• Journal of the Korean institute of surface engineering
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• v.46 no.4
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• pp.153-157
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• 2013

The defect like the void or seam is frequently generated in the PCB (Printed Circuit Board) Via-Filling plating inside via hole. The organic additives including the accelerating agent, inhibitor, leveler, and etc. are needed for the copper Via-Filling plating without this defect for the plating bath. However, the decomposition of the organic additive reduces the lifetime of the plating bath during the plating process, or it becomes the factor reducing the reliability of the Via-Filling. In this paper, the interaction of each organic additives and the decomposition of additive were discussed. As to the accelerating agent, the bis (3-sulfopropyl) disulfide (SPS) and leveler the Janus Green B (JGB) and inhibitor used the polyethlylene glycol 8000 (PEG). The research on the interaction of the organic additives and decomposition implemented in the galvanostat method. The additive decomposition time was confirmed in the plating process from 0 Ah/l (AmpereHour/ liter) to 100 Ah/l with the potential change.

• Proceedings of the KIEE Conference
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• 2001.07c
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• pp.1540-1542
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• 2001

In this paper, the amount of additives in the electrode were investigated the relation of the mechanical properties and surface luminance of copper foil. Especially, organic compound of PEG(Poly-ethylene Glycol) was added from 1 to 20ppm for the propose of increasing the mechanical property and the surface state. The surface luminance of copper foil is appealed 69.25 at 2ppm-15A/$dm^2$ and 68.25 at 2ppm-10A/$dm^2$. It guess that 10ppm-10A/$dm^2$ occurred pin-hole. Tensile strength was not showed the significant difference but elongation appealed the most value at 5ppm-15A. We earned that the most PEG value of mechanical properties is 5 PPM.

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.175-178
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• 2006

Solid-state dye-sensitized solar cells were fabricated using a polymer matrix in electrolyte in the purpose of the improvement of the durability in the dye-sensitized solar cell. In these dye-sensitized solar cells, the polymer electrolyte consisting of $I_2$, LiI, ionic liquid, ethylene carbonate/propylene carbonate and polymer matrix was casted onto $TiO_2$ electrode impregnated Ruthenium complex dye as a photosensitizer. Photovoltaic properties of solid-state dye-sensitized solar cells using polymer matrix (PMMA, PEG, or PAN) were investigated. Comparing photovoltaic effects of cells using hole conducting polymers (BE or 6P) instead of polymer matrix, we investigated the availability of the solid-state polymer electrolyte in dye-sensitized solar cells.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.253-256
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• 1997

This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2435-2439
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• 2005

In case of visual sensing systems with multiple mirrors, systematic errors need to be reduced by the system calibration and the mirror position adjustment in order to enhance system measurement accuracy. In this paper, a self calibration method is presented for a visual sensing system designed to measure the three-dimensional information in deformable peg-in-hole tasks. It is composed of a CCD camera and a series of mirrors including two pyramidal mirrors. By using an image of the inner pyramidal mirror taken by the system, the error parameters of the inner pyramidal mirror could be calibrated or adjusted. Also the influence of the plane mirrors is investigated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.878-886
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• 2004

Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.

• Journal of Music and Human Behavior
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• v.19 no.2
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• pp.81-103
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• 2022

The effects of therapeutic instrumental music performance (TIMP) using a ukulele were examined in adults with central nervous system damage and impaired hand functions. The participants were three adults with neurological damage who participated in 30-min sessions twice a week over 6 weeks. Changes in hand function was measured by the Box and Block Test (BBT), the 9-Hole Peg Test (9-HPT), and the Jebsen-Taylor Hand Function Test (JTHFT). Following the intervention, all three participants showed increases in the BBT and 9-HPT scores, indicating positive changes in fine motor coordination and dexterity. In terms of the JTHFT, all three participants showed increases in the "writing" and "card flipping" subtask scores, indicating that the intervention was effective in improving more coordinated finger movements. All participants reported the satisfaction with the intervention. They also pointed out that they were motivated to play the ukulele and that following the intervention used their affected hand more frequently in daily activities. These findings suggest that TIMP with a ukulele for patients with central nervous system damage can have positive effects on their functional hand movements and motivate these patients to practice their rehabilitation exercises.

• Journal of Society of Occupational Therapy for the Aged and Dementia
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• v.12 no.2
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• pp.47-55
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• 2018

Objective : The purpose of this study is to consider the change of hand function according to the quality of sleep and to find out a correlation among the quality of sleep and hand function, and sleep disturbing factors. Method : 23 patients who were hospitalized more than 6 months from Nov. 2017 to Jan. 2018 were tested for the quality of sleep used by sleep quality scale, for the grip strength used by a dynamometer, and for the coordination used by BBT and 9-Hole Peg test. The collected data were analyzed to implement the paired t-test and Pearson correlation coefficient. Result : In the high grade group of sleep score, the quality of sleep & BBT, and the grip strength & BBT have correlated each other; and in the medium group, only the latter has shown a correlation. In both groups, the quality of sleep and the sleep pattern have showed significant high correlation. Conclusion : When the elderly in geriatric hospitals show qualitative differences, BBT and the combination of treatment for the improvement of grip strength can improve the quality of sleep. And the sleep pattern intervention is considered to be effective to improve the quality of sleep.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.