• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.6
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• pp.797-803
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• 2010

A method has been developed to tune the static stiffness at a rotation joint considering the whole machine tool system by interactive use of finite element method and experiment. This paper describes the procedure of this method and shows the results. The method uses the static experiment on measurement model which is set-up so that the effects of uncertain factors can be excluded. For FEM simulation, the rotation joint model is simplified using only spindle, bearing and spring. At the rotation joint, the damping coefficient is ignored, The spindle and bearing is connected by only spring. By static experiment, 500 N is forced to the front and behind portion of spindle and the deformation is measured by capacitive sensor. The deformation by FEM simulation is extracted with changing the static stiffness from the initial static stiffness considering only rotation joint. The tuning static stiffness is obtained by exploring the static stiffness directly trusting the deformation from the static experiment. Finally, the general tuning method of the static stiffness of machine tool joint is proposed using the force stream and the modal analysis of machine tool.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.1
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• pp.12-16
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• 2005

Chemical mechanical polishing (CMP) process is one of the most useful methods for improving the surface roughness of films. The effects of CMP on the surface morphology of WO$_3$ films prepared by RF sputtering system were investigated in this paper. A removal rate of films increased, and the uniformity performance of surface decreased with the addition of an oxidizer to the tungsten slurry. Non-uniformity performance of surface was superior as its value was below 5 % when oxidizers of 5.0 vol% and 2.5 vol%, respectively, were added to the tungsten slurry. The optimized oxidizer concentration, reflected both the improved roughness values and hillock-free surface with the good uniformity performance, was 5.0 vol% as an atomic force microscopy(AFM) analysis of thin film topographies. Our CMP results will be a useful reference for advanced technology of thin films for gas sensor applications in the near future.

• Journal of Sensor Science and Technology
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• v.21 no.1
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• pp.75-81
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• 2012

Optimizing the tapping time of a blast furnace is important to a stable operation and life extension. To optimize the tapping time of the blast furnace, the location of Hearth Liquid Level should be recognized. There are several ways to measure the hearth liquid level in the blast furnace, such as Electromotive Force(EMF) measurement, pressure measurement by putting in nitrogen probe and manometry with strain gauge. In this paper, it will be discussed using strain gauge among the three methods. Conventional strain gauge must be revised periodically. Since, internal pressure, temperature of internal refractory material and wind pressure have effect on the strain gauge. However, static pressure value is required to compensate. To solve these problems, this paper suggests finding relationship between Hearth Liquid Level and strain gauge output, adding digital filter in strain gauge. Using the proposed method, it was possible to estimate the hearth liquid level and determine the appropriate tapping time. Usefulness of the proposed method through simulations and experimental results are confirmed.

• Journal of Sensor Science and Technology
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• v.26 no.5
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• pp.366-369
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• 2017

This work presents a detailed study of several parameters on the spray coating method for fabricating a flexible cantilever. Conventionally, spin coating method have been widely used in the microelectromechanical system (MEMS) fabrication process. However, the major drawback of this method is the difficulties in protecting various topography with photoresist film, particularly when the device is manufactured in high aspect ratio. It is also a challenging process to form a small pattern in the etched area. On the other hand, the commercial spray coating systems are not advantageous from an economic perspective and the technique is also providing less efficient. In order to solve these issues, we have developed a manual spray coating system which can be efficiently used by combining the accessories available in the laboratory. The developed spray coating system consists of a spin-coater, motorized stage, a spray gun with the capable of controlling centrifugal force, injection amount, injection angle, and spray range. The major advantage of the proposed spray coating system is its reasonable fabrication cost. Secondly, the system can be easily disassembled after finishing the coating experiment. Owing to the mentioned advantages, we sincerely believe that the proposed spray coating system can be effectively used in many related applications.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.3
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• pp.288-293
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• 2009

This study presents the active noise control of duct noise. The duct was excited by a steady-state harmonic and white noise force and the control was performed by one control speaker attached to surface of the duct. An adaptive controller based on filtered x LMS(FXLMS) algorithm was used and controller was defined by minimizing the square of the response of the error microphone. The assemble controller, which is called a hybrid ANC(active noise control) system, was combined with feedforward and feedback controller. The feedforward ANC attenuates primary noise that is correlated with the reference signal, while the feedback ANC cancels the narrowband components of the primary noise that are not observed by the reference sensor. Furthermore, in many ANC applications, the periodic components of noise are the most intense and the feedback ANC system has the effect of reducing the spectral peaks of the primary noise, thus easing the burden of the feedforward ANC filter.

