• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.8
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• pp.78-85
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• 1995

We fabricated the Pb$_{1-0.28{\alpha}}La_{0.28}TiO_{3}$ (PLT(28)) thin film successfully by using the sol-gel method and characterized it to evaluate its potential for being utilized as the capacitor dielectrics of ULSI DRAMs. In our sol-gel process, the acetates were used as the starting materials. Through the TGA-DTA analysis, we established the excellent fabrication conditions of the sol-gel method for the PLT(28) thin film. We obtained the dense and crack-free PLT(28) thin film of 100% perovskite phase by drying at 350$^{\circ}C$ after each coating and final annealing at 650$^{\circ}C$. Its electrical properties were measured from the planar capacitors fabricated on the Pt/Ti/SiO$_{2}$/Si substrate. By the P-E hysteresis measurement, its paraelectric phase was identified and its dielectric constant and leakage current density were measured as 936 and 1.1${\mu}A/cm^{2}$, respectively. Those electrical values indicate that the PLT(28) thin film is the most successful candidate for the capacitor dielectrics of ULSI DRAMs at the present.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.33 no.2
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• pp.109-113
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• 2020

A power device is a component used as a switch or rectifier in power electronics to control high voltages. Consequently, power devices are used to improve the efficiency of electric-vehicle (EV) chargers, new energy generators, welders, and switched-mode power supplies (SMPS). Power device designs, which require high voltage, high efficiency, and high reliability, are typically based on MOSFET (metal-oxide-semiconductor field-effect transistor) and IGBT (insulated-gate bipolar transistor) structures. As a unipolar device, a MOSFET has the advantage of relatively fast switching and low tail current at turn-off compared to IGBT-based devices, which are built on bipolar structures. A superjunction structure adds a p-base region to allow a higher yield voltage due to lower R_DS (on) and field dispersion than previous p-base components, significantly reducing the total gate charge. To verify the basic characteristics of the superjunction, we worked with a planar type MOSFET and Synopsys' process simulation T-CAD tool. A basic structure of the superjunction MOSFET was produced and its changing electrical characteristics, tested under a number of environmental variables, were analyzed.

• Journal of the Korea Computer Industry Society
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• v.5 no.2
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• pp.331-336
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• 2004

In this paper, an antenna for telematics is proposed. It operates at GPS/GSM frequency-bands and it can be installed inside of a vehicle. There is a great difference between the proposed antenna and commonly used antennas. It needs not to use a dielectric with a high permittivity since it is formed on a sheet of FR4 with only 1mm thickness. Thus, it is possible to cut costs and make process of manufacture simple. Planar inverted-F antenna(PIFA) for GSM and microstrip antenna(MSA) for GPS is designed and PIFA-MSA antenna is proposed. The height is lower than that of commonly used antennas. And polarization of the PIFA and MSA is arranged perpendicularly for isolation improvement of each port, thus isolation of these two antennas is improved. Also, it is sufficient for the all specifications.

• The Journal of the Korea Contents Association
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• v.6 no.2
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• pp.51-58
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• 2006

The enhancement of antenna near-field measurements is obtained using a general probe compensation equation based on the Lorentz reciprocity theorem and reciprocity notation. The probe compensation is an essential process of the near-field to far-field transformations. Applying the equation proposed in this paper to a planar scanning for a rectangular horn antenna shows that our near-field radiation pattern is similar to that of a far-field and our theory is very simple to use and suitable for most practical applications.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.12
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• pp.1549-1556
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• 2004

We have deigned, fabricated and compared four different types of static chaos microfluid mixers, including the mixers using straight channel flow, microblock-induced alternating whirl flow, microchannel-induced lamination flow, and combined alternating whirl-lamination flow. Among them, the alternating whirl-lamination (AWL-type) mixer, composed of 3-D rotationally arranged microblocks and dividing microchannels fabricated by conventional planar lithography process, is effective to reduce the mixing length over wide flow rate ranges. We characterize the performance of the fabricated mixers, through the flow visualization technique using phenolphthalein solution. We verify that the AWL-type microfluid mixer shows the shortest fluid mixing length of 2.8mm∼5.8mm for the flow rate range of Re=0.26∼26 with the pressure drop lower than 5kPa. Compared to the previous mixers, requiring the mixing lengths of 7∼17mm, the AWL-type microfluid mixer results in the 60% reduction of the mixing lengths. Due to the reduced mixing lengths within reasonable pressure drop ranges, the present micromixers have potentials for use in the miniaturized Micro-Total-Analysis-Systems($\mu$TAS).

