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Guest Editorial: Special Issue on Technology Trends in Control, Robotics and Systems - For the 30th Anniversary of the Institute of Control, Robotics and Systems -

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Journal of Institute of Control, Robotics and Systems 2024年第4期30卷 295-295页

作者： Ko, Nak Yong Kang, Taesam Song, Jin Woo Lim, Myo Taeg Jo, Kang-Hyun Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of Department of Mechanical and Aerospace Engineering Konkuk University Korea Republic of Department of Intelligent Mechatronics Engineering Sejong University Korea Republic of School of Electrical Engineering Korea University Korea Republic of Department of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of

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Numerical Evaluation of Low-Head Inverted Cross-Flow Turbine Design Methodology: A Comprehensive Study

SSRN

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SSRN 2023年

作者： Ha, Hojin Ham, Sangwoo Ehsan, Adeeb Lee, Jeong Wan Interdisciplinary Program in Biohealth-Machinery Convergence Engineering Kangwon National University 1 Kangwondaehak-gil Gangwon-do Chuncheon-si24341 Korea Republic of Division of Mechanical & Biomedical Mechatronics and Materials Science and Engineering Kangwon National University 1 Kangwondaehak-gil Gangwon-do Chuncheon-si24341 Korea Republic of Kangwon Institute of Inclusive Technology Kangwon National University 1 Kangwondaehak-gil Gangwon-do Chuncheon-si24341 Korea Republic of

In this study, we aim to address the challenges of micro-hydropower generation in low-head environments. The authors reviewed and assessed various factors affecting the feasibility of micro-hydro systems, such as geographical constraints, construction costs, and grid connectivity. To overcome the limitations of conventional hydro turbines in such conditions, the authors proposed a novel cross-flow turbine. Initially, they designed and analyzed an inverted cross-flow turbine based on design rules established by previous researchers and performed numerical analyses. Four steps parametric studies were conducted to achieved optimum turbine values, such as runner diameter ratio and the number of blades, considering the maximum efficiency point from the previous step. The best efficiency point of the optimized design turbine was 72.92 % at a runner rotational speed of 170 RPM with a 0.75 runner diameter ratio and 35 blades. To validate the optimized design, the authors compared it with the initial design using hill charts and numerical values obtained from parametric studies. Overall, this research demonstrates the usefulness of computational fluid dynamics simulations and parametric studies in optimizing the design of an inverted cross-flow turbine under low head conditions. © 2023, The Authors. All rights reserved.

关键词： Computational fluid dynamics

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Measuring 60-pc-scale Star Formation Rate of the Nearby Seyfert Galaxy NGC 1068 with ALMA, HST, VLT/MUSE, and VLA

arXiv

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arXiv 2024年

作者： Nagashima, Yuzuki Saito, Toshiki Ikarashi, Soh Takano, Shuro Nakanishi, Kouichiro Harada, Nanase Nakajima, Taku Taniguchi, Akio Tosaki, Tomoka Bamba, Kazuharu Physics and Mechatronics Course Major in Symbiotic Systems Science and Technology Graduate School of Symbiotic Systems Science and Technology Fukushima University 1 Kanayagawa Fukushima Fukushima960-1296 Japan National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka Tokyo181-8588 Japan Faculty of Global Interdisciplinary Science and Innovation Shizuoka University 836 Ohya Suruga-ku Shizuoka422-8529 Japan Department of Physics General Studies College of Engineering Nihon University Tamura-machi Fukushima Koriyama963-8642 Japan Astronomical Science Program Graduate Institute for Advanced Studies SOKENDAI 2-21-1 Osawa Mitaka Tokyo181-1855 Japan Institute for Space-Earth Environmental Research Nagoya University Furo-cho Chikusa-ku Aichi Nagoya464-8601 Japan Department of Physics Graduate School of Science Nagoya University Furo-cho Chikusa-ku Aichi Nagoya464-8602 Japan Department of Geoscience Joetsu University of Education Yamayashiki-machi Niigata Joetsu943-8512 Japan

