Special Issue on the 2021 Ubiquitous Robots Conference

Intelligent Service Robotics -     

Investigation of organic n-type field-effect transistor performance on the polymeric gate dielectrics

We report a copper hexadecafluorophthalocyanine (F₁₆CuPc) based n-type organic field-effect transistor (OFET) with polymeric gate dielectrics with different physical/electrical properties. The gate dielectrics are four types of cross-linked poly(4-vinylphenol) and newly prepared poly(4-phenoxy methyl styrene) and those are characterized based on surface tension, leakage current and capacitance. The performance of F₁₆CuPc OFETs with those gate dielectrics was compared. We found that the composition of the gate dielectrics and the interfacial interaction of F₁₆CuPc with the gate dielectric play a decisive role in the performance of OFETs. The effect of physical/electrical properties, composition and processing condition of the gate dielectrics on the device performance was investigated.     

A study on the carbon dioxide recovery from 2 ton-CO2/day pilot plant at LNG based power plant

A pilot plant of 2 ton-CO₂/day for CO₂ recovery from flue gas emitted from 250 MW LNG based power plant was tested with aqueous absorbents. The absorbent tested were of different nature such as primary amine (MEA), blend of primary, secondary, tertiary and sterically hindered amine such as MDEA + HMDA, AEPD + DPTA, and TIPA + DPTA. We have studied the CO₂ recovery as function of temperature, concentration, and flow rate of absorbent, pressure and temperature of stripper, and flow rate and temperature of flue gas. It was observed that while CO₂ recovery increases with increase in flow rate and concentration of absorbent, it decreases with increase in temperature and flow rate of flue gas. The CO₂ recovery ratio increases with increase in stripper temperature and decrease in stripper pressure. CO₂ loading (mol CO₂/mol amine) also decreases with increase in stripper temperature.For the absorbent flow rate greater than 2.4 N m³/h, the carbon dioxide recovery ratio follows the sequence: MEA > MDEA + HMDA > AEPD + DPTA > TIPA + DPTA.     

Light sensing in a photoresponsive, organic-based complementary inverter

A photoresponsive organic complementary inverter was fabricated and its light sensing characteristics was studied. An organic circuit was fabricated by integrating p-channel pentacene and n-channel copper hexadecafluorophthalocyanine (F16CuPc) organic thin-film transistors (OTFTs) with a polymeric gate dielectric. The F16CuPc OTFT showed typical n-type characteristics and a strong photoresponse under illumination. Whereas under illumination, the pentacene OTFT showed a relatively weak photoresponse with typical p-type characteristics. The characteristics of the organic electro-optical circuit could be controlled by the incident light intensity, a gate bias, or both. The logic threshold (V(M), when V(IN) = V(OUT)) was reduced from 28.6 V without illumination to 19.9 V at 6.94 mW/cm2. By using solely optical or a combination of optical and electrical pulse signals, light sensing was demonstrated in this type of organic circuit, suggesting that the circuit can be potentially used in various optoelectronic applications, including optical sensors, photodetectors and electro-optical transceivers.     

Development of physicochemical nitrogen removal process for high strength industrial wastewater

The biological nitrogen removal (BNR) process is the most common method for removing low quantities of ammonium from wastewater, but this method is not used for wastewater rich with ammonium. In this study, we have developed the physicochemical nitrogen removal process to remove the nitrogen content for a real industrial wastewater. The denitrification was accomplished by the physicochemical denitrification process using zinc powder and sulfamic acid in pH 2-4. The experimental parameters were examined by varying various reaction conditions such as pH, zinc feeding time, amount of sulfamic acid, and amount of nitrate concentration. For each experimental condition, the physicochemical denitrification process was determined by pH, amount of zinc powder and sulfamic acid, zinc feeding time and nitrate concentration.     

Discrimination of visual and haptic rendering delays in networked environments

Many networked human-machine interface systems have a distributed structure for certain purposes such as more computational power, tele-presence, collaboration, and portability. However, network delays are inevitable in the distributed structure, and often make sensory information delivered behind time to the user. In the literature, the effect of network delays on the quality of information presentation has been considered with respect to task performances in most cases. In this paper, we pay attention to a more stringent criterion, namely whether perceptual artifacts caused by network delays are perceptible by the user. We examined minimum perceptible visual and/or haptic rendering delays by measuring their discrimination thresholds between normal and delayed virtual environments with and without a task, and report the results in this paper. We also provide a simple guideline for determining whether active delay compensation algorithms are required in a networked human-machine interface system by comparing representative network delays to the measured discrimination thresholds. Recommended by Guest Editor Phill Kyu Rhee. This work was supported in parts by a grant R01-2006-000-10808-0 and a NRL grant R0A-2008-000-20087-0 both from KOSEF and by a ITRC support program C1090-0804-0002 from IITA, all funded by the Korea government. In Lee is a Ph.D student in Computer Science and Engineering at POSTECH, of Korea. He received the B.S. degree in Information and Communication Engineering from Sungkyunkwan University in 2006. His research interests include haptics, virtual reality, and human-computer interaction. Seungmoon Choi is an Assistant Professor in Computer Science and engineering at POSTECH, Korea. He received the B.S. and M.S. degrees in Control and Instrumentation Engineering from Seoul National University in 1995 and 1997, respectively, and the Ph.D. degree in Electrical and Computer Engineering from Purdue University in 2003. His research areas include haptics, virtual reality, data perceptualization, and applied perception.     

