• 전기학회논문지P
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• 제51권2호
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• pp.77-81
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• 2002

In this study, PZT thin films were fabricated using sol-gel processing onto Si/$SiO_2$/Ti/Pt substrates. PZT sol with different Zr/Ti ratio(20/80, 30/70, 40/60, 52/48) were prepared, respectively. The films were fabricated by using the spin-coating method on substrates. The films were heat treated at $450^{\circ}C$, $650^{\circ}C$ by rapid thermal annealing(RTA). The preferred orientation of the PZT thin films were observed by X-ray diffraction(XRD), and Scanning electron microscopy(SEM). All of the resulting PZT thin films were crystallized with perovskite phase. The fine crystallinity of the films were fabricated. Also, we found that the ferroelectric properties from the dielectric constant of the PZT thin films were over 600 degrees, P-E hysteresis constant. And the leakage current densities of films were lower than $10^{-8}A/cm^2$. It is concluded that the PZT thin films by sol-gel process to be convinced of application for ferroelectric memory device.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.368-373
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• 2010

A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 1999년도 추계학술발표대회 논문집
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• pp.258-263
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• 1999

In this study, the numerical and experimental investigations were conducted to understand ultrasonic wave propagation and to evaluate the degree of fiber waviness in thick composites nondestructively. The path, energy and traveling time of insonified wave were predicted by adopting the ray and plane wave theories. In the analysis, the composites were assumed to have continuous fiber with sinusoidal waviness in a matrix and were modeled as stacks of infinitesimally short length off-axis elements with varying fiber orientation along the length direction. From the experiments on the specially fabricated thick composite specimens with various degrees of uniform fiber waviness, the energy distributions of received wave were obtain for the various positions of transmitter. It was observed that the energy of wave was converged to the adjacent peaks of fiber waviness. The location where maximum energy of wave was detected from the experiments showed good agreement with the location obtained from theoretical predictions. Finally, the test procedure was Proposed to evaluate fiber waviness in thick composites by considering the energy of wave and relative distance between transmitter and receiver.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.109-114
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• 2000

A new method for the determination of camera system rotation and translation from in 3-D space using recursive least square method is presented in this paper. With this method, the calculation of the equation is found by a linear algorithm. Where the equation are either given or be obtained by solving five or more point correspondences. Good results can be obtained in the presence if more than the eight point. A main advantage of this new method is that it decouple rotation and translation, and then reduces computation. With respect to error in the solution point number in the input image data, adding one more feature correspondence to required minimum number improves the solution accuracy drastically. However, further increase in the number of feature correspondence improve the solution accuracy only slowly. The algorithm proposed by this paper is used to make camera system rotation and translation easy to recognize even when camera system attached at end effecter of six degrees of freedom industrial robot manipulator are applied industrial field.

• 한국정밀공학회지
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• 제23권7호
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• pp.76-83
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• 2006

In this paper, an analysis on a new robot manipulator developed for the side buffing of the shoes is presented. The robot manipulator is composed of five degrees of freedom. An analysis on the forward and inverse kinematics was performed. Through the analysis, an analytic solution was derived for the joint angles corresponding to the position and orientation of the tool in the Cartesian coordinates. The hardware system of the robot composed of the control system, input/output interface system, and related electronic system was developed. The communication system was also developed to interact the robot with the related surrounding systems. A graphic user interface(GUI) program including the forward/inverse kinematics, control algorithm, and communication program was developed using visual C++ language.

• 한국정밀공학회지
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• 제18권5호
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• pp.65-73
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• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2002년도 춘계공동학술대회
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• pp.272-279
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• 2002

A common task in assembly modeling is the determination of the position and orientation of a set of components by solving the spatial relationships between them. Assembly models could be constructed at various levels of abstraction. They could be classified into component or geometry-level assembly models. The geometry-level assembly design approach using mating constraints such as against and fits is widely used in the commercial modelers, but it may be very tedious in some cases fur designer. In this paper, we propose a new method to construct an assembly model at the component-level by extracting joint mating features from the kinematics constraints specified between components. The assembly model constructed using the proposed method includes hierarchical and relational assembly models, component/sub-assembly positions and degrees of freedom information. The proposed method is more intuitive and natural way of assembly design and it guarantees the topological robustness of assembly modification such as component replacement and modification.

• 한국세라믹학회지
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• 제56권3호
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• pp.291-297
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• 2019

Pyrolytic carbon (PyC) layers were deposited using methane. The PyC layer deposited with 5% methane showed highly textured graphite, while that deposited using 100% methane showed low textured graphite. The degrees of anisotropy of the carbon layers were measured using an X-ray diffractometer, a transmission electron microscope, and a Raman spectroscope, and the results were compared with those reported previously. The orientation angles obtained from the fast Fourier transformation of the high-resolution transmission electron microscopy images and the I_D/I_G intensity ratios obtained from the Raman spectra were used to evaluate the anisotropy of the PyC layers.

• Structural Engineering and Mechanics
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• 제3권1호
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• pp.49-60
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• 1995

In the present study, a finite strip method for the vibration and stability analyses of anisotropic laminated composite plates is developed according to the higher-order shear deformation theory. This theory accounts for the parabolic distribution of the transverse shear strains through the thickness of the plate and for zero transverse shear stresses on the plate surfaces. In comparison with the finite strip method based on the first-order shear deformation theory, the present method gives improved results for very thick plates while using approximately the same number of degrees of freedom. It also eliminates the need for shear correction factors in calculating the transverse shear stiffness. A number of numerical examples are presented to show the effect of aspect ratio, length-to-thickness ratio, number of plies, fibre orientation and stacking sequence on the natural frequencies and critical buckling loads of simply supported rectangular cross-ply and arbitrary angle-ply composite laminates.