• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.2
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• pp.13-22
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• 1997

Power flow characteristics of a hydro-mechanical transmission system(HMT) are investigated for tracked vehicle in steering. A HMT consisting of two hydrostatic pump motors(HST), several planetary gear trains and steer differential gear is considered. In order to obtain the direction and magnitude of the power flow of the HMT, network theory for the general power transmission is used. Network model for the HMT in steering is developed, which consists of shafts, nodes and transmission elements such as clutch, gear, etc. Power flow analysis procedure consists of two stages : (1) traction force analysis in steering, (2) power flow analysis in HMT. Torque and speed of every transmission element of the HMT is determined from the network analysis. Also, efficiency, mechanical and hydraulic power loss including HST, are obtained. In addition, the regenerative power flow resulting from steering can be studied in graphic display. The power flow analysis program(PCSTEER) developed in this work can be used as a useful design tool for the tracked vehicle with HMT.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.4
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• pp.578-583
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• 2017

This paper presents a 3D touch pad technology that uses force touch sensors as a next-generation method for mobile applications. 3D touch technology requires detecting the location and pressure of touches simultaneously, as well as multi-touch function. We used metal foil strain gauges for the touch recognition sensor and detected the weak touch signals using Wheatstone bridge circuit at each strain gauge sensor. We also developed a touch recognition system that amplifies touch signals, converts them to digital data through a microprocessor, and displays the data on a screen. In software, we designed a touch recognition algorithm with C code, which is capable of recognizing two-point touch and differentiating touch pressures. We carried out a successful experiment to display two touch signals on a screen with different forces and locations.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.109-115
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• 2013

In this paper, we developed pressure mesuring system for powered wheelchair and tried to validate the usefulness of developed system by pressure measuring experiment with 3D motion analysis. This system consist of 64ch seat FSR(Force Sensitive Resistance) sensor unit, 30ch*2 armchair FSR sensor unit, analog and digital hardware board, 2ch rotary encoder unit and realtime signal processing & display S/W. And each data acquired from this system has sampling frequency of 12bit, 10Hz. Pressure measuring experiment for 10 persons who use wheelchair in real life was performed in the 3D vision analysis room. From the experiment, we obtained result that the center line of body inclined to outside direction during powered-wheelchair rotate any direction.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.5
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• pp.903-909
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• 2010

ADAS is the air defense control system performing air surveillance and identification of ROK and near air. This system is self-developed by Air Force, currently operated successfully as the alternative system of MCRC. ADAS processes converting and combining transferred the real time radar data detected by radars. additionally, it displays significant radar data as producing in tracks. Then, it uses the message queue for IPC(Inter Process Communication). the various tactical data processed in the server is ultimately send to the network management process through the message queue for transmitting to the weapon director console. the weapon director receives this transmitted tactical data through the console to execute air defense operations. However, there is a problem that data packet is delayed or lost since the weapon Director does not receive as the amount of tactical data from the server overflowed with air tracks and missions increased. This paper improved the algorism to display and transmit the various tactical data processed from ADAS server to numbers of the weapon director console in the real time without any delay or lost. Improved the algorism, established at exercise, the development server in the real operation network and the weapon director console, is proved by comparing the number of sending tactical data packets in the server and receiving packets in the weapon director.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.18-25
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• 2003

A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.575-575
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• 2013

