• Journal of Magnetics
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• 제21권4호
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• pp.616-621
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• 2016

This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of $8.08{\times}10^{-3}m/s$ at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.373-377
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• 2002

In this study, we suggested a slim-type actuator that can be controlled in radial direction for compensating coma aberration in high-capacity optical storage devices. To deal successfully with narrow space in slim-type optical pick-up for notebook pc device, additional yokes for tilting motion are integrated into main yoke of the actuator. And the location of tilting coils is determined for mass-b3lancing effect to achieve optimal configuration for high driving sensitivity. We also suggested new concept of lens holder to guarantee excellent stability of control system by enhancing the gain margin at secondary resonant frequency. The concept was realized by forming damping sections in the lens holder, which prevent vibrational energy from transferring to lens. An exclusive measurement system was newly developed for fast and precise measurement of dynamic characteristics of actuators and utilized for the practical use. We hope to make good use of this system also in time to come.

• 한국정밀공학회지
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• 제23권9호
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• pp.179-189
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• 2006

Recently the electrostatic 2-axis MEMS stages have been fabricated f3r the purpose of an application to PSD (Probe-based Storage Device). However, all of the components (platform, comb electrodes, springs, anchors, etc.) in those stages are placed in-plane so that they have low areal efficiencies such as a few percentage, which is undesirable as data storage devices. In this paper, we present a novel structure of an electrostatic 2-axis MEMS stage that is characterized by having a large areal efficiency of about 25%. For obtaining large area efficiency, the actuator part consisting of mainly comb electrodes and springs is placed right below the platform. The structure and operational principle of the MEMS stage are described, followed by a design and analysis, the fabrication and measurement results. Experimental results show that the driving ranges of the fabricated stage along the x and y axis were 27$\mu$m, 38$\mu$m at the supplied voltages of 65V, 70V, respectively and the natural frequencies along x and y axis were 180Hz, 310Hz, respectively. The total size of the stage is about 5.9$\times$6.8mm$^2$ and the platform size is about 2.7$\times$3.6mm$^2$.

• 한국통신학회논문지
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• 제39C권1호
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• pp.82-89
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• 2014

최근 M2M/IoT에 대한 관심이 높아지면서 디바이스의 위치와 자세 등을 인식할 수 있는 동작 인식 센서의 필요성이 대두되고 있다. 본 논문에서는 소형의 디바이스에 적합하도록 저잡음, 저전력, 초소형 6축 관성센서 IC를 구현하였다. 본 논문에서 구현된 IC는 3축의 압전형 자이로 센서와 3축의 압저항형 가속도 센서를 사용하며, 3축의 자이로스코프 감지 회로, 자이로스코프 센서 구동 회로, 3축의 가속도 감지 회로, 16bit sigma-delta ADC, 디지털 필터와 제어 회로로 구성되어 있다. 본 IC은 TSMC $0.18{\mu}m$ mixed signal CMOS공정으로 개발되었으며, STM사의 6축 관성 센서인 LSM330의 소비전류 6.1mA보다는 약 27% 낮은 4.5mA의 소비 전류로 동작한다.

• 전기의세계
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• 제23권2호
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• pp.55-61
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• 1974

Nature of magnetic creep phenomena in low coercive force films(Ni 80%-Fe 20%) in form of narrow channels imbedded in high coercive force films is studied in this work. Aluminium is evaporated on the hot glass substrate and eched free in the shape of narrow channels by photoetoetching method. then, Permalloy(Ni 80%, Fe 20%) is deposited on these Aluminium substrate under the uniform field of 30(Oe) to introduce anisotropy. Permalloy film on Al has a high coercive force and one on the substrate devoid of Al has how coercive force. Magnetic revers domain which is introduced at the end of channel grows under the a.c field in hard axis direction, in spite of very weak d.c field in easy axis direction. This creeping is investigated as a function of external fields and channel widths. Permalloy film thickness is 500.angs.-900.angs. and channel widths are 40, 51, 65, 81, 115.mu. respectively. Creeping increases as external field increases while it decreases with channel width decrease. Creep velocity in channels depends on the a.c field along hard axis, d.c field along easy axis and channel widths and its range is 1-10cm/sec in this experiment. From study of dependence of creep velocity on channel width, it can be concluded that creep velocity is expressed in form of v=v$_{0}$ exp .alpha.(H-H$_{0}$) where .alpha. is a function of a.c field along hard axis and H is driving d.c field along easy axis, H$_{0}$ is not a coercive force of film as usuall expected but the d.c threshold field along easy axis which is a function of channel width. This characteristic is also confirmed by the study of dependence of creep velocity upon easy axis field strength. Value of .alpha. obtained is 1.3-2.3cm/sec We depending upon film charactor, hard axis field strength and frequency.uency.

