• 한국정밀공학회지
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• 제21권7호
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• pp.107-114
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• 2004

This paper presents a two-time scale approach for vibration reduction of a high speed Cartesian manipulator. High speed manipulators would be subject to mechanical vibration due to high inertia forces acting on linkages. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the manipulator end-effector. This paper develops a two-time scale model fer a structurally-flexible Cartesian manipulator. Based on the two-time scale model, a composite controller consisting of a computed torque method for the slow time-scale rigid body subsystem, and a linear quadratic state-feedback regulator for the fast time-scale flexible subsystem, is designed. Simulation results show that the proposed two time-scale controller yields good performance in attenuating structural vibration arising due to excitation from inertial forces.

• 비파괴검사학회지
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• 제30권6호
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• pp.569-577
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• 2010

Nonplanar surface geometries of components are frequently encountered in real ultrasonic inspection situations. Use of rigid array transducers can lead to beam defocusing and reduction of defect image quality due to the mismatch between the planar array and the changing surface. When a flexible array is used to fit the complex surface profile, the locations of array elements should be known to compute the delay time necessary for adaptive heam focusing. An alternative method is to employ the time reversal focusing technique that does not require a prior knowledge about the properties and structures of the specimen and the transducer. In this paper, a time reversal method is applied to simulate beam focusing of flexible arrays and imaging of point-like defects contained in specimens with nonplanar surface geometry. Quantitative comparisons are made for the performance of a number of array techniques in terms of the ability to focus and image three point-like reflectors positioned at regular intervals. The sinusoidal profile array studied here exhibits almost the same image quality as the flat, reference case.

• 한국경영과학회지
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• 제23권2호
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• pp.47-65
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• 1998

We consider a multiperiod capacity planning problem for determining a mix of flexible and dedicated capacities under budget restriction. These capacities are controlled by purchasing flexible machines and/or new dedicated machines and disposing old dedicated machines. Acquisition and replacement schedules are determined and operations are assigned to the flexible or dedicated machines for the objective of minimizing the sum of discounted costs of acquisition and operation of flexible machines, new dedicated machines, and old dedicated machines. In this research, the Problem is formulated as a mixed integer linear Program and solved by a Lagrangian relaxation approach. A subgradient optimization method is employed to obtain lower bounds and a multiplier adjustment method is devised to improve the bounds. We develop a linear programming based Lagrangian heuristic algorithm to find a good feasible solution of the original problem. Results of tests on randomly generated test problems show that the algorithm gives relatively good solutions in a reasonable amount of computation time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.987-992
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• 1988

In recent years there has been much interest in using light-weight, higher performance arms for both commercial and space-based applications, leading to the research of flexible robot manipulator. This paper is concerned with the trajectory control of a flexible arm using inverse dynamics. Inverse problems are important to robot control and programming, since they allow one to find the appropriate inputs necessary for producing the desired outputs. The input is obtained by the numerical inversion of Laplace transformation in the time domain. And we attempt the trajectory control experiment of a flexible arm using this calculated input. In this article we compare the numerical results with experimental results and can find good agreement. The results make clear that this technique has the good potential for the control of tip trajectory of flexible robot arms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.

• Journal of Semiconductor Engineering
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• 제1권3호
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• pp.88-98
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• 2020

As biosensors are widely used in the medical field, flexible devices compatible with live animals have aroused great interest. Especially, significant research has been carried out to develop implantable or skin-attachable devices for real-time bio-signal sensing. From the device point of view, various biosensor types such as field-effect transistors (FETs) and multi-electrode arrays (MEAs) have been reported as diverse sensing strategies. In particular, the flexible FETs and MEAs allow semiconductor engineering to expand its application, which had been impossible with stiff devices and materials. This review summarizes the state-of-the-art research on flexible FET and MEA biosensors focusing on their materials, structures, sensing targets, and methods.

• 한국정밀공학회지
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• 제10권4호
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• pp.163-169
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• 1993

A flexible manipulator can move in the high speed even with the small driving torque. The dymanic equations of flexible manipulator which include 2 vibrational modes are derived using the clamped-free boundary condition. Simulation results of the 6th order model are well matched with experimental results. The hub angle of the flexible mainpulator can be controlled without vibration of the beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step response is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the referenmce input.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.185-191
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• 1993

A flexible nanipulator can move in the high speed even with the small driving torque. The dynamic equations of flexible manipulator whichinclude 2 vibrationalmodes are derived using the clamped-free boundarycondition. Simulation results of the 6th order modelare well matched with experimental results. The hub angle of the flexible manipulator can be controlled without vibration of beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step resonse is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the reference input.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2007년도 7th International Meeting on Information Display 제7권2호
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• pp.1711-1714
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• 2007

Various manufacturing methods are analyzed by using manufacturing metrics to validate which method would be applicable to flexible microelectronics. Among others, Roll-to-Roll method is revealed to inherently have an excessive WIP resulting in long cycle time and limited diversity as well as low equipment efficiency.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2008년도 International Meeting on Information Display
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• pp.1337-1340
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• 2008

Since 2006, the Industrial Technology Research Institute and the University of Cincinnati have been jointly exploring approaches for high brightness flexible electrowetting displays (EWDs). Recently, ITRI demonstrated for the $1^{st}$ time a 6" AM-EWD reflective display panel. To create flexible AM-EWDs, Cincinnati has developed low-temperature processing and improved pixel structures.