• 한국산업융합학회 논문집
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• 제26권1호
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• 한국산업융합학회 논문집
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• 제25권6_1호
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.455-460
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• 2007

A self-sensing circuit for piezo inkjet has been designed in order to monitor the operating condition during printing. In order to verify the circuit, both ink droplet images from strobe LED and vibration signals from the laser vibrometer were measured and compared with self-sensing signal. Experimental results show that self-sensing signal was effective in detecting the pressure wave change due to the bubble trapped in inkjet printhead.

• 조명전기설비학회논문지
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• 제22권1호
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• pp.50-57
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• 2008

철도 정거장 구내에서는 본선으로부터 측선으로 진로를 바꾸기 위하여, 즉 다른 선로로 분기하기 위하여 분기지점에 설치한 궤도설비를 분기기라 하며, 분기기의 방향을 전환시키는 장치를 선로전환기라 하는데, 이 장치에 문제가 발생하면 심각한 상황이 초래될 수 있다. 이 장치에는 정밀한 기기와 센서가 설치되어 사용되는데, 장애가 많이 발생하며 열차 탈선이라는 극한의 상황까지 이를 수 있다. 본 논문에서는 사용중인 안전장치들을 장애와 사고를 정밀 분석하고 이를 대체할 수 있는 장치를 개발하였다. 이 장치는 낙뢰에 의한 과전압의 영향을 받지 않도록 설계되어서 열차운행이 원활하게 된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1047-1052
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• 1989

A novel multi-purpose monitoring platform-LTA vehicle is presented with much improved kinetic performances together with its structural analysis and its scale model test data. This provides a useful mean of monitoring, exploring and remote sensing platform that flies over the wide range of atmosphere and can be used as a safe economic device.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2000년도 춘계학술대회 논문집 전자세라믹스 센서 및 박막재료 반도체재료 일렉트렛트 및 응용기술
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• pp.14-17
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• 2000

The rise throughput and the stability in fabrication of device can be obtained by applying of CMP process to STI structure in 0.18um semiconductor device. To employ in STI CMP, the reverse moat process has been added thus the process became complex and the defects were seriously increased. Removal rates of each thin films in STi CMP was not equal hence the devices must to be effected, that is, the damage was occured in the device dimension in the case of excessive CMP process and the nitride film was remained on the device dimension in the case of insufficient CMP process than these defects affect the device characteristics. We studied the current sensing method in STI-CMP with the reverse moat pattern.

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• 대한기계학회논문집A
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• 제29권12권
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• pp.1615-1620
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• 2005

We present a novel flow-rate independent cell counter using a fixed control volume between double electrical sensing zones. The previous device based on the single electrical cell sensing in a given flow-rate requires an accurate fluid volume measurement or precision flow rate control. The present cell counter, however, offers the flow-rate independent method for the cell concentration measurement with counting cells in a fixed control volume of $22.9{\pm}0.98{\mu}{\ell}$. In the experimental study, using the RBC (Red Blood Cell), we have compared the measured RBC concentrations from the fabricated devices with those from Hemacytometer. The previous and present devices show the maximum errors of $20.3\%\;and\;16.1\%$, which are in the measurement error range of Hemacytometer (about $20\%$). The present device also shows the flow-rate independent performance at the constant flow-rates ($5{\mu}{\ell}/min$ and $10{\mu}{\ell}/min$) and the varying flow-rate (4, 2, and $4{\mu}{\ell}/min$). Therefore, we demonstrate that the present cell counter is a simple and automated method for the cell concentration measurement without requiring an accurate fluid measurement and precision flow-rate control.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.909-915
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• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.