• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.17-24
• /
• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.32 no.2
• /
• pp.142-148
• /
• 2012

This study presents the assessment results of adhesive properties on the interface between a silicon wafer and nano-scale polymer thin film pattern through UAFM images by using the contact resonance frequency of the cantilever. For the experiment, we varied surface treatment processes for the silicon wafer and fabricated a 300nm polymer thin film pattern through lithography. Images from the optical microscope were used to compare the produced test specimens for adhesive condition and the critical load value from the nano scratch test was used to verify the adhesive condition of the nano pattern. Each test specimen resulted in a $1{\mu}m{\times}1{\mu}m$ surface image and subsurface adhesive image. Adhesive condition was evaluated by image contrast differences on the interface according to the changing amplitudes and phases of contact resonance frequency.

• International Journal of Precision Engineering and Manufacturing
• /
• v.8 no.2
• /
• pp.44-48
• /
• 2007

In recent years, the size of plane substrates and semiconductor wafers has increased. As conventional contact transportation systems composed of, for example, carrier rollers, belt conveyers, and robot hands carry these longer and wider substrates, the increased weight results in increased potential for fracture. A noncontact transportation system is required to solve this problem. We propose a new noncontact transportation system combining acoustic viscous and aerostatic forces to provide damage-free transport. In this system, substrates are supported by aerostatic force and transported by acoustic viscous streaming induced by traveling wave deformation of a disk-type stator. A ring-type piezoelectric transducer bonded on the stator excites vibration. A stator with a high Q piezoelectric transducer can generate traveling vibrations with amplitude of $3.2{\mu}m$. Prior to constructing a carrying road for substrates, we clarified the basic properties of this technique and stator vibration characteristics experimentally. We constructed the experimental equipment using a rotational disk with a 95-mm diameter. Electric power was 70 W at an input voltage of 200 Vpp. A rotational torque of $8.5\times10^{-5}Nm$ was obtained when clearance between the stator and disk was $120{\mu}m$. Finally, we constructed a noncontact transport apparatus for polycrystalline silicon wafers $(150(W)\times150(L)\times0.3(t))$, producing a carrying speed of 59.2 mm/s at a clearance of 0.3 mm between the stator and wafer. The carrying force when four stators acted on the wafer was $2\times10^{-3}N$. Thus, the new noncontact transportation system was demonstrated to be effective.

• Design & Manufacturing
• /
• v.11 no.1
• /
• pp.19-25
• /
• 2017

A conventional taped banknotes detecting device in the banknote counting machine have some problems caused by temperature, humidity, dust and other environmental conditions. In order to the improve the detection performance of taped banknote in the banknote counting machine, we developed taped banknotes detecting device that the ultrasonic wave sensor was replaced by mechanical method device. There are many factors for the performance of the taped banknote detecting device of a mechanical method, we considered three main factors that are the amplification ratio of the thickness of banknotes, the pressing force of banknotes and the feeding speed of banknotes. We carried out the experiments with the 27 kinds of combination of these three main factors. As the result, accurate detection was possible to the normal banknotes and taped banknotes regardless of the feeding rate in terms of the amplification rate 27 times and the pressing force 660gf.

• Journal of the Korea Computer Industry Society
• /
• v.5 no.2
• /
• pp.217-226
• /
• 2004

This paper proposes the electric stimulus tactile apparatus system(TESTAS) loaded on the haptic interface using ultrasonic motors (USMs) To touch the virtual object like wall in graphic, the 6 DOF haptic interface provides force feedback to users as if it is real. But the case of sharp virtual object like a puncture, it could not provided the sense of pain, but only the reaction-force. After the TESTAS had been loaded on this haptic interface, it could provide not only the force but also the pain to users. In this way, when users take the haptic and tactile informations at the same time, they easily have a correct understanding of virtual object.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.971-975
• /
• 2005

