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권대규,방두열,소순선,유기호,이성철 전북대학교 공학연구원 ( 구 전북대학교 공업기술연구소 ) 2003 工學硏究 Vol.34 No.-
This paper presents the robust control of a composite beam using μ-synthesis. The natural frequencies of the composite beam featured by a piezo-film sensor and piezo-ceramic actuator are calculated by using the modal analysis method and then modal coordinates are introduced to obtain the state equations of the structural system. Two-natural frequency were considered in the modelling, because robust control theory which has inherent robustness to structured uncertainty is adopted to suppress the transients vibrations of a glass fiber reinforced(GFR) composite beam. A robust controller satisfying the nominal performance and robust performance is designed using μ-synthesis theory based on the structured singular value. Simulations and experiments were carried out with the designed controller and effectiveness of the robust control strategy was verified by results.
Development of a Tactile Sensor Array with Flexible Structure Using Piezoelectric Film
Kee-Ho Yu,Tae-Gyu Kwon,Myung-Jong Yun,Seong-Cheol Lee 대한기계학회 2002 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.16 No.10
This research is the development of a flexible tactile sensor array for service robots using PVDF(polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8X8 array using PVDF film was fabricated. In the fabrication procedure, the electrode patterns and the common electrode of the thin conductive tape were attached to both sides of the 28μm thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for a stable structure. The proposed fabrication method is simple and easy to make the sensor. The sensor has the advantages in the implementing for practical applications because its structure is flexible and the shape of the each tactile element can be designed arbitrarily. The signals of a contact force to the tactile sensor were sensed and processed in the DSP system in which the signals are digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in a personal computer, and the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of the contact state was verified through the sensing examples.
Yu, Kee-Won,Gao, Wen-yuan,Son, Sung-Ho,Paek, Kee-Yoeup 충북대학교 첨단원예기술개발연구센터 1999 연구보고서 Vol.4 No.-
Hairy root cultures of Panax ginseng established after the infection of root sections with Agrobacterium rhizogenes KCTC 2703, were cultured in phytohormone - free MS liquid medium containing different concentrations of jasmonic acid and some other elicitors in order to promote ginsenoside accumulation. Jasmonic acid strongly improved ginsenoside production in ginseng hairy root culture, the total ginsenoside content increased with the jasmonic acid concentration in the range of 0.0-5.0 mg ㆍL-1. Peptone 300 mg ㆍL-1 also showed some effect on ginsenoside improvement, however, its effect was much weaker than the effect of jasmonic acid. The greatest total ginsenoside content and ginsenoside productivity, to 58.65 mg ㆍg-1(4 times of control) and 504.39 mgㆍL-1(2 times of control), respectively, were achieved after culturing in 5.0 mgㆍL-1 jasmonic acid for 5 weeks. Among ginsenosides, the Rb-group ginsenoside content was obviously increased by jasmonic acid, while Rg-group ginsenoside content changed a little. Jasmonic acid also strongly inhibited ginseng hairy root growth.
Development of a Tactile Sensor Array with Flexible Structure Using Piezoelectric Film
Yu, Kee-Ho,Kwon, Tae-Gyu,Yun, Myung-Jong,Lee, Seong-Cheol The Korean Society of Mechanical Engineers 2002 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.16 No.10
This research is the development of a flexible tactile sensor array for service robots using PVDF (polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8${\times}$8 array using PVDF film was fabricated. In the fabrication procedure, the electrode patterns and the common electrode of the thin conductive tape were attached to both sides of the 281$\mu\textrm{m}$ thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for a stable structure. The proposed fabrication method is simple and easy to make the sensor. The sensor has the advantages in the implementing for practical applications because its structure is flexible and the shape of the each tactile element can be designed arbitrarily. The signals of a contact force to the tactile sensor were sensed and processed in the DSP system in which the signals are digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in a personal computer, and the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of the contact state was verified through the sensing examples.