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This paper deal with an identification of a single rod hydraulic cylinder system and its motion control. Modeling and control of the electro-hydraulic servo system are difficult because system contains nonlinear elements. Therefore, this paper use the signal compression method to obtain the dynamic characteristic and apply the sliding mode control with(More)
Instead of single mobile robot, multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in(More)
SUMMARY We have fabricated the transparent bottom gate and top gate TFTs using new oxide material of Al-Zn-Sn-O (AZTO) as an active layer. The AZTO active layer was deposited by RF magnetron sputtering at room temperature. Our novel TFT showed good TFT performance without post-annealing. The field effect mobility and the sub-threshold swing were improved by(More)
Reaction force estimation is the major challenge of surgical robotic procedures. In previous research, sliding mode control with sliding perturbation observer (SMCSPO) is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However,(More)
Many surgical robots adopt a tendon driven mechanism using cable and pulley to transmit the power. However, although tension is the main medium of power structurally, it is directly related with cable material characteristics including not only elastic region which make it able to use fixed spring constant but also nonlinear elastic and yielding one.(More)
ZnO nanoparticles (NPs) with monolayer structures were prepared by atomic layer deposition (ALD) to use for a charge-trap layer (CTL) for nonvolatile memory thin-film transistors (MTFTs). The optimum ALD temperature of the NP formation was demonstrated to be 160 °C. The size and areal density of the ZnO NPs was estimated to be approximately 33 nm and 4.8 ×(More)
Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flying Touch method is available to soft touch between the rollers and the slab. Because roller is unfixed and flexible. And Flying Touch method is(More)