In this study, a car-door-controlled collision protection system using proximity sensor is proposed and its preliminary analysis and several preliminary experiments are conducted. The proposed system has three additional sub-components on the car-door that is, a pair of extra electro-magnetic actuator that are attached to the sliding bar of the open/close car-door four-bar mechanism, a proximity sensor that would be attached to the outside surface of the door which is likely to frequently contact to the object and a driving control circuit of the whole system. A proximity sensor is used to detect object close to the car-door, the driving control circuit provides actuating power command to the electro-magnets to generate braking force to stop the swing motion of the car-door. It is verified through kinematic analysis of the four-bar car-door open/close mechanism and through experiments that the magnitude of maximum electronic magnetic force could provide the braking force enough for this application. For this purpose, an electro-magnet driving circuit is implemented and tested. And also to increase the safety of the system a time delay circuit is implemented and tested.

• Journal of the Korean Society of Visualization
• /
• v.20 no.3
• /
• pp.19-26
• /
• 2022

In droplet microfluidics, precise droplet manipulation is required in numerous applications. This study presents ultrasonic surface acoustic wave (USAW)-based microfluidic device for label-free droplet separation based on size. The proposed device is composed of a slanted-finger interdigital transducer on a piezoelectric substrate and a polydimethylsiloxane microchannel placed on the substrate. The microchannel is aligned in the cross-type configuration where the USAWs propagate in a perpendicular direction to the flow in the microchannel. When droplets are exposed to an acoustic field, they experience the USAW-induced acoustic radiation force (ARF), whose magnitude varies depending on the droplet size. We modeled the USAW-induced ARF based on ray acoustics and conducted a series of experiments to separate different-sized droplets. We found that the experimental results were in good agreement with the theoretical estimation. We believe that the proposed method will serve as a promising tool for size-based droplet separation in a label-free manner.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2001.05a
• /
• pp.74-77
• /
• 2001

The impact response and damage of CLAS panel was investigated experimentally. The facesheet material used was RO4003 woven-glass hydrocarbon/ceramic and the core material was Nomex honeycomb with a cell size of 3.2mm and a density of 96 kg/$\textrm{m}^{3}$. The shield plane used was RO4003 and 2024-T3 aluminum. Static indentation and impact test was conducted to characterize the type and extent of the damage observed in two CLAS panels, and the performance of antenna used in a wireless LAN system. Correlation of peak contact force, residual indentation and the delamination area shows impact damage of the panel with an aluminum shield plane is larger than that of the panel with RO4003 shield plane, although tile former is more penetration resistant. The damage was observed by naked eye, ultrasonic inspection and cross sectioning. The shape and size of delamination was estimated by ultrasonic inspection, and the area of delamination linearly increases as impact energy increases. The performance of impact damaged antenna was estimated by measuring return loss and radiation pattern.

• Proceedings of the KIEE Conference
• /
• 2008.10a
• /
• pp.175-176
• /
• 2008

An ultrasonic motor of high torque with a new configuration for application in automobiles is proposed. The newly designed stator is two sided vibrator consisting of a toothed metal disk with a piezoelectric ceramic ring bonded on both faces of the disk which generates a flexural traveling wave along the circumference of disk. In this configuration, the displacement on the surface of stator may not be confined. It also produces a large vibrating force and amplitude because the vibrator is sandwiched by two piezoelectric plates. It is possible to increase the torque by improving the vibration characteristics. To compute the vibration mode of the motor of diameter 48 mm, the finite element method was used. A 6th mode was chosen as the operation mode with a resonance frequency of about 64.4 kHz. According to this design and measured its performance, a prototype was fabricated. The performance measurement of the prototype motor showed that its stall torque was about 1.8 Nm and efficiency was 37 % at 60 % of the maximum torque.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.11 no.5
• /
• pp.86-92
• /
• 1997

An ultrasonic motor(USM) has good characteristics such as compact size, silent motion, high speed responce, low speed and high torque. The USM is driven by 2-phase AC electricity. The control parameters of USM are voltage, phase, and frequency of input powers, etc. In this paper, the fine elasticity and viscosity control with no force feedback can be implemented by a phase difference parameter. Experiment results show the change of torque with regard to elasticity and viscosity. Therefore the USM can be used as a micro-actuator in the automation field of the installation.