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Soft Particle의 강성 측정을 위한 단순한 구조의 유연 물질 센서의 개발
인용석,양민호,구자춘 한국로봇학회 2016 로봇학회 논문지 Vol.11 No.3
Increasing interest of human health, building bio-database (Bio DB) has been become a hot issue in life science. Consequently, Single Cell Analysis (SCA) which can explain biodiversity of lives has been a significant factor for building Bio DB. In numerous studies from these analyses, they have been showed that mechanical properties of cells can serve explanation of biological heterogeneity and criterion of disease states. Therefore, measuring mechanical properties of cells have great potential to be used in bio-medical applications. However, traditionally, many researchers have undergone difficult and time consuming work because handling small sized cells usually requires high-skilled technique. Thus, this paper shows robotized stiffness measurement technique using fixed ended beam sensor, precision motorized stage and substrate which have wall structure.
초소형 부품 조작을 위한 Non-stick 마이크로 매니퓰레이션 시스템의 설계
인용석,김유창,최혁렬,이상무,구자춘 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.3
In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.
이상봉(Lee, S.B.),인용석(Ihn, Y.S.),오동호(Oh, D.H.),김하용(Kim, H.Y.),이호성(Lee, H.S.),구자춘(Koo, J.C.) 한국소음진동공학회 2007 한국소음진동공학회 논문집 Vol.17 No.8
The unbalanced mass of a high precision rotor deteriorates mechanical performance of the rotor. The geometrical center of a rotor generally corresponds to the rotational axis of the rotor. However, this alignment carried out with a stationary rotor does not guarantee the dynamic rotor balance. There have been a number of schemes for the correction of the unbalance published for decades especially in the hard drive industry where the issues are directly affecting manufacturing costs and product performances. Realizing the significance of the problem, the present work tries to refine one of the methods that works by applying external impact during a rotor spins. A systematic way to apply the external impact to a rotating rotor has been introduced to minimize unbalance correction process time.
김태호 ( Tae-ho Kim ),장준혁 ( Joon-hyuk Chang ) 한국정보처리학회 2018 한국정보처리학회 학술대회논문집 Vol.25 No.1
본 논문에서는 오디오와 레이더 기반의 딥러닝을 활용한 환경 분류 기술을 제안한다. 제안된 환경 분류 기술은 오디오를 이용한 환경 분류 딥러닝 모델과 레이더를 이용한 딥러닝 모델을 앙상블로 결합하여 환경을 분류한다. 특히,오디오와 레이더 각 성능을 높이기 위해 별도의 모델이 제안된 딥러닝 환경분류 기법은 실내 환경 5 가지를 분류 하였으며,오디오 또는 레이더 단일 데이터를 활용한 환경분류에 비해 우수한 성능을 보였다.
An Enhanced Force and Contact Position Sensor for Micro-Manipulations
Tri Cong Phung,인용석,최병준,이상무,구자춘,하승화,최혁렬 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.3
In micro-manipulations, force sensing devices play an important role in the control and the assembly of micro-objects. To protect these micro-objects from damage, we must have the ability to detect the value of the minute amount of interactive force (about a few µN) upon contact between the tip and the object. To detect this micro-force, we need an optimized design of force sensor to increase the strain values at the positions we place sensing components. Stress concentration can effectively amplify the strain values measured by the force sensors. This paper investigates the effect that the notches have on increasing the strain values at the positions we attach the sensing elements. In addition, the optimal design with a flexible structure improves the sensitivity of the sensor. An algorithm that can calculate both contact force and contact position on the sensor tip is also mentioned. Besides, an optimal location of strain gauges will ensure the accuracy and stability of the measurement. Finally, analysis and experiment are done to verify the proposed idea.
An Enhanced Edge Tracking Method Using a Low Resolution Tactile Sensor
최혁렬,Tri Cong Phung,인용석,구자춘 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a 10x10 or higher for edge detection, in this research, we use a 2x2 tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.