• 한국정밀공학회지
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• 제29권10호
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• pp.1089-1095
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• 2012

Laser beam machining (LBM) using nanosecond pulsed laser is widely known to be rapid and non-wear process for micromachining. However, the quality itself cannot meet the precision standard due to the recast layer and heat affected zone. In this paper, a fabrication method for machining micro features in stainless steel using a hybrid process of LBM using nanosecond pulsed laser and electrochemical etching (ECE) is reported. ECE uses non-contacting method for precise surface machining and selectively removes the recast layer and heat affected zone produced by laser beam in an effective way. Compared to the single LBM process, the hybrid process of LBM and ECE enhanced the quality of the micro features.

• 마이크로전자및패키징학회지
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• 제31권2호
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• pp.69-77
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• 2024

최근 전자기기의 소형화, 다기능화 등으로 인한 전자부품 실장 영역의 한계치를 극복하고 플라스틱 사출물에 직접 회로를 인쇄하고 소자 및 부품을 실장하는 molded interconnect device (MID) 형태의 패키징 기법이 도입되고 있다. 다만 열 안정성이 낮은 플라스틱 사출물을 사용하는 경우, 종래의 리플로우 공정을 통한 부품 실장에 어려움이 있다. 본 연구에서는 특정 부위 혹은 소재만을 가열할 수 있는 유도가열 현상을 이용하여 플라스틱에 어떠한 열 데미지 없이 솔더를 용융시켜 실장하는 공정을 개발하였다. 가열하고자 하는 부위에 자속을 집중시킬 수 있는 유도가열용 Cu 코일 형상을 설계하고, 유한요소해석을 통해 패드부 자속 집중 및 가열 정도를 검증하였다. Polycarbonate 기판 위에 실장공정 검증을 위한 LED, capacitor, resistor, connector를 각각 유도가열을 통해 실장하고 작동여부를 확인하였다. 본 연구를 통해 리플로우 공법의 한계를 극복가능한 자기유도를 통한 선택적 가열 공정의 적용 가능성을 제시하였다.

• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.729-735
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• 2021

Recently Artificial Intelligence(AI) has been developed and used in various fields. Especially AI recognition technology can perceive and distinguish images so it should plays a significant role in quality inspection process. For stability of autonomous driving technology, semiconductors inside automobiles must be protected from external electromagnetic wave(EM wave). As a shield film, a thin polymeric material with hole shaped micro-patterns created by a laser processing could be used for the protection. The shielding efficiency of the film can be increased by the hole structure with appropriate pitch and size. However, since the sensitivity of micro-machining for some parameters, the shape of every single hole can not be same, even it is possible to make defective patterns during process. And it is absolutely time consuming way to inspect all patterns by just using optical microscope. In this paper, we introduce a AI inspection system which is based on web site AI tool. And we evaluate the usefulness of AI model by calculate Area Under ROC curve(Receiver Operating Characteristics). The AI system can classify the micro-patterns into normal or abnormal ones displaying the text of the result on real-time images and save them as image files respectively. Furthermore, pressing the running button, the Hardware of robot arm with two Arduino motors move the film on the optical microscopy stage in order for raster scanning. So this AI system can inspect the entire micro-patterns of a film automatically. If our system could collect much more identified data, it is believed that this system should be a more precise and accurate process for the efficiency of the AI inspection. Also this one could be applied to image-based inspection process of other products.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.705-709
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• 2016

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.

• International Journal of Industrial Entomology and Biomaterials
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• 제1권2호
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• pp.91-93
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• 2000

Insects have many excellent features and functions in their small bodies, such as hexapod walking, flapping flight, vision systems, sensory hairs, etc, and those characteristics can be thought as good models for many types of robots. Insects also will be good models far micro-machines because of its size. Insect behavior consists of simple reflex acts and programmed behavior, Some robots were made in order to clarify the emergent mechanism of insect behavior, Through some experiments it would be found that even if insect behavior consists of some simple action patterns, it looks intelligent through interactions its sensors and actuators with its complex environment. In the near futures small robots inspired by insects will be used in many fields of our life. I hope that insect-model based robots will play an active part in many fields and that they will make us happy.

• 대한인간공학회지
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• 제6권1호
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• pp.25-32
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• 1987

The paesent paper deals with obtaining the properly mixed application critaeia for the manual mode, using computer graphic simulation, in order to recover the error effectively occurring in the advanced teleoperator work of man-robot system. In these experiments the error which is occurred during performing the automatic mode is recovered by the manual mode which is combined properly the operation by hyman with the operation by control program. The result shows an improvement availibility of the system by not only establishing an efficient combination of the manual mode according to trajectory planning but also recovering the error effectively. Therefore we suggest that the operation by control program should be applied in macro motion of control and the operation by human in micro motion of control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1309-1314
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• 2003

If an agent has a learning ability using previous knowledge, then it is expected that the agent can speed up learning by interacting with environment. In this paper, we present an improved reinforcement learning algorithm using domain knowledge which can be represented by problem-independent features and their classifiers. Here, neural networks are employed as knowledge classifiers. To show the validity of our proposed algorithm, computer simulations are illustrated, where navigation problem of a mobile robot and a micro aerial vehicle(MAV) are considered.

• 한국정보교육학회:학술대회논문집
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• 한국정보교육학회 2005년도 하계학술대회
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• pp.173-182
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• 2005

세계는 국가의 발전과 문명의 발전이 첨단 기술 개발에 달려 있다는 것을 알고 남들 보다 좀 더 새롭고 강력한 기술을 개발하기 위하여 박차를 가하고 있다. 또한 이러한 첨단 기술을 확보하기 위하여 많은 국가와 기업은 막대한 자본을 투자하고 있으며 교육에서도 예외는 아닐 것이다. 이러한 환경에 변화에 맞추어 첨단 과학의 미래를 이끌어 나갈 인재 육성이 더욱 필요하다고 할 수 있을 것이다. 단순히 공작 활동에서 벗어나 스스로 창의적인 생각하고 조작할 수 있는 공학적인 마인드를 갖는 인재 육성이 필요 되어지고 있다. 이러한 시대적인 요구에 부흥하는 마이크로 로봇 제작은 창의력 개발과 동시에 전자와 기계를 동시에 익히며 배울 수 있는 적절한 대안이 될 것이다. 따라서 본 연구는 초등학교에서 마이크로 로봇을 제작 방법과 그 교육적 활용 방안에 대하여 연구하여 보았다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2007년도 한국컴퓨터종합학술대회논문집 Vol.34 No.1 (B)
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• pp.363-367
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• 2007

본 논문에서는 Micro 내장형 운영체제상의 실시간 객체 엔진으로 개발한 TMO-eCos를 기반으로 TMO를 이용한 이족로봇 제어 프레임워크와 이를 활용한 실제 사람의 동작과 유사하게 이족로봇을 제어할 수 있는 응용모델에 대해 기술한다. TMO 모델을 이용한 이족로봇 제어 프레임워크는 시스템 개발을 위한 객체 기반의 규격적 단층을 제공하여 모션캡춰장비의 시그널을 분석 처리할 수 있도록 설계 구현되었다.