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로봇과 환경과의 충돌시 명령 신호 변경을 통한 충격량 감소
신완재(Wanjae Shin),박장현(Jahng-Hyon Park) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4
A robot manipulator is usually operated in two modes: free motion and constraint motion according to the fact whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it can possibly degrade the robot’s performance such as vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing the simulation study.
신완재(Wanjae Shin),박장현(Jahng-Hyon Park) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot’s performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.
Jeongyun Lee,Wanjae Park,Haksun Lee,Tokasiki Ken,Dong Hwan Kim,Kyoungsub Shin,Ilsub Chung 한국물리학회 2009 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.55 No.1
The distortion of the capacitance-voltage curve and the threshold voltage change caused by tunnel oxide degradation in connection with metal pad etch-induced plasma damage was investigated in 0.04 μm flash memory technology. The metal pad etch, as a final plasma process of IC fabrication contain cumulative plasma process-induced damage (P2ID). However, no metal pad etch-induced plasma damage, such as gate threshold voltage (Vth) change and hot temperature stress, has yet been reported because it is difficult to accurately analyze regardless of the previous processes. Therefore, to clearly analyze the P2ID on a metal pad, test element group (TEG) module to measure the interface traps (Nit) with a charge-pumping method and a simple-plasma-damage-monitor (SPDM) created to replace CHARM2. Consequently, we showed that the P2ID was correlated with the position of the chips or the etch rate uniformity map as a result of the plasma non-uniformity in each plasma etcher and the plasma condition. The distortion of the capacitance-voltage curve and the threshold voltage change caused by tunnel oxide degradation in connection with metal pad etch-induced plasma damage was investigated in 0.04 μm flash memory technology. The metal pad etch, as a final plasma process of IC fabrication contain cumulative plasma process-induced damage (P2ID). However, no metal pad etch-induced plasma damage, such as gate threshold voltage (Vth) change and hot temperature stress, has yet been reported because it is difficult to accurately analyze regardless of the previous processes. Therefore, to clearly analyze the P2ID on a metal pad, test element group (TEG) module to measure the interface traps (Nit) with a charge-pumping method and a simple-plasma-damage-monitor (SPDM) created to replace CHARM2. Consequently, we showed that the P2ID was correlated with the position of the chips or the etch rate uniformity map as a result of the plasma non-uniformity in each plasma etcher and the plasma condition.
A study of charging and discharging balance simulation tool for a conventional vehicle
정승면(Seungmyun Chung),김성태(Sungtae Kim),신완재(Wanjae Shin),이재빈(Jebeen Lee) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper is for a simulation program of vehicle electrical power system that is implemented on a PC by a basis of MATLAB/Simulink. This simulation program consists of the electrical power system of a vehicle, a driving cycle, a load cycle. and environmental conditions. The electrical power system of vehicle is composed of battery, alternator and electric loads. Major components of the vehicle electrical power system are battery and alternator. The battery modeling is applied by an equivalent circuit method on a basis of lab test data and regarding the alternator modeling, the thermal characteristic of alternator is focused tor getting reliable performance. Some components of alternator are used for the thermal model. To shorten a vehicle development process and reduce costs and improve reliability, the electrical power system must be regarded as a whole. The simulation program can also be utilized to determine the optimized capacities of alternators and batteries in vehicles. The simulation results are verified by the real data from the vehicle and this simulation program can be applied to other kinds of vehicles by obtaining of extensive test data.
Developing Wearable Computer for Drivers
Gyouhyung Kyung(경규형),Songyi Chae(채송이),Kyung Hyun Nam,Kyungmin Lee,Wanjae Shin 한국자동차공학회 2010 한국자동차공학회 지부 학술대회 논문집 Vol.2010 No.12
A versatile wearable computer for drivers (VWCD) was proposed that can serve as a drowsy driving alerting system, a lane departure warning system (LDWS), a blind spot alerting system, and a u-Health system that monitors the driver’s heart rate. In the first development phase, LEDs, mini video displays, earphones, and vibrators functioned as visual, auditory and tactile displays, and these were all integrated on the eyeglass frame. One electrocardiographic electrode was attached to the VWCD to obtain the driver’s heart rate signal at the posterior auricular artery, and a gyro sensor was used to track the driver’s head position. Finally, a Bluetooth device was included to enable communication between VWCD and its mobile phone platform.