• Advances in robotics research
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• 제1권1호
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• Geomechanics and Engineering
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• 제23권6호
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• pp.547-560
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• 2020

This paper studies the dynamic foundation-soil-foundation interaction for two square rigid foundations embedded in a viscoelastic soil layer. The vibrations come from only one rigid foundation placed in the soil layer and subjected to harmonic loads of translation, rocking, and torsion. The required dynamic response of rigid surface foundations constitutes the solution of the wave equations obtained by taking account of the conditions of interaction. The solution is formulated using the frequency domain Boundary Element Method (BEM) in conjunction with the Kausel-Peek Green's function for a layered stratum, with the aid of the Thin Layer Method (TLM), to study the dynamic interaction between adjacent foundations. This approach allows the establishment of a mathematical model that enables us to determine the dynamic displacements amplitude of adjacent foundations according to their different separations, the depth of the substratum, foundations masss, foundations embedded, and the frequencies of excitation. This paper attempts to introduce an approach based on a polynomial mathematical tool conducted from several results of numerical methods (BEM-TLM) so that practicing civil engineers can evaluation the dynamic foundations displacements more easy.

• 대한임베디드공학회논문지
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• 제18권5호
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• pp.209-215
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• 2023

This study proposes an AC servo motor control program structure and its implementation method to efficiently integrate 13 types of additional compensation algorithms into the basic FOC (field-oriented control) algorithm program. Various compensation algorithms are necessary to enhance the stability and performance of machine tools by compensating for interference from disturbances and vibrations. Each compensation algorithm is implemented as a separate, independent function and called from a switch-case statement in the ISR (interrupt service routine) of the PWM (pulse-width modulation) device. The advantages of this approach include facilitating not only debugging and testing but also reducing the possibility of errors during the program development phase. Thus, it is easy to add and activate each specific compensation algorithm for the program update during the program operation phase. The implemented motor control program was experimented with a single-axis feed shaft testbed driven by a commercial AC servo motor control drive board and a 750 Watts SPMSM (surface-mounted permanent magnet synchronous motor), and the results verified its normal operation and performance improvement.

• 마이크로전자및패키징학회지
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• 제15권3호
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• pp.53-58
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• 2008

본 연구에서는 상용화된 2.4 GHz 영역대에서 사용되어지는 WiFi용 DPDT(Double Pole Double throw) switch 칩을 laser 비아 가공과 도금 공정을 이용하여 폴리머 기판내에 내장시켜 그 특성을 분석하였으며 통상적으로 실장되는 wire 본딩방식으로 패키징된 기판과 특성차이를 분석 비교하였다. 폴리머는 FR4기판과 아지노 모토사의 ABF(Ajinomoto build up film)를 이용하여 패턴도금법으로 회로를 형성하였다. ABF공정의 최적화를 위해 폴리머의 경화정토를 DSC (Differenntial Scanning Calorimetry) 및 SEM (Scanning Electron microscope)으로 분석하여 경화도에 따라 도금된 구리패턴과의 접착력을 평가하였다. ABF의 가경화도가 $80\sim90%$일 경우 구리층과 최적의 접착강도를 보였으며 진공 열압착공정을 통해 기공(void)없이 칩을 내장할 수 있었다. 내장된 기관과 와이어 본딩된 기판의 측정은 S 파라미터를 이용하여 삽입손실과 반사손실을 비교 분석하였으며 그 결과 삽입손실은 두 경우 유사하게 나타났지만 반사손실의 경우 칩이 내장된 경우 6 GHz 까지 -25 dB 이하로 안정적으로 나오는 것을 확인할 수 있었다.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.295-301
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• 2017

Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.

• JSTS:Journal of Semiconductor Technology and Science
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• 제15권1호
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• pp.35-40
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• 2015

In this study, an n-ZnO/p-Si heterojunction diode with embedded Ag nanoparticles was fabricated to investigate the possible improvement of light trapping via the surface plasmon resonance effect for solar cell applications. The Ag nanoparticles were fabricated by the physical sputtering method. The acquired current-voltage curves and optical absorption spectra demonstrated that the application of Ag nanoparticles in the n-ZnO/p-Si interface increased the photo current, particularly in specific wavelength regions. The results indicate that the enhancement of the photo current was caused by the surface plasmon resonance effect generated by the Ag nanoparticles. In addition, minority carrier lifetime measurements showed that the recombination losses caused by the Ag nanoparticles were negligible. These results suggest that the embedding of Ag nanoparticles is a powerful method to improve the performance of n-ZnO/p-Si heterojunction solar cells.

