• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.452-455
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• 2017

As the number of high - rise buildings has increased recently, this research society has become interested in the method of cleaning the external wall required. When cleaning these areas, an accident occurs every year when a person uses dangerous manual labor using a gondola. The main goal of this work is to enable people to manipulate the robot with simple operation without dangerous manual operation when working in a vertical structure. As the altitude increases, the concept of the mechanism attaching to the vertical structure while enduring the external resistance in the increase of the wind strength is applied, and the additional attachment device is attached to the end of the leg based on the existing four- According to the control, the development result of the robot having the function of detachable to the glass is presented.

• Journal of the Korean Solar Energy Society
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• v.31 no.6
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• pp.8-22
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• 2011

Investigations on modeling methods of a CFD wind resource prediction program, WindSim for a ccurate predictions of wind speeds were performed with the field measurements. Meteorological Masts having heights of 40m and 50m were installed at two different sites in complex terrain. The wind speeds and direction were monitored from sensors installed on the masts and recorded for one year. Modeling parameters of WindSim input variables for accurate predictions of wind speeds were investigated by performing cross predictions of wind speeds at the masts using the measured data. Four parameters that most affect the wind speed prediction in WindSim including the size of a topographical map, cell sizes in x and y direction, height distribution factors, and the roughness lengths were studied to find out more suitable input parameters for better wind speed predictions. The parameters were then applied to WindSim to predict the wind speed of another location in complex terrain in Korea for validation. The predicted annual wind speeds were compared with the averaged measured data for one year from meteorological masts installed for this study, and the errors were within 6.9%. The results of the proposed practical study are believed to be very useful to give guidelines to wind engineers for more accurate prediction results and time-saving in predicting wind speed of complex terrain that will be used to predict annual energy production of a virtual wind farm in complex terrain.

• Journal of Sensor Science and Technology
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• v.15 no.4
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• pp.277-283
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• 2006

We presented that fabrication process and characteristics of 3 axes flexible tactile sensor available for normal and shear force fabricated using Si micromachining and packaging technologies. The fabrication processes for 3 axes flexible tactile sensor were classified in the fabrication of sensor chips and their packaging on the flexible PCB. The variation rate of resistance was about 2.1 %/N and 0.5 %/N in applying normal and shear force, respectively. The flexibility of fabricated 3 axes flexible tactile sensor array was good enough to place on the finger-tip.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1541-1546
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• 2013

The stress concentration of lock-claws, which are one of the important parts for pneumatic fitting for a flexible tube connection, was investigated by finite element simulation. In this study, the generation of the local plastic deformation was predicted when the tube was hooked up to a pneumatic fitting in order to disperse the stress concentration, and design optimization was carried out using the Taguchi method. For the optimization, the outer width, bending angle, and inner radius of the lock-claws are used as main variables. As a result, their respective contribution ratios are revealed as 81.3%, 10.9%, and 1.5%. The ratio of the total stress distribution was improved by 4% compared with the initial design of the lock-claws.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.5
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• pp.325-333
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• 2021

A 3 kW grid-tied PV inverter with Gallium nitride high-electron mobility transistor (GaN HEMT) for domestic commercialization was developed using boost converter and full-bridge inverter with LCL filter topology. Recently, many GaN HEMTs are manufactured as surface mount packages because of their lower parasitic inductance characteristic than standard TO (transistor outline) packages. A surface mount packaged GaN HEMT releases heat through either top or bottom cooling method. IGOT60R070D1 is selected as a key power semiconductor because it has a top cooling method and fairly low thermal resistances from junction to ambient. Its characteristics allow the design of a 3 kW inverter without forced convection, thereby providing great advantages in terms of easy maintenance and high reliability. 1EDF5673K is selected as a gate driver because its driving current and negative voltage output characteristics are highly optimized for IGOT60R070D1. An LCL filter with passive damping resistor is applied to attenuate the switching frequency harmonics to the grid-tied operation. The designed LCL filter parameters are validated with PSIM simulation. A prototype of 3 kW PV inverter with GaN HEMT is constructed to verify the performance of the power conversion system. It achieved high power density of 614 W/L and peak power efficiency of 99% for the boost converter and inverter.

