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Detachable body delivery robot platform for stair climbing
Kyeongtae Lim,Sungjun Park,Jeongmo Yang,Younghwan Kim,Taewon Seo 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
This paper proposes the design of a stair climbing robot through a three-stage structure with a body divided into three. Various Sensors mounted on the stair robot are used to recognize the stairs and two linear motors can overcome and climb stairs of various heights. It is expected that it will be applied in various delivery situations through robots by maintaining the level when ascending and descending. In addition, this paper includes a climbing/descending experiment on stairs.
Robust Optimal Design of a Six-Bar Linkage-Based Finger Clamping Unit for High Durability
SangGyun Kim,Kyeongtae Lim,Younkyu Kim,TaeWon Seo 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.4
A finger clamping unit (FCU) is a clamp for fixing a thin panel through a toggle mechanism in which the torque input is amplified. Previous studies optimized the clamping range (range of thickness of a panel that can be clamped) using a compliant link. Thereby, panels of various thicknesses could be clamped. However, a problem occurred in the durability because of the optimization to increase only the clamping range. The most vulnerable part, the compliant link, was damaged. In this study, durability is improved by replacing the linear slide joint (the mechanical element of the FCU) with a curved slide joint from another study. A static analysis of the new FCU is conducted. In addition, optimization is performed to reduce the force applied to the compliant link using the Taguchi method in a simulated environment. The result is expressed as a three-dimensional plot representing the behavior of the FCU. As a result of optimization, durability has increased significantly. furthermore, the clamping range is also increased slightly, and the overall size of the FCU is decreased. In addition, the increase in durability was greater when subjected to a large force than when subjected to a small force. When the penal thickness is 2mm, the force applied to the compliant link is decreased by 15.85%.
투명 전도막 개선을 통한 CIGS 박막태양전지 효율 향상
김민영,손경태,조성희,신준철,임동건,양계준 한국교통대학교 2014 한국교통대학교 논문집 Vol.49 No.-
In this study, sputtering method was used to grow Ga-dopes ZnO films on a CIGS absorber layer, in order to examine the effect of TCO on properties of CIGS solar cell devices. Structural, electrical and optical properties were investigated by varied thickness of Ga-dopes ZnO films. Also, relation to the application as a window layer in CIGS thin film solar cell were studied. It was found that the electrical and structural properties of ZnO:Ga film improved with increasing its thickness. However, the optical properties degraded. Jsc of the fabricated CIGS based solar cells was significantly influenced by the variation of the ZnO:Ga window layer thickness. Because ZnO:Ga window layer is one of the Rs factors in CIGS solar cell. Rs has the biggest influence on efficiency characteristic. In order to obtain high efficiency of CIGS solar cell, ZnO:Ga window layer should be fabricated with electrically and optically optimized.
Quantitative Thermopower Profiling across a Silicon p–n Junction with Nanometer Resolution
Lee, Byeonghee,Kim, Kyeongtae,Lee, Seungkoo,Kim, Jong Hoon,Lim, Dae Soon,Kwon, Ohmyoung,Lee, Joon Sik American Chemical Society 2012 Nano letters Vol.12 No.9
