• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.179-185
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• 2013

In this paper we propose a haptic interaction system that physically represents the underlying geometry of objects displayed in a 2D picture, i.e., a digital image. To obtain the object's geometry displayed in the picture, we estimate the physical transformation between the object plane and the image plane based on homographic information. We then calculate the rotated surface normal vector of the object's face and place it on the corresponding part in the 2D image. The purpose of this setup is to create a force that can be rendered along with the image without distorting the visual information. We evaluated the proposed haptic rendering system using a set of pictures of objects with different orientations. The experimental results show that the participants reliably identified the geometric configuration by touching the object in the picture. We conclude this paper with a set of applications.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.3
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• pp.121-126
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• 2003

In this paper, we propose the haptic system for the real-time virtual environment-control, which controls the sense of sight, hearing and touch. In order to maintain the stable haptic system in this study, we apply the proxy force rendering algorithm and the real-time graphic deformation algorithm based on the FEM. The applied proxy algorithm makes the system possible to be more stable and prompt with a virtual object. Moreover, the haptic rendering algorithm is applied to work out a problem that the tactual transaction-period is different from the graphic transaction- period. The graphic deformation algorithm is developed in the real-time using the deformed FEM. To apply the FEM, a deformed material-model is produced and then the graphic deformation with this model is able to force. Consequently, the graphic rendering algorithm is deduced by the real-time calculation and simplification because the purpose of this system is to transact in the real time. Applying this system to the PC, we prove that it is possible to deform the graphics and transact the haptic. Finally we suggest the variable simulation program to show the efficiency of this system.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.632-635
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• 2000

In this paper we propose a controllable interrupt timer for haptic control system. haptic control system whihc was divided ito two processes as virtual environment(VE) manager and haptic controller. The VE manager displays the 3D graphic scene at low update rates 25Hz and haptic controller controls the haptic display at high update rates 1000Hz. To archive the accurate update rate we have imple-mented a timer so called "AaccTimer" based on Windows multimedia functions, The proposed "Acc Timer" for haptic control system has been imple- mented in a personal computer with a 6-DOF haptic interface. Experimental results show that our system is robust with respect to tolerances in the control rates and also through the accurate control rate the operator can always feel a stable force.feel a stable force.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.5
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• pp.309-314
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• 2004

In the established virtual-reality system, although it is possible to transact a faculty of sensation and graphic in a single PC, virtual object forcibly treated with rigid body for the reason of the huge amount of calculation, and the number of polygon is restricted. Furthermore, there is some difficulty in the financial aspect and a program field, because the existing virtual-reality system needs at least two workstations or super computers. In this study, the new force-reflecting algorithm called as "Proxy" and a finite element method of Hyperion are applied to this system in order to transact in real-time. Consequently, though the number of polygon, which brings about an obstacle is increased in the real-time graphic transaction, this system makes it possible to transact in the real-time, not being influenced by the size of the virtual object.

• Journal of the Korean Vacuum Society
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• v.17 no.3
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• pp.215-219
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• 2008

The bonding structure and composition of silicon nitride (SiNx) films were investigated by using Fourier transform infrared spectroscopy (FT-IR). SiNx films were deposited on Si substrate at $340^{\circ}C$ using a conventional PECVD system. The compositions of Si and N in SiNx films were confirmed by using Rutherford backscattering spectroscopy (RBS) and photoluminescence (PL) analysis. The surface morphology of SiNx films was also analyzed by using atomic force microscopy (AFM). It was found that the contents of NH(at. %) is the reverse related with those of SiH corresponding to the result of FT-IR. we conclude that a quantitative analysis on SiNx films can be possible through a precise detection of the contents of H in SiNx films with a FT-IR analysis only.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2005.09a
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• pp.110-123
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• 2005

This paper proposes an intelligent method for the optimal load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general , the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning: if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force factors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• Journal of the Semiconductor & Display Technology
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• v.16 no.1
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• pp.112-115
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• 2017

ITO thin films were grown on the glass substrate under various oxygen gas flow and substrate temperature by using FTS (Facing Target Sputtering) system. To investigate properties of as-prepared films for transparent electrical devices, we employed four-point probe, UV-VIS spectrometer, X-ray diffractometer (XRD), scanning electron microscopy (SEM), Hall Effect measurement system and Atomic Force Microscope (AFM). As a results, all of prepared samples has high transmittance of over 80 % in the visible range (300-800 nm). Their resistivity increased as a function of oxygen gas flow and substrate temperature due to their crystal structure and oxygen defect in the films. As-prepared films have a resistivity of under $10^{-4}({\Omega}-cm)$.