Comparative evaluation of performance measures for human driving skills

In this paper, we evaluate the adequacy of several performance measures for the evaluation of driving skills between different drivers. This work was motivated by the need for a training system that captures the driving skills of an expert driver and transfers the skills to novice drivers using a haptic-enabled driving simulator. The performance measures examined include traditional task performance measures, e.g., the mean position error, and a stochastic distance between a pair of hidden Markov models (HMMs), each of which is trained for an individual driver. The emphasis of the latter is on the differences between the stochastic somatosensory processes of human driving skills. For the evaluation, we developed a driving simulator and carried out an experiment that collected the driving data of an expert driver whose data were used as a reference for comparison and of many other subjects. The performance measures were computed from the experimental data, and they were compared to each other. We also collected the subjective judgement scores of the driver’s skills made by a highly-experienced external evaluator, and these subjective scores were compared with the objective performance measures. Analysis results showed that the HMM-based distance metric had a moderately high correlation between the subjective scores and it was also consistent with the other task performance measures, indicating the adequacy of the HMM-based metric as an objective performance measure for driving skill learning. The findings of this work can contribute to developing a driving simulator for training with an objective assessment function of driving skills.     

Soluble pentacene thin-film transistor using a high solvent and heat resistive polymeric dielectric with low-temperature processability and its long-term stability

Solution processable organic thin-film transistors (OTFTs) were fabricated using 6,13-bis(triisopropyl-silylethynyl) pentacene (TIPS-pentacene) and low-temperature processable polyimide gate dielectric. The TIPS-pentacene OTFT with the dielectric was found to have a field-effect mobility of 0.15 cm²/Vs, which is comparable to that of OTFT with an inorganic dielectric. The OTFTs with the polyimide dielectric did not show any significant performance degradation as time passed. A field-effect mobility of the OTFTs in 60 days was found to be almost identical to that of pristine OTFT. The combination of TIPS-pentacene and our polyimide gate dielectric can be one of the potential candidates for the fabrication of stable OTFTs for large-area flexible electronics.     

Non-functionalized soluble diketopyrrolopyrrole: Simplest p-channel core for organic field-effect transistors

We report the synthesis, characterization and behavior in field-effect transistors of non-functionalized soluble diketopyrrolopyrrole (DPP) core with only a solubilizing alkyl chain (i.e. –C₁₆H₃₃ or –C₁₈H₃₇) as the simplest p-channel semiconductor. The characteristics were evaluated by UV–vis and fluorescence spectroscopy, X-ray diffraction, cyclic voltammetry (CV), thermal analysis, atomic force microscopy (AFM) and density functional theory (DFT) calculation. For top-contact field-effect transistors, two types of active layers were prepared either by a solution process (as a 1D-microwire) or thermal vacuum deposition (as a thin-film) on a cross-linked poly(4-vinylphenol) gate dielectric. All the devices showed typical p-channel behavior with dominant hole transports. The device made with 1D-microwiress of DPP-R18 showed field-effect mobility in the saturation region of 1.42 × 10^?2 cm²/V s with I_ON/I_OFF of 1.82 × 10³. These findings suggest that the non-functionalized soluble DPP core itself without any further functionalization could also be used as a p-channel semiconductor for low-cost organic electronic devices.     

Environmental and economic assessment of the chemical absorption process in Korea using the LEAP model

CO₂ emission from fossil fuels is a major cause for the global warming effect, but it is hard to remove completely in actuality. Moreover, energy consumption is bound to increase for the continuous economic development of a country that has an industrial formation requiring high-energy demand. Therefore, we need to consider not only a device for CO₂ mitigation but also its impact when a CO₂ mitigation device is applied. The device for CO₂ emission mitigation can be classified into three fields: energy consumption reduction, development of CO₂ removal and recovery technology, and development of alternative energy technology. Among these options, CO₂ removal and recovery technology has a merit that can be applied to a process in the near future. Therefore, research for CO₂ removal and recovery is actively progressing in Korea. In this study, environmental and economic assessment according to the energy policy change for climate change agreement and increase of CO₂ mitigation technology is accomplished, on the bases of operating data for the CO₂ chemical absorption pilot plant that is installed in the Seoul coal steam power plant. The Long-range Energy Alternatives Planning system (LEAP) was used to analyze the alternative scenario, and results were shown quantitatively.