Jusuk Lee

Electrode dependence of resistance switching in polycrystalline NiO films

We investigated resistance switching in top-electrode/NiO∕Pt structures where the top electrode was Au, Pt, Ti, or Al. For Pt∕NiO∕Pt and Au∕NiO∕Pt structures with ohmic contacts, the effective electric field inside the film was high enough to induce trapping or detrapping at defect states and thus resistance switching. For a Ti∕NiO∕Pt structure with well-defined Schottky contact at Ti∕NiO interface accompanied by an appreciable voltage drop, the effective electric field inside the NiO film was not enough to induce resistance switching. For an Al∕NiO∕Pt structure with a low Schottky barrier at the Al∕NiO interface, resistance switching could be induced at a higher voltage since the voltage drop at the Al∕NiO interface was not negligible but small.

Kinetic and Dynamic Kinetic Resolution of Secondary Alcohols with Ionic-Surfactant-Coated Burkholderia cepacia Lipase: Substrate Scope and Enantioselectivity

Forty-four different secondary alcohols, which can be classified into several types (II-IX), were tested as the substrates of ionic surfactant-coated Burkholderia cepacia lipase (ISCBCL) to see its substrate scope and enantioselectivity in kinetic and dynamic kinetic resolution (KR and DKR). They include 6 boron-containing alcohols, 24 chiral propargyl alcohols, and 14 diarylmethanols. The results from the studies on KR indicate that ISCBCL accepted most of them with high enantioselectivity at ambient temperature and with useful to high enantioselectivity at elevated temperatures. In particular, ISCBCL displayed high enantioselectivity toward sterically demanding secondary alcohols (types VIII and IX) which have two bulky substituents at the hydroxymethine center. DKR reactions were performed by the combination of ISCBCL with a ruthenium-based racemization catalyst at 25-60 °C. Forty-one secondary alcohols were tested for DKR. About half of them were transformed into their acetates of high enantiopurity (>90% ee) with good yields (>80%). It is concluded that ISCBCL appears to be a superb enzyme for the KR and DKR of secondary alcohols.

1060nm vertical-external-cavity surface-emitting lasers with an optical-to-optical efficiency of 44% at room temperature

We report a high power fundamental transverse mode operation of an optically pumped 1060nm vertical-external-cavity surface-emitting laser. A diamond heat spreader was capillary bonded to the semiconductor surface. A 10W continuous wave operation with optical-to-optical conversion efficiency of 44% was achieved at room temperature. The thermal rollover was not found up to a heat sink temperature of 60°C. High efficiency and good thermal stability were mainly due to the optimization of epitaxial quality and the high conductivity of the diamond heat spreader. We have found that the increase of the round trip loss caused by the heat spreader was about 1%.

Study of vertical Si/SiO2 interface using laser-assisted atom probe tomography and transmission electron microscopy.

Laser-assisted atom probe tomography has opened the way to three-dimensional visualization of nanostructures. However, many questions related to the laser-matter interaction remain unresolved. We demonstrate that the interface reaction can be activated by laser-assisted field evaporation and affects the quantification of the interfacial composition. At a vertical interface between Si and SiO2, a SiO2 molecule tends to combine with a Si atom and evaporate as a SiO molecule, reducing the evaporation field. The features of the reaction depend on the direction of the laser illumination and the inner structure of tip. A high concentration of SiO is observed at a vertical interface between Si and SiO2 when the Si column is positioned at the center of the tip, whereas no significant SiO is detected when the SiO2 layer is at the center. The difference in the interfacial compositions of two samples was due to preferential evaporation of the Si layer. This was explained using transmission electron microscopy observations before and after atom probe experiments.

Fully autonomous hip exoskeleton saves metabolic cost of walking

We have developed a hip exoskeleton for seniors with difficulties in walking due to muscle weakness. The exoskeleton is lightweight and moderate in assistance power compared to other hip exoskeletons in the literature. Its controller estimates user gait phase, walking speed, and ground inclinations to generate assistance torque adaptively. To assess the physiological effect of the gait assistance, we compared metabolic energy consumption for 5 adults for walking on a treadmill with and without the exoskeleton at the same speed: the exoskeleton reduced metabolic cost of walking by 13% (p = 0:0024). The step length and the stride time increased under the assistance. Our analysis for the result suggests that the efficiency of hip exoskeletons on saving metabolic energy can be twice as high as that of ankle exoskeletons possibly because muscle-tendon unit in the hip joint is less energy-efficient than in the ankle joint.