• 한국정밀공학회지
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• 제34권1호
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• pp.53-58
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• 2017

A fine stage is developed for the 3-DOF error compensation of a linear axis in order to improve the positioning accuracy. This stage is designed as a planar parallel mechanism, and the joints are based on a flexure hinge to achieve ultra-precise positioning. Also, the effect of Abbe's offsets between the measuring and driving coordinate systems is minimized to ensure an exact error compensation. The mode shapes of the designed stage are analyzed to verify the desired 3-DOF motions, and the workspace and displacement of a piezoelectric actuator (PZT) for compensation are analyzed using forward and inverse kinematics. The 3-DOF error of a linear axis is measured and compensated by using the developed fine stage. A marked improvement is observed compared to the results obtained without error compensation. The peak-to-valley (PV) values of the positional and rotational errors are reduced by 92.6% and 91.3%, respectively.

• Journal of Animal Science and Technology
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• 제65권4호
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• pp.878-889
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• 2023

Animal welfare during transport became an largely issue because of increasing demand for improved animal welfare standards. Most studies on the animal welfare during transportation have concentrated on the atmosphere and the temperature of the truck compartments. Thus, the objective of study was to collect and quantify three axis acceleration and determine the effect of bedding for transporting pigs from farm to slaughterhouse. A total of 2,840 crossbred fattening pigs with a live weight of approximately 115 kg were used. They were raised in the same commercial farms and transported to the same commercial slaughterhouse. A 3×2×2 completely randomized factorial design was used to investigate effects of rubber type bedding (bedding or non-bedding) and two levels of driving style (aggressive or normal) in three different time periods with different outside temperatures. Air temperature treatments were as follow: high temperature ([HT] higher than 24℃); low temperature ([LT] lower than 10℃); normal temperature ([NT] 10℃ to 24℃). In our experiment, pigs transported under aggressive driving style showed lower (p < 0.05) pH and water holding capacity (WHC) than those transported under normal driving style. Pigs transported under normal driving style showed a lower percentage of drip loss (DL) (p < 0.05) than those transported with an aggressive driving style. Also, transported with bedding showed higher (p < 0.05) lying behavior but lower (p < 0.05) sitting behavior than those transported without bedding. Pigs transported under normal driving style showed lower (p < 0.05) cortisol level than those transported under aggressive driving style. In conclusion, aggressive driving style cause acute stress in pigs, while bedding helps alleviate acute stress in pigs during transportation in LT.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 춘계학술대회
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• pp.463-466
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• 2017

본 논문의 내용은 기존의 차륜식 로봇과는 차별화된 전-방향 구동이 가능한 모듈 개발을 통하여, 기존 모듈의 이동로봇이 가지는 단점인 측면주행성능 저하, 단순 작업주행 경로, 회전-직진 반복 주행으로 인한 불필요한 주행소요시간의 증대 등의 단점을 극복할 수 있을 것이다. 볼-벨런싱 로봇을 구동하기 위한 전-방향 구형휠 구동모듈은 3개의 로터캐스터를 이용한 로봇의 전-방향으로 구동하기 위한 동력전달 메커니즘과 주행을 위한 알고리즘 개발이 요구된다. 3DoF(축) 전-방향 이동 알고리즘이 내장된 드라이버가 모듈에 내장되고, 주행 방향 및 속도를 위한 3DoF(축)의 구동 모터 모듈이 장착된다. 이동 메커니즘으로는 각 구동바퀴의 회전 벡터 합에 따른다. 두 개 또는 세 개의 구동바퀴의 회전과 벡터 합에 따른 다양한 이동방향을 만들어 낼 수 있다. 각 구동바퀴의 회전 벡터장의 여하에 따라 다른 방향으로도 이동이 가능하다. 전-방향 이동을 위한 보다 혁신적인 전-방향 구형휠 구동모듈이 개발되면, 이동로봇의 구동부에 사용되어 로봇의 성능을 기술적으로 좀 더 향상시킬 수 있으며, 구동모듈이 적용된 전-방향로봇 플랫폼을 통하여 기존 차륜식 로봇의 경우 각종 환경에 대한 저항성으로 인해 연속 직진 성능이 저하되는 단점을 극복할 수 있어서 미주, 유럽과 같은 환경에서 적용될 수 있는 청소로봇, 이동로봇뿐만 아니라 전-방향 주행 기능이 요구되는 안내로봇, 탑승형 로봇, 이동수단 등에 필수적인 기술이 될 것이고 지능형서비스로봇 시장과 미래형 자동차시장의 확대에 기여할 수 있을 것이다.

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.925-928
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• 2003

In this paper, a precision measuring machine for large sized axial fans of cooling towers are developed. A laser sensor is used as a measuring device and aluminum profiles and stepping motors are engaged into the system as frame structure and driving devices respectively. 3-dimensional measuring data are compared to the design data to compute the distortion of the axial fans. Two distortions such as the axis of the fan and the airfoils along the axis are introduced to define the shape precision of axial fans. Genetic algorithm is used to solve the optimization problem during computing the distortion. Results of distortion are displayed 3 dimensionally in a solid-modeler as well as 2-D drawings to help users find it with case.