• Progress in Superconductivity
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• 제8권2호
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• pp.152-157
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• 2007

Uniaxial square Helmholtz coils for testing SQUID sensors were designed and their field distributions were calculated. Optimum parameters for maximizing the uniform region in the Helmholtz mode were obtained for different uniformity tolerances. The coil system consists of 2 pairs of identical square loops, a Helmholtz pair for generating uniform fields and the other for the 2nd-order gradient fields in combination with the Helmholtz pair. Full expressions of the axial component of the field were calculated by using Biot-Savart's law. To understand the behavior of the field near the coil center, analytical expressions were obtained up to the 4th-order in the midplane and along the coil axis. The Helmholtz condition for generating uniform fields was calculated to be $d/{\alpha}=0.544505643$, where 2d is the inter-coil distance and $2{\alpha}$ is the side length of the coil square. Maximized uniform range can be obtained for a given nonuniformity tolerance by choosing $d/{\alpha}$ slightly lower than the Helmholtz condition. The pure second-order gradient field can be generated by subtracting the Helmholtz field from the field of the 2nd pair with equal magnitudes of the center fields of the two pairs. The coil system is useful for testing balance and sensitivity of SQUID gradiometers.

• 대한기계학회논문집A
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• 제33권11호
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• pp.1300-1305
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• 2009

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.