<P>Thermopower (<I>S</I>) profiling with nanometer resolution is essential for enhancing the thermoelectric figure of merit, <I>ZT</I>, through the nanostructuring of materials and for carrier density profiling in nanoelectronic devices. However, only qualitative and impractical methods or techniques with low resolutions have been reported thus far. Herein, we develop a quantitative <I>S</I> profiling method with nanometer resolution, scanning Seebeck microscopy (SSM), and batch-fabricate diamond thermocouple probes to apply SSM to silicon, which requires a contact stress higher than 10 GPa for stable electrical contact. The distance between the positive and negative peaks of the <I>S</I> profile across the silicon p–n junction measured by SSM is 4 nm, while the theoretical distance is 2 nm. Because of its extremely high spatial resolution, quantitative measurement, and ease of use, SSM could be a crucial tool not only for the characterization of nano-thermoelectric materials and nanoelectronic devices but also for the analysis of nanoscale thermal and electrical phenomena in general.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/nalefd/2012/nalefd.2012.12.issue-9/nl301359c/production/images/medium/nl-2012-01359c_0004.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/nl301359c'>ACS Electronic Supporting Info</A></P>
화학습식공정법을 이용한 용액 농도 및 시간에 따른 ZnS 완충층 특성에 대한 분석
손경태,김종완,김민영,신준철,조성희,임동건,Son, Kyeongtae,Kim, Jongwan,Kim, Minyoung,Shin, Junchul,Jo, Sunghee,Lim, Donggun 한국전기전자재료학회 2014 전기전자재료학회논문지 Vol.27 No.5
In this study, chemical bath deposition method was used to grow Zinc sulfide(ZnS) thin films from $NH_3/SC(NH_2)_2/ZnSO_4$ solutions at $90^{\circ}C$. ZnS thin films have been prepared onto ITO glass. The concentrations of $ZnSO_4$ and $NH_3$ were varied while the concentration of Thiourea was fixed in 0.52 M. Structural, optical, electrical characteristic of ZnS thin films were measured. The physical and optical properties of different ZnS thin films were influenced severely by the concentration of the two reacting chemicals. The optimal concentration of $ZnSO_4$ and $NH_3$ was 0.085 M and 1.6 M, respectively.
투명 전도막 개선을 통한 Cu(In<sub>x</sub>,Ga1<sub>-x</sub>)Se<sub>2</sub> 박막태양전지 효율 향상에 관한 연구
김기림,손경태,김민영,조성희,신준철,임동건,Kim, Kilim,Son, Kyeongtae,Kim, Minyoung,Shin, Junchul,Jo, Sunghee,Lim, Donggun 한국전기전자재료학회 2014 전기전자재료학회논문지 Vol.27 No.4
In this study, Sputtering method was used to grow Al-dopes ZnO films on a CIGS absorber layer, in order to examine the effect of TCO on properties of CIGS solar cell devices. Structural, electrical and optical properties were investigated by varied thickness of Al-dopes ZnO films. Also, relation to the application as a window layer in CIGS thin film solar cell were studied. It was found that the electrical and structural properties of ZnO:Al film improved with increasing its thickness. However, the optical properties degraded. Jsc of the fabricated CIGS based solar cells was significantly influenced by the variation of the ZnO:Al window layer thickness. Because ZnO:Al window layer is one of the Rs factors in CIGS solar cell. Rs has the biggest influence on efficiency characteristic. In order to obtain high efficiency of CIGS solar cell, ZnO:Al window layer should be fabricated with electrically and optically optimized.
Cracked Selenium을 이용한 CIGS 박막 셀렌화 공정에 관한 연구
김민영,김기림,김종완,손경태,이종관,임동건,Kim, Minyoung,Kim, Girim,Kim, Jongwan,Son, Kyeongtae,Lee, Jongkwan,Lim, Donggun 한국전기전자재료학회 2013 전기전자재료학회논문지 Vol.26 No.7
In this study, $Cu(In_{1-x},Ga_x)Se_2$ (CIGS) thin films were prepared on the Mo coated soda-lime glass by the DC magnetron sputtering and a subsequent selenization process. For the selenization process, selenization rapid thermal process(RTP) with cracker cell, which was helpful to smaller an atomic of Se, was adopted. To make CIGS layer, they were then annealed with the cracked Se. Based on this selenization method, we made several CIGS thin film and investigated the effects of In deposition time, and selenization time. Through x-ray diffraction (XRD), scanning electron microscope (SEM), energy dispersive spectroscopy (EDS), and atomic force microscopy (AFM), it is found that the Mo/In/CuGa structure and the high sputtering power shows the dominant chalcopyrite structure and have a uniform distribution of the grain size. The CIGS films with the In deposition time of 5 min has the best structure due to the smooth surface. And CIGS films with the selenization time of 50 min show good crystalline growth without any voids.