Indium Zinc Oxide (IZO)는 가시광 영역(380~780 nm)에서 높은 투과율과 적외선영역에서 높은 반사율을 보이는 투명산화막으로서 Flexible display 적용으로 주목 받는 재료이다. 특히 비 화학적 양론비(non-stoichiometric)로 성장된 박막은 N형 반도체 특성을 갖기 때문에 광전자 소자, 액정표시소자와 태양전지의 투명전극 재료로 이용되고 있으며, 향 후에도 수요는 계속 증가될 전망이다. 일반적으로 IZO 박막은 높은 열처리 온도에 의한 기판재료의 선택이 한정적인 단점이 있다. 따라서 최근에는 정밀하게 제어된 에너지를 가진 전자를 표면에 조사(E-beam irradiation)하여 박막의 물성을 개선하고 기판재료의 선택성을 넓히는 연구가 활발히 진행되고 있다 [1]. 본 연구에서는 RF Magnetron Sputtering 법을 이용하여 Glass 위에 IZO를 증착하였다. 스퍼터링타겟은 고순도 IZO 타겟을 이용하여 100 nm의 두께를 가지는 박막을 증착하였다. 증착된 IZO 박막에 E-beam Source ((주)인포비온)를 이용하여 E-beam irradiation energy 조건에 변화를 주어 박막의 물성 변화를 관찰하였다. IZO 박막의 두께를 측정하기 위해 SEM (Cross section)을 이용하였다. E-beam irradiation energy에 따른 가시광 영역(380~780 nm)에서의 광투 과도는 UV-Vis spectrometer를 사용하여 측정하였고, 전기적인 특성은 Hall measurement system 을 이용하여 측정하였다. 또한 박막의 결정성과 거칠기의 변화는 XRD (X-ray Diffraction)와 원자 간력현미경(Atomic Force Microscope; AFM)을 이용하여 측정하였다. Rf magnetron Sputtering 법을 이용하여 증착한 IZO 박막에 Post E-beam irradiation이 전기전도 및 광 투과특성과 결정성과 표면 조도를 향상시키는데 크게 기여함을 확인할 수 있었다.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2003.10a
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• pp.1-2
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• 2003

While aromatic polyimides and polyamides have found widespread use as high performance polymers, the present work addressed the need for organosoluble materials through the use of a hyperbranching scheme. The $AB_2$ monomers were prepared. The $AB_2$ monomers were then polymerized via aromatic fluoride-displacement and Yamazaki reactions to afford the corresponding hydroxyl-terminated hyperbranched polyimides (HT-PAEKI) and amine-terminated hyperbranched polyamides, respectively. HT-FAEKI was then functionalized with allyl and propargyl bromides as well as epichlorohydrin to afford allyl-terminated AT-PAEKI, propargyl-terminated PT-PAEKI, and epoxy (glycidyl)-terminated ET-PAEKI, in that order. All hyperbranched poly(ether-ketone-imide)s were soluble in common organic solvents. AT-PAEKI was blended with a bisphenol-A-based bismaleimide (BFA-BMI) in various weight ratios. Thermal, rheological, and mechanical properties of these blend systems were evaluated. Two characteristic hyperbranched polyamides, which the one has para-electron donating groups to the surface amine groups and the other has para-electron withdrawing groups to the surface amine groups, were selected to compare BMI curing behaviors. The electron rich polymer displayed ordinary Michael addition type exothermic reaction, while electron deficient polymer did display unusual curing behaviors. Based on analytical data, the later system provided the strong evidences to support room temperature curing of BMI by reactive intermediates instead of reactive primary amine groups on the macromolecule surface.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.257-257
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• 2011

The amorphous indium-gallium-zinc-oxide (a-IGZO) materials for use in high performance display research fields are strongly investigated due to its good performance, such as high mobility and better transparency. However, the stability of a-IGZO materials is increasingly becoming one of critical issues due to the sub-gap electron trap sites induced by rough interfaces during deposition processing. It is well-known that the threshold voltage shift is related to interface roughness and oxygen vacancy formed by breaking weak chemical bonds. Here, we report the better properties of transparent oxide transistors by reducing the threshold voltage shift with an external rf plasma supported magnetron sputtering system. Mainly, our sputtering method causes the surface of sample to be sleek, so that it prevents the formation of various defects, such as shallow electron trap sites in the interface. External rf power was applied from 0 to 50W during RF sputtering process to enhance the stability of our oxide transistor without having a large voltage shift. To observe the effects of external rf-plasma source on the properties of our devices, Scanning Electron Microscopy (SEM), Atomic Force Microscopy (AFM), Transmission Electron Microscopy (TEM) are carried out to observe surface roughness and morphology of sputtered thin film. In addition, typical electrical properties, such as I-V characteristics are analyzed.