• Journal of Aerospace System Engineering
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• v.13 no.1
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• pp.29-37
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• 2019

The objective of this study was to investigate the influence of the blade shape on the impeller performance, for design optimizing of the high airflow impeller. First, the quantity, angle, and length of blades, which are considered to have a large influence on the impeller performance, were selected as design variables. Then, 27 cases of impeller shapes were selected according to the design of experiment (DOE). To predict the conduct of the blower based on the selected impeller shape, flow analysis was performed using the immersed solid method of ANSYS CFX. In the CFD results, the highest airflow was expected in the impeller having a combination of 50 EA, $6^{\circ}$ and 5 mm. Finally, a blower with the original impeller shape and the optimized impeller shape was fabricated using a 3D printer, and the analysis tendency and experimental tendency were verified through experiments.

• Journal of the Semiconductor & Display Technology
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• v.16 no.2
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• pp.32-38
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• 2017

This paper is about the analysis on the vibration characteristic of tooling units on the precision bed in high-speed automatic lathe for precision machining. An automatic lathe operating at about 25,000 RPM is a critical factor in the self-weight stress and deformation of the bed. Especially, the resonance frequency should be grasped in advance to prevent abnormal vibration that may occur during processing. If the wrong bed is used, the resonant frequency can have a fatal influence on the precision machining and increase the defective rate of precision machined parts such as semiconductor parts. In this paper, vibration characteristics were evaluated through static load and resonance frequency analysis of automatic lathe bed. As a result, the maximum stress was 0.14MPa, the maximum deformation amount was $17.9{\mu}m$, and the natural frequency was 364.72Hz. The resonance frequency was calculated as 718Hz, and the stability was confirmed by being in the range of 400Hz or more, which is the processing condition.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.1
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• pp.38-45
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• 2019

In this paper, the stability of the tunnel boring machine (TBM), used in tunnel excavation, according to the thrust force of the thrust jack was investigated. The existing hydraulic cylinder analysis method is fluid-structure interaction (FSI) analysis, where all of the flow setting and dynamic characteristics should be considered. Therefore, there is a need for a method to solve this problem simply and quickly. To facilitate this, the theoretical pressure in the hydraulic cylinder was calculated and compared with the analytical and experimental results. In the case of the analysis, the pressure generated inside the cylinder was analyzed statically, considering the operating characteristics of the shield TBM, and the stress and pressure were calculated. This method simplifies the analysis environment and shortens the analysis time compared to the existing analysis method. The obtained theoretical and analytical data were compared with the measured data during actual tunneling, and the analysis and experimental data showed a relative error of approximately 23.89%.

• Journal of Sensor Science and Technology
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• v.32 no.3
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• pp.194-198
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• 2023

With the recent development of industrial technology, the problem of odor due to leakage of toxic gas discharged from industrial complexes is gradually increasing. Among them, hydrogen sulfide is a colorless representative odorous substance that can cause pain through irritation of the mucous membranes of the eyes and respiratory tract, and is a gas that can cause central nervous system paralysis and suffocation when exposed to high concentrations. Therefore, in order to improve the odor problem, research on a gas sensor capable of quickly and reliably detecting a leak of hydrogen sulfide is being actively conducted. A lot of research has been done on the existing metal oxide-based hydrogen sulfide gas sensor, but it has the disadvantage of requiring low selectivity and high temperature operating conditions. Therefore, in this study, a Pt/CNT-based electrochemical hydrogen sulfide gas sensor capable of detecting at low temperatures with high selectivity for hydrogen sulfide was developed. A working electrode capable of selectively detecting only hydrogen sulfide was fabricated by synthesizing Pt nanoparticles as a catalyst on functionalized CNT and applied to an electrochemical hydrogen sulfide gas sensor. It was confirmed that the manufactured Pt/CNT-based electrochemical hydrogen sulfide gas sensor has a current change of up to 100uA for hydrogen sulfide, and the both response time and recovery time were within 15 seconds.