• Smart Structures and Systems
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• 제8권1호
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• pp.39-52
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• 2011

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.

• 한국재료학회지
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• 제23권7호
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• pp.392-398
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• 2013

A two-pass differential speed rolling(DSR) was applied to a deoxidized low-phosphorous copper alloy sheet in order to form a homogeneous microstructure. Copper alloy with a thickness of 3 mm was rolled to 75 % reduction by two-pass rolling at $150^{\circ}C$ without lubrication at a differential speed ratio of 2.0:1. In order to introduce uniform shear strain into the copper alloy sheet, the second rolling was performed after turning the sample by $180^{\circ}$ on the transverse direction axis. Conventional rolling(CR), in which the rotating speeds of the upper roll and lower roll are identical to each other, was also performed by two-pass rolling under a total rolling reduction of 75 %, for comparison. The shear strain introduced by the conventional rolling showed positive values at positions of the upper roll side and negative values at positions of the lower roll side. However, samples processed by the DSR showed zero or positive values at all positions. {100}//ND texture was primarily developed near the surface and center of thickness for the CR, while {110}//ND texture was primarily developed for the DSR. The difference in misorientation distribution of grain boundary between the upper roll side surface and center regions was very small in the CR, while it was large in the DSR. The grain size was smallest in the upper roll side region for both the CR and the DSR. The hardness showed homogeneous distribution in the thickness direction in both CR and DSR. The average hardness was larger in CR than in DSR.