Star formation rate (SFR) is a fundamental parameter for describing galaxies and inferring their evolutionary course. H II regions yield the best measure of instantaneous SFR in galaxies, although the derived SFR can have large uncertainties depending on tracers and assumptions. We present an SFR calibration for the entire molecular gas disk of the nearby Seyfert galaxy NGC 1068, based on our new high-sensitivity ALMA 100 GHz continuum data at 55 pc (= 0′′ . 8) resolution in combination with the HST Paα line data. In this calibration, we account for the spatial variations of dust extinction, electron temperature of H II regions, AGN contamination, and diffuse ionized gas (DIG) based on publicly available multi-wavelength data. Especially, given the extended nature and the possible non-negligible contribution to the total SFR, a careful consideration of DIG is essential. With a cross-calibration between two corrected ionized gas tracers (free-free continuum and Paα), the total SFR of the NGC 1068 disk is estimated to be 3.2 ± 0.5 M☉ yr−1, one-third of the SFR without accounting for DIG (9.1 ± 1.4 M☉ yr−1). We confirmed high SFR around the southern bar-end and the corotation radius, which is consistent with the previous SFR measurements. In addition, our total SFR exceeds the total SFR based on 8 µm dust emission by a factor of 1.5. We attribute this discrepancy to the differences in the young stars at different stages of evolution traced by each tracer and their respective timescales. This study provides an example to address the various uncertainties in conventional SFR measurements and their potential to lead to significant SFR miscalculations. © 2024, CC0.

关键词： Galaxies

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Erratum: “Ultraviolet nanosecond laser ablation of polyimide with thermal and nonthermal effects near threshold fluence” [J. Laser Appl. 34, 032004 (2022)]

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Journal of Laser Applications 2022年第1期35卷

作者： ChangSoon Han Muhammad Aleem Zahid Byungwoo Lee Jae-Yong Oh Youngkuk Kim Junsin Yi Bo Sung Shin 1Laser Advanced System Industrialization Center Jeonnam Technopark Stiftung Jangseong-gun Jeollanam-do 57248 Republic of Korea 2Interdisciplinary Program in Photovoltaic System Engineering Sungkyunkwan University Suwon Gyeonggi-Do Suwon 16419 Republic of Korea 3Department of Electrical and Computer Engineering Sungkyunkwan University Gyeonggi-Do Suwon 16419 South Korea 4Department of Optics and Mechatronics Engineering Pusan National University Pusan 46241 Korea

The paper published with an error in the author list. The author list has been corrected as shown. Additionally, ChangSoon Han and Muhammad Aleem Zahid should h

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Self-packaged stretchable printed circuits with ligand-bound liquid metal particles in elastomer

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Nature Communications 2025年第1期16卷 1-11页

作者： Hyeonyeob Seo Gun-Hee Lee Dong-Yeong Kim Kum Seok Nam Jiwoo Park Yeonzu Son Semin Kim Congqi Yang Seongjun Park Joonhee Won Hyunjun Kim Steve Park Jae-Young Bae Seung-Kyun Kang Jiheong Kang Department of Bio and Brain Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Departments of Cogno-Mechatronics Engineering Pusan National University Busan Republic of Korea Departments of Optics and Mechatronics Engineering Pusan National University Busan Republic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Program of Brain and Cognitive Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Graduate School of Semiconductor Technology Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Medical Research Center Seoul National University Seoul Republic of Korea Department of Biomedical Sciences College of Medicine Seoul National University Seoul Republic of Korea School of Transdisciplinary Innovations Seoul National University Seoul Republic of Korea Interdisciplinary Program in Bioengineering College of Engineering Seoul National University Seoul Republic of Korea Department of Transdisciplinary Medicine Seoul National University Hospital Seoul South Korea Department of Materials Science and Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea KAIST Institute for NanoCentury Daejeon Republic of Korea Department of Materials Science and Engineering Seoul National University Seoul Republic of Korea Department of Chemistry Seoul National University Seoul Republic of Korea

Packaging in stretchable electronics is crucial to protect components from environmental damage while preserving mechanical flexibility and providing electrical insulation. The conventional packaging process involves multiple steps that increase in complexity as the number of circuit layers multiply. In this study, we introduce a self-packaged stretchable printed circuit board enabled by the in situ phase separation of liquid metal particles (LMPs) within various polymer matrices during solution-based printing processes. The ligand-bound LMPs (LB-LMPs), engineered to inhibit oxide growth, undergo in situ sintering, prompting vertical phase separation. This synthesis strategy not only achieves high initial conductivity of the LMPs but also encapsulates them within the polymer matrix, preventing leakage and providing electrical insulation. Our method enables multi-layer circuit printing, eliminating the need for additional activation and packaging processes. Furthermore, by integrating conductive materials into packaging layers for selective electrical conductivity, vertical interconnect accesses and conductive pads can be formed, enabling large-scale, stretchable, and leakage-free multi-layer electrical circuits and bio-interfaces.

