• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.347-352
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• 2011

The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.2
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• pp.325-335
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• 1992

In this work, direct contact 4-stage fluidized bed heat exchanger is experimentally studied to develop a new type of heat exchanger which recovers the energy contained in the high temperature waste gas exhausted from the industrial furnaces. A sand is used as a heat transfer medium in this experiment. To determine the optimum operating condition, 11 different perforated plates which have a different free area ratio with different hole diameter are used in the experiment. From the room temperature experiment, the pressure drop which is caused by fluidized bed formation is observed. The high temperature experiment is carried out to seek the optimum operating condition of high heat efficiency at low heat exchanger operation cost. The results of experiment are as following. The pressure drop in the high temperature condition can be predicted from the results of the room temperature experiment. And Nusselt number becomes smaller due to the increased interference between sand particles as Reynolds number increases when the dilute phase fluidized beds are formed in nigh temperature condition. But heat transfer amount through the total sand surface area become larger due to the large resident amount of sand. Considering the heat transfer amount and the heat exchanger operation cost, perforated plates which have either a 30% or 35% of free area ratio with 15mm of hole diameter are best fitted for our goal of this work. The values of .phi. which is a dimensionless number representing the absorption heat amount per unit sand rate are in the range from 0.4 to 0.5, when Reynolds number of waste gas ranges from 25-30 with these perforated plates.

• Journal of Korean Society for Atmospheric Environment
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• v.15 no.E
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• pp.17-28
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• 1999

Gas-liquid contact tests above a perforated-plate were conducted with air and water at flooding gas-flow conditions in order to study two-phase flow characteristics in a limestone-gypsum SO2 absorber. Gas layers were in the form of air pockets and confined to the limited areas around each duct pipe, while the remaining tary area were in the wet condition. The liquid above the tray was always in the flooded and even fluidized conditions at gas flows over the range studied, although vigorous bubbly or churn-turbulent two-phase regime was only observed in the immediate vicinity of the gas hole exit at low gas loads. The froth zone was extremely active to provide intimate contact between gas and liquid so that the necessary mass transfer operation can take place, which is the primary purpose of high-performance SO2 absorbers. Howefer, the absorber $\Delta$P was 250mmH2O for the initial water level at 150mm, which is an important issue to be resolved for economical operation of the SO2 absorber. It was seen in the liquid level-and gas flow-transient tests that changes in the absorber liquid inventory were much more pronounced for intimate gas-liquid contact than changes in the gas flow. Based on the 4- and 8-duct pipe test results, grouping the duct pipes near the center of the test tray seemed to promote better recirulation of liquid from gas-liquid contact zone back to the reaction tank so that the absorbed SO2 can be neutralized.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.283-283
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• 2011

The n-doping effect by doping metal carbonate into an electron-injecting organic layer can improve the device performance by the balanced carrier injection because an electron ohmic contact between cathode and an electron-transporting layer, for example, a high current density, a high efficiency, a high luminance, and a low power consumption. In the study, first, we investigated an electron-ohmic property of electron-only device, which has a ITO/$Rb_2CO_3$-doped $C_{60}$/Al structure. Second, we examined the I-V-L characteristics of all-ohmic OLEDs, which are glass/ITO/$MoO_x$-doped NPB (25%, 5 nm)/NPB (63 nm)/$Alq_3$ (32 nm)/$Rb_2CO_3$-doped $C_{60}$(y%, 10 nm)/Al. The $MoO_x$doped NPB and $Rb_2CO_3$-doped fullerene layer were used as the hole-ohmic contact and electron-ohmic contact layer in all-ohmic OLEDs, respectively, Third, the electronic structure of the $Rb_2CO_3$-doped $C_{60}$-doped interfaces were investigated by analyzing photoemission properties, such as x-ray photoemission spectroscopy (XPS), Ultraviolet Photoemission spectroscopy (UPS), and Near-edge x-ray absorption fine structure (NEXAFS) spectroscopy, as a doping concentration at the interfaces of $Rb_2CO_3$-doped fullerene are changed. Finally, the correlation between the device performance in all ohmic devices and the interfacial property of the $Rb_2CO_3$-doped $C_{60}$ thin film was discussed with an energy band diagram.

• Journal of Korean Ophthalmic Optics Society
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• v.18 no.4
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• pp.465-471
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• 2013

Purpose: This study was conducted to research effects of influence factors on stereopsis of induced aniseikonia in emmetropia. Methods: 20 college students (a mean age of $22.50{\pm}2.72$ years, 14 males, 6 females) were selected as subjects and all of them had no ocular disease or systemic disease, the refractive correction of spherical equivalent within ${\pm}0.50$ D, the corrected visual acuity of 1.0 or better and the aniseikonia values less than 1% by AWAYA. Subject's dominant eye was checked by Hole in card method and contact lenses of -7.00 ~ +7.00D were fitted to cause anisometropia in dominant eye or non-dominant eye, respectively. And then aniseikonia was induced with spectacles to correct refractive error by contact lenses. Stereopsis was measured by Random Dot Stereo Acuity Test with LEA symbols$^{(R)}$ (Vision Assessment Corporation$^{TM}$, USA). Results: Stereopsis was remarkably reduced by inducing aniseikonia, with induced aniseikonia in dominant eye, with higher diopter of wearing contact lenses to induce anisometropia, with spectacles lenses correction of minus power after fitting contact lenses with plus power and in case of men. Conclusions: It should be considered to correct anisometropia that aniseikonia could cause reduction of stereopsis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.6
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• pp.709-714
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• 2018