• Journal of the Semiconductor & Display Technology
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• v.12 no.2
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• pp.79-84
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• 2013

Nanoimprint lithography (NIL) is the next generation photolithography process in which the photoresist is dispensed onto the substrate in its liquid form and then imprinted and cured into a desired pattern instead of using traditional optical system. There have been considerable attentions on NIL due to its potential abilities that enable cost-effective and high-throughput nanofabrication to the display device and semiconductor industry. Although one of the current major research trends of NIL is large-area patterning, the technical difficulties to keep the uniformity of the residual layer become severer as the imprinting area increases more and more. In this paper, with the rolling type imprinting process, a mold, placed upon the $2^{nd}$ generation TFT-LCD glass sized substrate($370{\times}470mm^2$), is rolled by a rubber roller to achieve a uniform residual layer. The prediction of residual layer thickness of the photoresist by rolling of the rubber roller is crucial to design the rolling type imprinting process, determine the rubber roller operation conditions-mpressing force & feeding speed, operate smoothly the following etching process, and so forth. First, using the elasticity theory of contact problem and the empirical equation of rubber hardness, the contact length between rubber roller and mold is calculated with consideration of the shape and hardness of rubber roller and the pressing force to rubber roller. Next, using the squeeze flow theory to photoresist flow, the residual layer thickness of the photoresist is calculated with information of the viscosity and initial layer thickness of photoresist, the shape of mold pattern, feeding speed of rubber roller, and the contact length between rubber roller and mold previously calculated. Last, the effects of rubber roller operation conditions, impressing force & feeding speed, on the residual layer thickness are analyzed with consideration of the shape and hardness of rubber roller.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.33 no.2
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• pp.154-161
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• 2010

The conning display which is located in the ship bridge shows the various important information such as ship position, ship speed, track data, rate of turn, thruster rpm so on, and is one of the IBSs(Integrated Bridge Systems). In this study, the survey was conducted for ten officers to find the importance and using frequency of the information which were displayed in the conning display. The results showed that the information of drift speed, ship speed, wind direction and wind force, rate of turn, sea water depth, ship position, heading, thrust rpm, alarm, rudder command and angle got high scores and it meant that these information were very important and high frequency of use during the navigation. The optimized contents arrangement in conning display was suggested based on importance and using frequency of information. The experiment using eye-tracking system was conducted to compare the performance time and error rate of nine different scenarios for suggested arrangement display and three other existing displays. The results showed that the suggested arrangement was the best in performance time and error rate. The scenario concerning the direction and speed of wind showed faster performance time and lower error rate than other scenarios. The movement of subject's eye tended to search from the center and to avoid the comer, called 'the comer effect.' It is expected that the results of this study could help for the bridge staff to grasp the sailing information easily and to cope with the given situations promptly.

• Journal of Surface Science and Engineering
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• v.47 no.4
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• pp.181-185
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• 2014

We investigated the structural, electrical and optical characteristics of IGZO thin films deposited by a room-temperature RF reactive magnetron sputtering. The thin films deposited were annealed for 2 hours at various temperatures of 300, 400, 500 and $600^{\circ}C$ and analyzed by using X-ray diffractometer, transmission electron microscopy, atomic force microscope and Hall effects measurement system. The films annealed at $600^{\circ}C$ were found to be crystallized and their surface roughness was decreased from 0.73 nm to 0.67 nm. According to XPS measurements, concentration of oxygen vacancies were decreased at $600^{\circ}C$. Optical band gap were increased to 3.31eV. The carrier concentration and Hall mobility were sharply increased at 600oC. Our results indicate that the IGZO films deposited at a room temperature can show better thin film properties through a heat treatment.