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Robust Adaptive Control of A HexaSlide Type Parallel Manipulator
Kim, Jong-Phil,Kim, Sung-Gaun,Ryu, Jeha Institute of Control 2001 Transaction on control, automation and systems eng Vol.3 No.4
Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.
SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped
Jeha Ryu,Hossein S.Farahani,Bohyun Kim,Sung-Gaun Kim,Nam-Gyun Kim 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.3
This paper presents a new silver robot platform, SpiderBot™. The assistance scenario and conceptual design of the Spider Bot™ for better performance compared to the conventional mobile silver robots are discussed. The conceptual design is addressed considering real residence environment, human friendliness, and user convenience. The design is divided into mechanical parts, control parts, driving parts, sensor parts, and end-effectors. Loading condition and loading scenario for various assistance modes are briefly investigated to meet various requirements for the elderly and the handicapped. The dynamic model of the robot, adaptive control was simulated to verify the feasibility of the SpiderBot™ platform.
Jeha Kim 한국진공학회(ASCT) 2019 Applied Science and Convergence Technology Vol.28 No.6
We investigate the effect of hydrazine on the growth and physical characteristics of ZnS thin films deposited on both soda–lime glass (SLG) and copper indium gallium selenide (CIGS)/Mo/SLG substrates as a function of the relative molar ratio of hydrazine to ammonia reagent, rc, for various deposition times td. As rc is varied from 0 to 0.56, all the ZnS films on SLG (thickness of d ~ 38 nm) with hydrazine exhibit an amorphous structure, [S/Zn] composition of ~ 0.65, and direct energy bandgap of Eg = 3.54 – 3.75 eV. To compare the difference in device quality corresponding to the two types of substrates, we fabricate CIGS solar cells using ZnS buffers grown under conditions of rc = 0.28, 0.42 for td = 30 min, 15 min and without hydrazine with rc = 0.0 and td = 90 min. The sample obtained with the ZnS buffer under conditions of rc = 0.28, td = 30 min exhibits the best solar cell performance of η = 12.03 %. Our results prove that using hydrazine for ZnS buffer layer preparation via chemical bath deposition can significantly enhance the film quality for CIGS solar-cell fabrication.