https://pubs.kist.re.kr/handle/123456789/75382 2026-04-15T18:22:27Z 2026-04-15T18:22:27Z Kang, S Nam, M Kim, B Tsubouchi, T Yuta, S https://pubs.kist.re.kr/handle/201004/117361 2024-01-26T09:20:02Z 2003-01-01T00:00:00Z

Title: A novel design and control of robotic wheeled blimp for tele-guidance Authors: Kang, S; Nam, M; Kim, B; Tsubouchi, T; Yuta, S Abstract: This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

2003-01-01T00:00:00Z Jang, YT Choi, CH Ju, BK Ahn, JH Lee, YH https://pubs.kist.re.kr/handle/201004/117360 2024-01-26T09:19:59Z 2003-01-01T00:00:00Z

Title: Gated field emitter using carbon nanotubes for vacuum microelectronic devices Authors: Jang, YT; Choi, CH; Ju, BK; Ahn, JH; Lee, YH Abstract: We have fabricated the gated field emitter using directly. grown carbon nanotubes (CNTs) as an electron emission source. Vertically aligned CNTs were grown at the center of the gate hole using thermal chemical vapor deposition. In order to reduce the leakage current due to flowing current along CNTs grown on the sidewalls of the gate hole, we adopted new process scheme such as sidewall protector. The leakage current of gated CNTs emitter with sidewall protector shows a decrease of 85.8% compared to that of conventional structure.

2003-01-01T00:00:00Z Kim, B Jeong, Y Lim, HY Park, JO Menciassi, A Dario, P https://pubs.kist.re.kr/handle/201004/117359 2024-01-26T09:19:57Z 2003-01-01T00:00:00Z

Title: Functional colonoscope robot system Authors: Kim, B; Jeong, Y; Lim, HY; Park, JO; Menciassi, A; Dario, P Abstract: Colonoscopy is an important medical procedure for the diagnosis of various diseases, such as cancers in the colon and rectum. However, it requires a lot of time for a doctor to acquire dexterous skills necessary to perform successful colonoscopy. Moreover, for many patients, conventional colonoscopy simply takes long time. Therefore, some studies on the development of autonomous and more convenient colonoscopes are carried out. In this paper, we propose a functional colonoscope robot system that has a locomotive function with a hollow body, a steering system, and other basic functions of typical conventional colonoscope systems. The concept and each component of the functional colonoscope system are described in this paper. In order to evaluate the functional performance of the colonoscope robot, we carried out in-vitro and in-vivo tests.

2003-01-01T00:00:00Z Kim, SK Choi, HH Son, JY https://pubs.kist.re.kr/handle/201004/117358 2024-05-22T10:01:04Z 2003-01-01T00:00:00Z

Title: Lowering spatial frequency by using two confocal lenses in digital holography Authors: Kim, SK; Choi, HH; Son, JY Abstract: One of the main problems in practical application of digital holography is that the unit cell size of CCD(Charge-Coupled Device) is too large. As a result, the object size of recording of interference pattern to CCD is very limited. The angle of incoming laser light ray is reduced by the ratio of two focal lengths of two confocal lenses. This induces the spatial frequency of interference pattern to be lower. So the higher spatial frequency of interference pattern than the spatial frequency determined by the unit cell size of CCD, can be recorded. By using confocal lenses optical setup, a merit can be achieved like that the area of the 0-th order diffraction light is reduced to the square of the ratio of two focal lengths at numerical reconstruction. As a result, numerical reconstruction for larger object size compared with CCD only case, is calculated by using FFT(Fast Fourier Transform) adapted to the integral came from Huygens-Fresnel principle. The needed diameters of two confocal lenses and the position of CCD camera are calculated for recoding the interference pattern of larger object size.

2003-01-01T00:00:00Z