• Journal of information and communication convergence engineering
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• v.14 no.4
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• pp.252-257
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• 2016

An edge-located electromagnetic bandgap (EL-EBG) structure using a defected ground structure (DGS) is proposed to suppress resonant modes induced by edge excitation in a two-dimensional planar parallel plate waveguide (PPW). The proposed EL-DGS-EBG PPW significantly mitigates multiple transverse-magnetic (TM) modes in a wideband frequency range corresponding to an EBG stopband. To verify the wideband suppression, test vehicles of a conventional PPW, a PPW with a mushroom-type EBG structure, and an EL-DGS-EBG PPW are fabricated using a commercial process involving printed circuit boards (PCBs). Measurements of the input impedances show that multiple resonant modes of the previous PPWs are significantly excited through an input port located at a PPW edge. In contrast, resonant modes in the EL-DGS-EBG PPW are substantially suppressed over the frequency range of 0.5 GHz to 2 GHz. In addition, we have experimentally demonstrated that the EL-DGS-EBG PPW reduces the radiated emission from -24 dB to -44 dB as compared to the conventional PPW.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.735-741
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• 2003

A simplified view of array design and application process was introduced. Array design is critical to achieve a successful phased array measurements. A planar microphone array is designed to produce optimum performance and also to fit economic requirement in integrating data acquisition system. Certain performance characteristics are of primary concern when designing arrays. These characteristics include array resolution, spatial aliasing and array sidelobe suppression. Every array has its directional pattern that shows such characteristics. Assuming that a monopole source is located in center, beam-patterns have been simulated varying measurement conditions such as number of sensors. array aperture size, distance between array and source, frequency of interest and so on. Sensor correction was conducted on very channel using magnitudes and phased of FRF with respect to a reference microphone channel. Then with a spiral type array, measurements have been made with two point sources of same frequency in order to investigate array resolving abilities. It is observed that higher frequency source achieves better resolution than lower one does.

• Laser Solutions
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• v.8 no.1
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• pp.9-18
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• 2005

The laser direct writing method using a UV Argon-ion laser is studied for fabrication of waveguide. The laser direct writing system is constructed with a vision camera, a xy-stage, a motion controller and the delivery components of a laser beam. The UV Argon-ion laser has wavelength range of $333.6\~363.8$ nm. A photo-active UV curable polymer for a planar light-wave circuit(PLC) of single mode is used. This polymer is irradiated by Argon-ion laser and developed by a solvent after a post-baking. The optimum laser direct writing condition is obtained experimentally by changing various process parameters such as laser power, writing speed and focal length. The propagation and coupling loss of a optical waveguide was measured as 1dB/cm and 0.6dB/cm, respectively. Also, the minimum width of waveguide of $100{\mu}m$(ZPLW-207) is obtained. Finally, the waveguides of line, bend and branch type are successfully fabricated.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.2
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• pp.57-66
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• 2006

AA5182-polypropylene sandwich sheet was manufactured, and the mechanical properties evaluation was executed in order to identify $L{\ddot{u}}ders$ band that causes fabrication process problem and especially surface roughness. To identify formability, deformation behavior, plastic strain ratio (R-value) and pole figure were measured, and texture analysis was performed. In the case of sandwich sheet, the unstable deformation behavior has decreased. As well, for sandwich sheet, A1 skin could manage the most of load, and the elongation has improved about 45% more than that of A1 skin. The plastic strain ratio of A1 skin and sandwich panel, which indicates serration behavior, was obtained from instantaneous plastic strain ratio evaluation. Also, the planar anisotropy of sandwich sheet has decreased more than that of A1 skin. According to these results, the sandwich sheet produced lightening effect and could control unstable deformation characteristic, that is, surface roughness caused by $L{\ddot{u}}ders$ band. Furthermore, it was proved that the texture control of the rolling attachment of A1 skin is necessary to improve the formability of the sandwich panel.