• Textile Coloration and Finishing
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• v.20 no.1
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• pp.8-15
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• 2008

We presented the modified decal-transfer lithography (DTL) and light stamping lithography (LSL) as new powerful methods to generate patterns of poly(dimethylsiloxane) (PDMS) on the substrate. The microstructures of PDMS fabricated by covalent binding between PDMS and substrate had played as barrier to locally control wettability. The transfer mechanism of PDMS is cohesive mechanical failure (CMF) in DTL method. In the LSL method, the features of patterned PDMS are physically torn and transferred onto a substrate via UV-induced surface reaction that results in bonding between PDMS and substrate. Additionally we have exploited to generate the patterning of rhodamine B and quantum dots (QDs), which was accomplished by hydrophobic interaction between dyes and PDMS micropatterns. The topological analysis of micropatterning of PDMS were performed by atomic force microscopy (AFM), and the patterning of rhodamine B and quantum dots was clearly shown by optical and fluorescence microscope. Furthermore, it could be applied to surface guided flow patterns in microfluidic device because of control of surface wettability. The advantages of these methods are simple process, rapid transfer of PDMS, modulation of surface wettability, and control of various pattern size and shape. It may be applied to the fabrication of chemical sensor, display units, and microfluidic devices.

• Journal of Biomedical Engineering Research
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• v.26 no.3
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• pp.145-150
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• 2005

A new gait detection system using both FSR (force sensing resistor) sensors and a gyrosensor was developed to detect various gait patterns. FSR sensors were put in self-designed shoe insoles and a gyrosensor was attached to the heel of a shoe. An algorithm was also developed to determine eight different gait transitions during four gait phases: heel-strike, foot-flat, heel-off and swing. The developed system was evaluated from nine heathy mans and twelve hemiplegic patients. Healthy volunteers were asked to walk in various gait patterns: level walking, fore-foot walking and stair walking. Only the level walking was performed in hemiplegic patients. The gait detection system was compared with a optical motion analysis system and the outputs of the FSR sensors. In healthy subjects, the developed system detected successfully more than $99\%$ for both level walking and fore-foot walking. For stair walking, the successful detection rate of the system was above$97\%$. In hemiplegic patients, the developed system detected approximately 98% of gait transitions. The developed gait phase detection system will be helpful not only to determine pathological gait phases but also to apply prosthetics, orthotics and functional electrical stimulation for patients with various gait disorders.

• Journal of Aerospace System Engineering
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• v.3 no.1
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• pp.36-41
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• 2009

Quad-rotor is one kind of a rotorcraft in Unmanned Aerial Vehicle (UAV), which consists of four rotors in total and fixed-pitch blades located at the four corners. This vehicle is emerging as popular platform for UAV research due to the simplicity of its construction, the ability of hovering and the vertical take-off and landing (VTOL) capability, etc. Because of those specific capabilities, this vehicle can be applied to many fields: search and rescue, mobile sensor networks, fire observation, etc. However a quad-rotor is much affected by the disturbance due to the characteristics of structure. So this vehicle needs attitude control for stabilizing. In this paper, we design the control law for automatic stabilization. The PID controller is used to control a brushless DC motor. And an accelerometer is used to measure the roll and pitch angles of a quad-rotor.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.57-62
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• 2017

Recently, the use of electronic control units in vehicle has increased. The ECUs are connected to in vehicle networks to process a large amount of information. In this paper, for an actuator that is interconnected to CAN and FlexRay, a FlexRay-CAN gateway is presented and a data packing algorithm with a bisection method of a FlexRay slot is proposed. And, a network based actuator control system and packing map is implemented. With the proposed packing method, contact force sensor data are transferred within the maximum allowed delay to ensure the stability. The proposed method is useful for control of distributed system.