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Phase-change metal ink with pH-controlled chemical sintering for versatile and scalable fabrication of variable stiffness electronics

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Science Advances 2025年第22期11卷 eadv4921页

作者： Simok Lee Gun-Hee Lee Inho Kang Woojin Jeon Semin Kim Yejin Ahn Choong Yeon Kim Do A Kwon Michael D. Dickey Steve Park Seongjun Park Jae-Woong Jeong School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) 291 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea. Medical Research Center Seoul National University Seoul 03080 Republic of Korea. Departments of Cogno-Mechatronics Engineering and Optics and Mechatronics Engineering Pusan National University Busan 46241 Republic of Korea. Graduate School of Semiconductor Technology Korea Advanced Institute of Science and Technology (KAIST) 291 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea. KAIST Information and Electronics Research Institute Daejeon 34141 Republic of Korea. Research Laboratory of Electronics Massachusetts Institute of Technology (MIT) Cambridge MA 02139 USA. Department of Mechanical Engineering Massachusetts Institute of Technology (MIT) Cambridge MA 02139 USA. Department of Chemical and Biomolecular Engineering North Carolina State University (NCSU) Raleigh NC 27606 USA. Department of Materials Science and Engineering Korea Advanced Institute of Science and Technology (KAIST) 291 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea. KAIST Institute for NanoCentury Daejeon 34141 Republic of Korea. Department of Biomedical Sciences College of Medicine Seoul National University Seoul 03080 Republic of Korea. School of Transdisciplinary Innovations Seoul National University Seoul 03080 Republic of Korea. Interdisciplinary Program in Bioengineering College of Engineering Seoul National University Seoul 08826 Republic of Korea. Department of Transdisciplinary Medicine Seoul National University Hospital Seoul 03080 Republic of Korea. KAIST Institute for Health Science and Technology Daejeon 34141 Republic of Korea.

Variable stiffness electronics represent the forefront of adaptive technology, integrating rigid and soft electronics in a single system through dynamic mechanical modulation. While gallium’s high modulus tuning ratio and rapid phase transitions make it ideal for transformative electronic systems (TES), its liquid-state instability, high surface tension, and unintended phase transitions during processing pose substantial challenges. Here, we introduce STiffness-Adjustable temperature-Responsive ink (STAR ink), a chemically sinterable gallium composite electronic ink designed to overcome these obstacles. STAR ink enables high-resolution (~50 micrometers) circuit patterning, large-scale batch fabrication, and three-dimensional structure coating at room temperature. Through pH-controlled chemical sintering, STAR ink–based TES exhibits exceptional mechanical tunability (tuning ratio: 1465) and electrical conductivity (2.27 × 106 siemens per meter). Demonstrated applications—from multilayered variable stiffness printed circuit boards (PCBs) matching standard PCBs’ complexity to body-temperature responsive neural probe—underscore STAR ink’s potential for reconfigurable electronics across consumer electronics and biomedical devices.

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A study for estimating reaction force of robot arm by using PDSPO

A study for estimating reaction force of robot arm by using ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Hee Kim Sun Oh Park Jin Ho Kyung Hyun Min Do Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon Korea

In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to durability problems. In addition, mounting a torque sensor on the robot arm increases manufacturing costs and complicates the structure. In this study, we apply Sliding Perturbation Observer (SPO) to 7-axis robot manipulator and estimate reaction force without using torque sensor in simulation. From the estimated perturbation, it can be determined whether the end effector of the robot manipulator will crash part of the assembly.

关键词： Manipulators Service robots Robot sensing systems Collision avoidance Observers Force

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Effect of mouth-opening levels on sound field gain in the ear canal 45

Effect of mouth-opening levels on sound field gain in the ea...