This study researched the reasons for changing polarity in accordance with junction properties in an interface of semiconductors. The contact properties of semiconductors are related to the effect of the semiconductor's device. Therefore, it is an important factor for understanding the junction characteristics in the semiconductor to increase the efficiency of devices. For generation of various junction properties, carbon-doped silicon oxide (SiOC) was deposited with various argon (Ar) gas flow rates, and the characteristics of the SiOC was varied based on the polarity in accordance with the Ar gas flows. Tin-doped zinc oxide (ZTO) as the conductor was deposited on the SiOC as an insulator to research the conductivity. The properties of the SiOC were determined from the formation of a depletion layer by the ionization reaction with various Ar gas flow rates due to the plasma energy. Schottky contact was good in the condition of the depletion layer, with a high potential barrier between the silicon (Si) wafer and the SiOC. The rate of ionization reactions increased when increasing the Ar gas flow rate, and then the potential barrier of the depletion layer was also increased owing to deficient ions from electron-hole recombination at the junction. The dielectric properties of the depletion layer changed to the properties of an insulator, which is favorable for Schottky contact. When the ZTO was deposited on the SiOC with Schottky contact, the stability of the ZTO was improved by the ionic recombination at the interface between the SiOC and the ZTO. The conductivity of ZTO/SiOC was also increased on SiOC film with ideal Schottky contact, in spite of the decreasing charge carriers. It increases the demand on the Schottky contact to improve the thin semiconductor device, and this study confirmed a high-performance device owing to Schottky contact in a low current system. Finally, the amount of current increased in the device owing to ideal Schottky contact.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2457-2460
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• 2003

There is a great demand to manipulate biological cell autonomously since biologist should spend much time to obtain skillful manipulation techniques. For this purpose, we propose a cell chip to control, carry, fix and locate the cell. In this paper, we focus on the cell rotator to rotate individual biological cell based on a micro fluidics technology. The cell rotator consists of injection hole and rotation well to rotate a biological cell properly. Under the variation of flow rate in injection hole, the angular velocity of a biological cell is evaluated to find the feasibility of the proposed rotation method. As a practical experiment, Zebrafish egg is employed. Based on this research, we find the possibility of non-contact rotation way that can highly reduce the damage of the biological cell during manipulation. To realize an autonomous biological cell manipulation, a cell chip with manipulation well and micro channel in this research will be utilized effectively in near future.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Journal of Korea Foundry Society
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• v.21 no.5
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• pp.290-295
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• 2001

We fabricated test samples containing various shape elements and surface roughness checking points for the jewelry cast master patterns by employing the 3D computer aided design (CAD), selective laser sintering (SLS) rapid prototype (RP) with the DuraForm powders. We varied the alignment angle from $0^{\circ}$ to $10^{\circ}$ at a given layer thickness of 0.08 and 0.1mm, respectively, in RP operation. Dimensions of the shape elements as well as values of surface roughness are characterized by an optical microscope and a contact-scanning profilometer. Surface roughness values of the top and vertical face increased as the alignment angle increased, while the other roughness values and shape elements variation were not depending on the alignment angle. The resolution of the shape realization was enhanced as the layer thickness became smaller. The minimum diameter of the hole, common in jewelry design, was 1.2 mm, and the shrinkage became 12% at the 1.6 mm-diameter hole, Our results implied that we face down the proposed design elements with $0^{\circ}$ alignment angle, and consider the shrinkage effect of each shape element in DuraForm RP jewelry modeling.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1021-1024
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• 2001

Out of all metal-cutting processes, the hole-making process is the most widely used. It is estimated to be more than 30% of the total metal-cutting process. It is therefore desirable to monitor and detect drill wear during the hole-drilling process. In this paper, the vision system of the sensing methods of drill flank wear on the basis of image processing is used to detect the wear pattern by non-contact and direct method and get the reliable wear information about drill. In image processing of acquired image, median filter is applied for noise removal. The vision flank wear area of the drill was measured. Backpropagation neural networks (BPns) were used for no-line detection of drill wear. The neural network consisted of three layers: input, hidden and output. The input vectors comprised of spindle rotational speed, feed rates, vision flank wear, thrust and torque signals. The output was the drill wear state which was either usable or failure. Drilling experiments with various spindle rotational speed and feed rates were carried out. The learning process was peformed effectively by utilizing backpropagation. The detection of the abnormal states using BPNs achieved 96.4% reliability even when the spindle rotational speed and feedrate were changed.