• Smart Structures and Systems
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• 제26권4호
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• pp.495-506
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• 2020

Monitoring of complex processes faces several challenges mainly due to the lack of relevant sensory information or insufficient elaborated decision-making strategies. These challenges motivate researchers to adopt complex data processing and analysis in order to improve the process representation. This paper presents the development and implementation of quality monitoring framework based on a model-driven approach using embedded artificial intelligence strategies. In this work, the strategies are applied to the supervision of a microfabrication process aiming at showing the great performance of the framework in a very complex system in the manufacturing sector. The procedure involves two methods for modelling a representative quality variable, such as surface roughness. Firstly, the hybrid incremental modelling strategy is applied. Secondly, a generalized fuzzy clustering c-means method is developed. Finally, a comparative study of the behavior of the two models for predicting a quality indicator, represented by surface roughness of manufactured components, is presented for specific manufacturing process. The manufactured part used in this study is a critical structural aerospace component. In addition, the validation and testing are performed at laboratory and industrial levels, demonstrating proper real-time operation for non-linear processes with relatively fast dynamics. The results of this study are very promising in terms of computational efficiency and transfer of knowledge to manufacturing industry.

• Coupled systems mechanics
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• 제11권1호
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• pp.55-78
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• 2022

The main aim of this paper is the identification of the model parameters for the constitutive model of concrete and concrete-like materials capable of representing full set of 3D failure mechanisms under various stress states. Identification procedure is performed taking into account multi-scale character of concrete as a structural material. In that sense, macro-scale model is used as a model on which the identification procedure is based, while multi-scale model which assume strong coupling between coarse and fine scale is used for numerical simulation of experimental results. Since concrete possess a few clearly distinguished phases in process of deformation until failure, macro-scale model contains practically all important ingredients to include both bulk dissipation and surface dissipation. On the other side, multi-scale model consisted of an assembly micro-scale elements perfectly fitted into macro-scale elements domain describes localized failure through the implementation of embedded strong discontinuity. This corresponds to surface dissipation in macro-scale model which is described by practically the same approach. Identification procedure is divided into three completely separate stages to utilize the fact that all material parameters of macro-scale model have clear physical interpretation. In this way, computational cost is significantly reduced as solving three simpler identification steps in a batch form is much more efficient than the dealing with the full-scale problem. Since complexity of identification procedure primarily depends on the choice of either experimental or numerical setup, several numerical examples capable of representing both homogeneous and heterogeneous stress state are performed to illustrate performance of the proposed methodology.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2015년도 제49회 하계 정기학술대회 초록집
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• pp.244.1-244.1
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• 2015

The Ag Nanowire is one of the materials that are widely studied as alternatives to ITO and is available for large area, low cost process and the flexible transparent electrode. However, Ag nanowire can have the problem of a lack of stability at high temperatures, making this impossible to form a film. Using a structure of ITO/AgNW/ITO in photodetector device, we improved the properties of the ITO in the IR region and improved the thermal stability of the AgNW. The structure of ITO/AgNW/ITO has a high transmittance value of 89% at a wavelength of 900 nm and provide a good electrical property. The AgNWs embedded ITO film has a high transmittance, this is because of the light scattering from the AgNW. The thermal stability of the developed ITO/AgNWs/ITO films were investigated and found AgNWs embedded ITO films posses considerable high stability compared to the solo AgNWs on the Si surface. The ITO/AgNWs/ITO device showed a improved photo-response ratio compared to those of the conventional TC device in IR region. This is attributed to the high transmittance and low sheet resistance. We suggest an effective design scheme for IR-sensitive photodetection by using an AgNW embedded ITO.

• 한국건축시공학회지
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• 제19권6호
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• pp.511-520
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• 2019

혼화재 혼입에 따른 콘크리트의 철근부식 임계염화물량의 변화를 실험적으로 평가하였다. 콘크리트 배합조건은 OPC 100%, OPC 70% + GGBFS 30%, OPC 40% + GGBFS 60%, OPC 40% + GGBFS 40% + FA 20% 로 구분하여 4가지 배합의 철근 콘크리트 시험체를 제작하였다. 시험체에 NaCl 수용액을 공급하며, 매립된 철근의 자연전위를 모니터링 하였다. 부식이 발생한 것으로 판단된 시험체는 NaCl 수용액 공급면으로부터 5mm간격으로 절단하여 염소이온량 프로파일을 실시하였다. 콘크리트에 매립된 철근의 부식 개시시기는 시멘트를 혼화재로 치환하여 사용하는 경우 지연되는 것을 확인하였다. 하지만 콘크리트에 매립된 철근의 부식임계염화물량은 혼화재 혼입율 증가에 따라 감소하여, OPC 1.46kg/㎥, S30 0.98kg/㎥, TBC 0.74kg/㎥, S60 0.71kg/㎥ 순으로 높게 나타났다.