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45th International Congress and Exposition on Noise Control Engineering: Towards a Quieter Future, INTER-NOISE 2016

作者： Xiao, Jimg-Hong Yu, Jen-Fang Lee, Kun-Che Chiu, Hsiu-Hui Graduate Institute of Medical Mechatronics Chang Gung University Taiwan Taiouan Interdisciplinary Otolaryngology Laboratory Chang Gung University Taiwan Ph.D. Program in Biomedical Engineering College of Engineering Chang Gung University Taiwan

The human ear canal can become deformed when the mouth opens and closes, changing the sound field in the external auditory canal. Thus, measuring the mandibular movement trajectory may provide a reference for identifying mouth-opening levels. The human ear canal can become deformed when the mouth opens and closes, changing the sound field in the external auditory canal. Thus, measuring the mandibular movement trajectory may provide a reference for identifying mouth-opening levels. The K7 system and a Frye Fonix 7000 sensor were used to perform several measurements of mouth-opening and -closing to obtain the mean maximal mouth opening level. The mandible was fixed at the 1/3, 2/3, and maximal mouth-opening levels. Subsequently, a 65-dB sweep tone, which is the sound pressure level of people talking at a normal level, was adopted as the sound stimulus to measure sound fields at 5, 10, 15, and 20 mm from the entrance of the external auditory canal. The stimulus frequencies of 200, 500, 1000, 2000, 4000, 6000, and 8000 Hz were noted. The differences in sound field gains at depths of 5, 10, 15, and 20 mm were analyzed for the various mouth-opening levels. The results show that except for the 1.70-dB decrease at a depth of 5 mm with an 8000-Hz stimulus frequency, the differences at the other depths and stimulus frequencies were within 1 dB. Thus, the mouth-opening levels will influence the gain in ear canal. © 2016, German Acoustical Society (DEGA). All rights reserved.

关键词： Acoustic fields

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A study of the collision detection of robot manipulator without torque sensor

A study of the collision detection of robot manipulator with...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Je, Hwan-Wook Baek, Jun-Young Lee, Min-Cheol Interdisciplinary Program in Mechatronics Pusan National University Busan Korea Republic of Department of Mechanical and Intelligent Systems Engineering Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764333

In this study, we proposed the collision observer for real-time detection of collisions between service robot and unknown obstacle. In case of a mobile equipped extra manipulator such as a service robot the safety of the system in service field is very important because a collision between the manipulator and a person may damages against the one. Therefore it is required to detect the collision against the unknown obstacle and to make them safe. This paper proposes current based method to detect unexpected collision without using extra sensor such as the force/torque(F/T), tactile sensor or the visual sensor. Instead of these sensors, the collision is detected by the observer for collision. To detect the collision of the manipulator without force/torque sensor, two parameters are only required for calculation of collision observer. One is current value, the other is control input value. Because the current from the servo amplifier is generated to follow the controller command input, the current can be used for detecting the collision. After detecting the collision of robot manipulator, we can control the robot to make them safe or reduce damage. The proposed collision detection method is implemented in a light weight robot manipulator. It is confirmed that the proposed method is valid by experimental results. © 2009 SICE.

关键词： Robot applications

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Control of robot manipulator for storing cord blood in cryogenic environments

Control of robot manipulator for storing cord blood in cryog...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Lee, Seung-Heui Jeong, Do-Young Kim, Ik-Soo Lee, Dong-In Cho, Dong-Yeon Lee, Min Cheol RIMT Pusan National University Busan Korea Republic of Interdisciplinary Program in Mechatronics Pusan National University Busan Korea Republic of R and D Center ENK Co. Ltd. Busan Korea Republic of School of Machine Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764333

This paper studies a control method for the manipulator of an automatic cryogenic storing vessel which can improve a ratio of survival of a cord blood. The cord blood keeps in liquid nitrogen in the cryogenic vessel. The integrated robot control system for storing a cord blood based on mechanism of SCARA robot is developed. The system consists of a cryogenic vessel, a robot arm controller using a multi motion controller(MMC) board, and control program. The robot manipulator consists of four axes. Each axis consists of a rotation of a major lid, a rotation of a minor lid, a rotation of periscope and a linear motion of periscope. The main software has functions of operating task, dynamic simulator, three dimensional animation, and trajectory planning. To overcome a difficulty to detect collision between canister and the pin of a slot in a rack of the vessel, a collision detection algorithm for the robot is proposed. The trajectory tracking performance of these algorithms are evaluated by implementing to design SCARA type robot using MMC board which has conventional PID control algorithm. To improve performance of the integrated system, the proposed algorithm for the collision avoidance is applied to the end-effector of the robot manipulator. © 2009 SICE.

关键词： Computer software

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