-17
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• 2018

In order to enhance the realism of a virtual environment, a method of maximizing the stiffness of the virtual environment model is needed, which maintains the stability of the haptic system. In our previous research, we proposed a haptic system with a first order hold, instead of a zero order hold, and showed that the maximum available stiffness of a virtual spring with the first-order hold is larger than that with the zero-order hold. However, in terms of real system implementation, the zero order hold is a more common and easy method. In this paper, we propose an extrapolation method and a high frequency zero-order-hold output method in order to obtain the stability region using a zero order hold, which is equivalent to the method using the first-order-hold. The simulation results shows that the stability range of the virtual spring becomes almost the same as that of the method using the first order hold when the sampling period of the high frequency zero-order-hold method is decreased. Moreover, the stability range of the proposed method is several times to several tens of times greater than that of the method using the zero order hold only. Therefore, it is expected that the proposed method can enhance the realism of rigid bodies in a virtual environment.

• Journal of Conservation Science
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• v.35 no.1
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• pp.71-80
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• 2019

This study examined the applicability of digital technologies based on three-dimensional(3D) scanning, modeling, and printing to the restoration of damaged artifacts. First, 3D close-range scanning was utilized to make a high-resolution polygon mesh model of a roof-end tile with a missing part, and a 3D virtual restoration of the missing part was conducted using a haptic interface. Furthermore, the virtual restoration model was printed out with a 3D printer using the material extrusion method and a PLA filament. Then, the additive structure of the printed output with a scanning electron microscope was observed and its shape accuracy was analyzed through 3D deviation analysis. It was discovered that the 3D printing output of the missing part has high dimensional accuracy and layer thickness, thus fitting extremely well with the fracture surface of the original roof-end tile. The convergence of digital virtual restoration based on 3D scanning and 3D printing technology has helped in minimizing contact with the artifact and broadening the choice of restoration materials significantly. In the future, if the efficiency of the virtual restoration modeling process is improved and the material stability of the printed output for the purpose of restoration is sufficiently verified, the usability of 3D digital technologies in cultural heritage restoration will increase.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.15-23
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• 2006

본 논문은 다양한 형태의 객체데이터를 포함하는 하이브리드환경에 대한 안정적이고 사실적인 햅틱 제시 방법을 제안한다. 제안된 방법은 가상객체를 기술하는 방법에 의존하지 않고 일관된 방법으로 충돌검출 및 반력계산을 수행한다. 따라서 사용자 및 개발자는 부가적인 노력 없이 다양한 컨텐츠를 활용할 수 있으며, 빠르고 쉽게 가상환경을 구축할 수 있다. 또한 제안된 방법은 멀티 스레드로 구현된 안정화 연산을 수행하며, 이를 통해 느린 햅틱랜더링 속도를 가지는 환경에 대해서도 안정적이고 사실적인 역감을 제시한다. 따라서 제안된 방법은 다양한 응용분야에서 햅틱기술을 보다 쉽고 보다 효과적으로 적용할 수 있는 기회를 제공할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.1-171
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• 2001

This paper describes the design and implementation of a new type of a force reflective joystick. It has single degree of freedom that is actuated by motor and brake pair. The use of motor and brake allows various objects to be simulated without the stability problem and related safety issues involved with high torque motors only. The joystick performance is measured by its ability to simulate various test objects. Simple test objects are modeled as a benchmark test of the system´s performance and to evaluate different control approaches for hybrid motor/brake actuator. The force output joystick is capable of simulating forces in a variety of virtual environments. This device demonstrates the effectiveness of a hybrid motor/brake haptic actuator.

• Proceedings of the KIEE Conference
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• 2001.07e
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• pp.103-107
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• 2001

In this paper, we have developed a new Force-Display system using wire-tension method. The proposed system is based on the HIR Lab Haptic Rendering library, which calculates the real position and renders the reflecting force data to device rapidly. The system is composed of device based tendon-driven method, controller and Haptic rendering library. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system, we designed simulation program which can display the moving force (attaching, grabbing, rotating) on two virtual point. As the result of the experiment, our proposed system shows much higher resolution and stability than any others.

• Elastomers and Composites
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• v.49 no.1
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• pp.43-52
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• 2014

The effect of nanoclay (Cloisite 20A) on the self-adhesion behavior of uncured brominated-isobutylene-isoprene rubber (BIIR) has been studied. The dispersion state of nanoclay into the rubber matrix was examined by SEM, TEM and XRD analysis. The thermal degradation behavior of the filled and unfilled samples was examined by TGA and improvement in the thermal stability of the nanocomposites occurred based on the weight loss (%) measurements. Also, addition of nanoclay enhanced the cohesive strength of the material by reinforcement action thereby reducing the degree of molecular diffusion across the interface of butyl rubber. However, the average depth of penetration of the inter-diffused chains was still adequate to form entanglement on either side of the interface, and thus offered greater resistance to peeling, resulting in high tack strength measurements. The improvement in tack strength was only achieved at critical nanoclay loading above 8 phr. Contact angle measurement was also made to examine the surface characteristics. There was no significant interfacial property change by employing the nanoclay.