In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/ slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

In this paper, we fabricate arrayed-type flexible capacitive touch sensor using liquid metal (LM) droplets (4 mm spatial resolution). Poly-4-vinylphenol (PVP) layer is used as a dielectric layer on the electrode patterned Polyethylene naphthalate (PEN) film. Bonding tests between hydroxyl group (-OH) on the PVP film and polydimethylsiloxane (PDMS) are conducted in a various O2 plasma treatment conditions. Through the tests, we can confirm that non-O2 plasma treated PVP layer and O2 plasma treated PDMS can make a chemical bond. To measure dynamic range of the device, one-cell experiments are conducted and we confirmed that the fabricated device has a large dynamic range (~60 pF).

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.

The quality of injection sealer for water leakage maintenance be being managed by KS. However, the test result of response to the substrate movement performance have some errors by an experimenter. So, the revision standard of test method is proposed. Therefor, will verify that in this study.

The quality of injection sealer for water leakage maintenance be being managed by KS. However, the test result of response to the substrate movement performance have some errors by an experimenter. Therefore, this revision standard of test method is proposed by that the new tester is manufactured for solving this errors in this study.

Tracheobronchial foreign body aspiration can cause serious health problems in individuals of all age groups and requires immediate diagnosis and intervention. Patients with psychiatric disorders can aspirate foreign objects that may pose a danger to their health. Herein, we report on a case of curtain clip aspiration in a 44-year-old man with mental retardation. Chest radiography and bronchoscopy showed a sharp, pointed, S-shaped curtain clip inversely lodged in his left main bronchus. The curtain clip was removed successfully using flexible bronchoscopy, and no complications were noted.

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and linkside dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the jointtorque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

The quality of injection sealer for water leakage maintenance be being managed by KS and ISO. However, the test result of percolation resistance performance have some errors by an experimenter. Therefore, this revision standard of test method is proposed by that the new tester is manufactured for solving this errors in this study.

This paper describes a flexible visuo-haptic display module. We have developed a flexible electro-active polymer (EAP) actuator and a thin flexible visual display with 3×3 array configuration via polymer technology. The flexible actuator consists of nine EAP cells vertically moving in response to change in their thickness. The flexible display uses polymer based optical waveguide allowing light to scatter only at specific area. The display film is transparent and identically designed to the array pattern to fit for the arrangement of actuator cells. A pressure sensor is installed under the integrated module. The performance of the actuator is proved to be sufficient for satisfying perceivable range of human touch sense. The integrated system can provide interactive haptic feedback such as key pressing, contact vibration sensations, and etc. in accordance with user input.

Quality of injection sealer for water leakage maintenance be being managed by KS and ISO. However,the test result of bonding performance on the wet surface of concrete have some errors by an experimenter. Therefore this revision standard of test method is proposed by that the new tester is manufactured for solving this errors in this study.

잠정적으로 결정된 SMART Highway 상위등급 충돌조건(900kg의 승용차가 120km/h의 속도와 20°의 각도로 충돌하는 조건과 14000kg의 트럭이 85km/h의 속도와 15°의 각도로 충돌하는 조건)에 대한 종방향 연성 배리어의 개발을 위하여 예비설계, 상세설계, 그리고 실물 충돌시험이 수행되었다. 상세설계에는 소형차와 대형차 충돌조건에 대하여 효과적으로 종방향 연성 배리어를 개발하기 위해서 차량 속도-시간 이력이 이용되었다. 차량 종방향 속도-시간 이력 곡선과 횡방향 속도-시간 이력 곡선의 기울기가 충돌초기의 전반 부분에서 가능한 증가되고 THIV 발생시간 전후의 시간구간인 후반 부분에서 감소될 수 있도록 연성 배리어의 설계가 이루어 질 때 연성 배리어의 설계를 주로 좌우하는 THIV가 효과적으로 감소될 수 있었다. 이러한 이상적인 차량 속도-시간 이력을 발생시킬 가능성이 있는 다양한 예비설계가 수행되었고 LS-DYNA 프로그램을 이용한 유한요소해석을 통하여 적합한 설계가 결정되었다. 상세설계를 통하여 최종 결정된 배리어는 부분 보강된 원형지주, 3개의 보, 그리고 Slip이 발생할 수 있도록 설계된 Block-Out 등으로 구성되어 있다. 그리고 지주 간격은 2.5m 이고 모든 구성요소는 구조용 강재로 이루어져 있다. 그리고 최종설계에 대한 실물차량 충돌시험을 통하여 고규격 종방향 연성 배리어의 개발이 완료 되었다.