Modeling and control of robotic surgical platform for single-port access surgery

In this paper, we present a modeling and control method for a single-port access robot developed by our robotics group at the Samsung Advanced Institute of Technology. The surgical robot consists of a snake-like 6-degree-of-freedom (DOF) guide tube, two 7-DOF tools, a 3-DOF stereo camera, and a 5-DOF slave arm. The robot is capable of reaching various surgical sites inside the abdominal cavity from a single incision on the body. To estimate the workspace and control the guide tube to a desired location, we first obtain the forward kinematics model of the guide tube and then propose a Cartesian-level controller. The wire actuation mechanism for the tools exhibit nonlinear backlash behavior because of wire compliance and friction between the wire and Teflon-coated conduit. We compensate for the backlash in the tool joints by adding the backlash inverse with smoothing term as a feedforward term.

Balancing control of a biped robot

We propose a balancing control framework for a torque-controlled biped robot, Roboray. Roboray has two 6 DOF legs and torque sensors are integrated at all the leg joints. It has a new cable-driven joint module as a pitch joint drive, which is highly back-drivable and elastic. Using these hardware characteristics, we propose a new balancing control algorithm. This algorithm is the combination of gravity compensation, virtual gravity control and damping control. A friction compensation technique is also introduced in order to eliminate the nonlinearity of damping and to improve the performance of torque tracking. Our proposed method is applied to a simple inverted pendulum system and Roboray. Experimental results show that these two system keep their balance when they are pushed slightly.

Control design to achieve dynamic walking on a bipedal robot with compliance

We propose a control framework for dynamic bipedal locomotion with compliant joints. A novel 3D dynamic walking is achieved by utilizing natural dynamics of the system. It is done by 1) driving robot joints directly with the posture-based state machine and 2) controlling tendon-driven compliant actuators. To enlarge gaits basin attraction for stable walking, we also adaptively plan step-to-step motion and compensate stance/swing motion. Final joint input is described by a superposition of state machine control torques and compensation torques of balancers. Various walking styles are easily generated by composing straight and turning gait-primitives and such walking is effectively able to adapt on various environments. Our proposed method is applied to a torque controlled robot platform, Roboray. Experimental results show that gaits are able to traverse inclined and rough terrains with bounded variations, and the result gaits are human-like comparing the conventional knee bent walkers.

Carrier dynamics and activation energy of CdTe quantum dots in a CdxZn1−xTe quantum well

We investigate the optical properties of CdTe quantum dots (QDs) in a Cd0.3Zn0.7Te quantum well (QW) grown on GaAs (100) substrates. Carrier dynamics of CdTe/ZnTe QDs and quantum dots-in-a-well (DWELL) structure is studied using time-resolved photoluminescence (PL) measurements, which show the longer exciton lifetime of the DWELL structure. The activation energy of the electrons confined in the DWELL structure, as obtained from the temperature-dependent PL spectra, was also higher than that of electrons confined in the CdTe/ZnTe QDs. This behavior is attributed to the better capture of carriers into QDs within the surrounding QW.

Online gait task recognition algorithm for hip exoskeleton

In this paper, we propose a novel online gait task recognition algorithm for hip exoskeleton. The proposed algorithm provides an automatic and prompt recognition result in just one step based on the relations between both hip joint angles at the moment of foot contact. Gait task recognition is one of the challenges that walking assist devices must address to offer adaptable and reliable assistance to users. However gait task recognition in hip exoskeleton is challenging because the sensors are very limited and fast gait task recognition is required to prevent inadequate assistance and reduce fall risk. Although in general foot contact event can be considered as crucial information during walking, it has not received attention in hip exoskeletons with no sensors corresponding foot force or pressure. In this study, we exploit foot contact event as a critical point to perform gait task recognition in hip exoskeleton. The proposed algorithm suggests a foot contact estimation method without using any foot force or pressure sensors and a rule-based inference system to recognize a new gait task in real time. Results presented from experiments will demonstrate the validity and performance of the proposed algorithm.