• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1167-1172
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• 2007

Generally inpipe robot needs force above standing for contacting robot to pipe. If the environment of the pipe-inside does not change, there is not a problem. But if the pipe radius change, or occur the obstacle which it does not intend, problem gets. So it uses a different system and must know an environment change, and changing the shape or a form of the robot. The research uses the flexible leg and is the robot which is adapted to the environment change of the pipe. The advantage of this robot is possible to move when it does not need to recognize a change of environment of pipe. Leg is bend with one direction. When it moves part that there are legs effect of leg direction the robot is moved with only one direction. If friction between legs and pipe is sufficient, not only verticality pipe moving, but also curved pipe moving. Also the obstacle of the pipe inside occurs and the diameter of the pipe inside changes, this robot can move if it does not use another system or device.

• 로봇학회논문지
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• 제15권2호
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1808-1813
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• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제44권3호
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• pp.128-135
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• 2018

Objectives: The role of alloplastic materials in maxillofacial reconstruction is still controversial. Determining the utility of porous, high-density, polyethylene implants as a highly stable and flexible, porous alloplast, with properties such as rapid vascularization and tissue ingrowth, is crucial in cases of maxillofacial deformities and aesthetic surgery. Materials and Methods: Thirty high-density porous polyethylene implants were implanted in 16 patients that had been referred to a private office over a three-year period. These implants were used for correcting congenital deformities, posttraumatic defects and improving the aesthetic in nasal, paranasal, malar, chin, mandibular angle, body and orbital areas. Results: The outcomes of the cases in this study showed good aesthetic and functional results. The majority of patients had no signs of discomfort, rejection or exposure. Two implants suffered complications: a complicated malar implant was managed by antibiotic therapy, and an infected mandibular angle implant was removed despite antibiotic therapy. Conclusion: Based on the results, the Medpor implant seems to be an excellent biomaterial for correcting various facial deformities. Advantages include its versatility and relatively ideal pore size that allows for excellent soft tissue ingrowth and coverage. It is strong, flexible and easy to shape.

• Wind and Structures
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• 제29권6호
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• pp.441-455
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• 2019

In this study, vortex induced vibrations of a cylinder mounted on a flexible rod are analyzed. This simple configuration represents the key element of new conception bladeless wind turbine (Whitlock 2015). In this study the structure oscillations equation coupled to the wake oscillation equation for this configuration are solved using analytical perturbation method, for the first time. An analytical expression that predicts the lock-in phenomena range of wind speed is derived. The discretized equations of motion are also solved using RKF45 numerical method. The equations of motion are discretized by Galerkin method. Free vibration mode shape of the structure taking into account the discontinuity of the cross section are used as comparison function. Numerical results are compared to the analytical results, and they show a satisfying agreement. The effect of system parameters on the oscillations of structure and wake as well as on the lock-in domain are presented. Moreover, it is shown that the values of wind speed triggering the start and the stop of the lock-in phenomenon, for increasing wind speed are different from those values obtained during the reverse process, i.e., when the wind speed decreases.

• Composites Research
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• 제28권2호
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.390-390
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• 2000

This research is the development of a skin-type tactile sensor for service robot using PVDF film for the detection of the contact state. The Prototype of the tactile sensor which has 8$\times$8 taxels was fabricated using PVDF film In the fabrication procedure of the sensor, the electrode patterns and common electrode of the thin conductive tape were attached to the both side of the 28 micro meter thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for making stable structure. The signals of a contact pressure to the tactile sensor were sensed and processed in the DSP system in which the signals were digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in PC, the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of contact state was verified through the experiment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• 한국의류학회지
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• 제27권1호
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• pp.40-47
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• 2003

This paper discussed the assessment of hand of Tencel denim fabrics finished by enzymatic hydrolysis. The subjective hand and the preference of Tencel denim fabrics were evaluated using the developed scale. The factors affecting consumers taste for Tencel denim fabrics were analyzed by statistics using SAS program. Also, the effects of cellulase treatment on the properties of Tencel denim fabrics were evaluated by the subjective hand measurements. The results are as follows: As the weight loss increased. fabrics were evaluated as finer, smoother, softer, warmer, more refined (surface properties), more compact and weaker (durability), more flexible, flossier, lighter, softer, thinner (sense of weight), more elastic, and less wrinkly (shape recovery). Fabrics were evaluated to have the dry touch regardless to the rate of weight loss (moisture properties). Overall hand preference of Tencel denim fabrics was in the side of not preferred. Hand of Tencel fabrics seems not to appeal to Korean people. Color preferences were not significantly different among five groups. The correlations between subjective hand and preference showed that fine, smooth, flexible, warm, refined, loose, soft, dry touches were preferred in Tencel denim fabrics.

• 센서학회지
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• 제26권4호
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• pp.245-250
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• 2017

A novel method to implement a birdcage-type receiving coil sensor for use in a magnetic resonance imaging(MRI) system has been demonstrated employing a flexible printed circuit board (FPCB) fabrication technique. Unlike the conventional methods, the two-dimensional shape of the coil sensor is first implemented as a FPCB and then it is attached to the surface of a cylindrical supporting structure to implement the three-dimensional birdcage-type coil sensor. The proposed method is very effective to implement object-specific MRI coil sensors especially for small animal measurements in research and preclinical applications since the existing well-developed FPCB-based techniques can easily meet the requirements on accuracies and costs during coil implement process. The performances of the coil sensor verified through $^1H$ 1.5T MRI measurements for small animals and it showed excellent characteristics by providing a high spatial precision and a high signal-to-noise ratio.