The docking and recharging system for a mobile robot must guarantee the ability of the mobile robot to perform its tasks continuously without human intervention. In this paper, two docking mechanisms are proposed with localization error-compensation capability for the auto recharging system. Friction forces or magnetic forces are used between the docking parts of the docking module and those of the docking station. In addition, an auto recharging system is developed to control the power. Since the system is modularized, it can easily be adapted to other robots.

비타민 C는 강력한 환원제로서 멜라닌 색소의 합성을 저해하는 것으로 알려져 있다. 그러나 일반적인 화장품 제형에서는 낮은 안정성과 경피 흡수의 문제점으로 만족할 만한 효과를 나타내지 못한다. 본 연구에서는 안정성이 개선된 비타민 C의 유도체인 ascorbyl glucoside (AsAG)을 유효성분으로 하여 경피흡수를 증가시키고자 하였다. 본 실험에서는 유연하면서도 박막 형태의 배터리를 장착한 패치 화장품을 제조하고 안정성과 경피흡수성을 평가하였다. 피부에 낮은 전류를 증가하는 이온토포레시스를 활용하여 피부에 적용하는 전류의 세기를 증가시키면 물질의 경피흡수는 증가한다. 그러나 전류의 세기를 증가시키면 피부 부작용이 증가하기 때문에 본 연구에서는 한국인의 피부에 맞는 적절한 전류를 선택하여 피부 부작용을 최소화 하였다. 이런 결과들을 바탕으로 유연하면서도 가벼운 박막 배터리를 개발하였으며, 2%의 AsAG을 함유한 이온토포레시스 패치의 안전성, 경피흡수정도, 미백효과 등을 검토한 결과 피부에 가하는 최적의 전류는 1.5 V의 배터리를 사용하여 피부 부작용과 경피흡수를 고려하여 평균 0.1 mA이었다. 또한 패치의 임상실험 결과 유의한 수준의 미백효과를 보였으며 피부 자극도도 통상의 화장품 수준을 나타냈다.

강판벽체와 뒷채움 지반의 상호작용에 의해 외력을 지지하는 지중강판구조물은 도로 제방의 하부 통·수로 구조물로 널리 사용되고 있다. 해안도로로 사용되는 성토체 내에 통로용 횡단구조물로 설치한 직경 6.25m의 원형단면 지중강판구조물에 대하여 상부 도로의 차량 통행에 의한 활하중 작용시 강판 벽체의 축력과 모멘트 변화를 평가하고, 토목섬유에 의한 강판구조물 상부 지반의 보강효과를 검증하였다. 이를 위하여 실제 구조물을 대상으로 정적 및 동적 차량재하시험을 실시하고, 구조물 내에 발생하는 축력과 모멘트, 그리고 구조물에 작용하는 토압을 계측하였으며 그 결과를 각각 분석하였다. 또한 지오그리드를 이용한 토피부 보강 효과에 대해서도 검증하였다. 차량하중 작용시 강판 부재의 축력은 주로 상부 아치부에서 증가하였으며, 그 최대값은 구조물 정점부 또는 도관 어깨부에서 발생하였다. 모멘트도 상부 아치부를 중심으로 증가하는 형태를 보였으나, 그 크기는 무시할 수 있을 만큼 작았다. 정적차량하중이 가해질 때 토피부에 지오그리드를 포설한 단면에서 계측된 최대축력 증가량은 지오그리드가 설치되지 않은 단면에서 계측된 값의 85∼92%를 나타내어 사하중에 대한 효과 외에 추가적인 축력감소 효과를 확인할 수 있었으나 차량주행시에는 차량하중에 대한 추가적인 보강 효과는 없어짐을 관찰하였다. 동적재하시험을 통해 산정한 충격계수 (DLA)는 토피두께가 0.9m에서 1.5m까지 증가함에 따라 반비례하여 감소하였는데, 그 크기는 CHBDC 방법으로 예측한 값보다 1.2-1.4배 정도 크게 나타났다.