• 재활복지공학회논문지
• /
• 제11권1호
• /
• pp.29-35
• /
• 2017

기존의 가정용 요양침대는 매트리스 지지판(mattress support platform) 하부에 설치된 복잡한 기구부로 인해 저상화 실현이 어려웠다. 본 논문에서는 등판과 다리판의 각도를 조절하면서도 저상화가 가능한 요양침대의 구동 메커니즘을 제안한다. 등판과 다리판의 메커니즘은 듀얼 모터(dual motor)를 적용하고, 최적화 기법으로 설계변수를 결정하였다. 승강 메커니즘은 풀리(pulley)구조를 적용하여 제한된 구동기의 가동범위를 최대 두 배까지 높일 수 있도록 설계하였다. 건강한 5명의 피험자($24.4{\pm}0.5$세)가 방바닥에서 240mm의 저상 프로토타입 요양침대와, 600mm의 일반적인 높이의 침대에 올라갈 때의 그 이동 거리를 측정하여 저상화 침대에 대한 유효성을 평가하였다. 그 결과 저상 요양침대를 사용할 때의 이동 거리는 기존 높이의 침대에 비해 평균 38% 작았다. 이것은 저상요양침대가 고령자의 신체적 부담을 줄여주며, 일반침대보다 일상생활 지원에 효과적이라는 것을 보여주었다.

• Smart Structures and Systems
• /
• 제16권5호
• /
• pp.891-918
• /
• 2015

In many of microdevices a part of a microbeam is covered by a piezoelectric layer. Depend on the application a DC or AC voltage is applied between upper and lower side of the piezoelectric layer. A common method in many of previous works for evaluating the response of these structures is discretizing by Galerkin method. In these works often single mode shape of a uniform microbeam i.e. the microbeam without piezoelectric layer has been used as comparison function, and so the convergence of the solution has not been verified. In this paper the Galerkin method is used for discretization, and a comprehensive analysis on the convergence of solution of equation that is discretized using this comparison function is studied for both clamped-clamped and clamped-free microbeams. The static and dynamic solution resulted from Galerkin method is compared to the modal expansion solution. In addition the static solution is compared to an exact solution. It is denoted that the required numbers of uniform microbeam mode shapes for convergence of static solution due to DC voltage depends on the position and thickness of deposited piezoelectric layer. It is shown that when the clamped-clamped microbeam is coated symmetrically by piezoelectric layer, then the convergence for static solution may be obtained using only first mode. This result is valid for clamped-free case when it is covered by piezoelectric layer from left clamped side to the right. It is shown that when voltage is AC then the number of required uniform microbeam shape mode for convergence is much more than the number of required mode in modal expansion due to the dynamic effect of piezoelectric layer. This difference increases by increasing the piezoelectric thickness, the closeness of the excitation frequency to natural frequency and decreasing the damping coefficient. This condition is often indefeasible in microresonator system. It is concluded that discreitizing the equation of motion using one mode shape of uniform microbeam as comparison function in many of previous works causes considerable errors.

• International Journal of Ocean System Engineering
• /
• 제3권1호
• /
• pp.16-21
• /
• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• 한국지능시스템학회논문지
• /
• 제24권4호
• /
• pp.437-442
• /
• 2014

최근에는 크기 및 비용의 관점에서 많은 장점을 갖는 초소형 해양로봇(Micro Marine Robot : MMR)의 개발 및 적용에 대한 요구가 증가하고 있다. 하지만 국내에서는 그 기반이 매우 부족한 상황이다. 다행히도 초소형 수상로봇(Micro Surface Robot : MSR)의 장애물회피와 관련해서는 크기와 성능의 관점에서 최적화되어 4방향 탐지가 가능한 장애물회피소나(Obstacle Avoidance Sonar : OAS)가 개발되었으나, 제한된 빔폭(beam width) 및 탐지거리를 갖는 고정 소나빔의 사용으로 인하여 장애물의 형상에 따라 탐지성능이 저하되는 문제점이 존재했다. 이러한 문제를 해결하기 위하여, 본 논문에서는 평기어(spur gear) 및 서보모터를 활용하여 회전 소나빔을 구현한 MSR의 메커니즘을 제안하였다. 제안된 메커니즘의 검증을 위해 다각 평면 장애물에 대한 MSR의 벽면 추적(wall-tracking) 문제를 고려하였고, 탐지성능 및 구동명령 측면에서 기존의 고정 소나빔 적용 시와 비교 및 분석을 수행하였다. 실험결과는 제안된 메커니즘의 타당성을 보여준다.

• 대한전자공학회논문지SD
• /
• 제45권4호
• /
• pp.7-12
• /
• 2008

본 논문에서는 comb drive를 이용하여 수평 방향 저항 접촉 방식의 RF MEMS 스위치 개발을 소개한다. 무선통신 트랜시버에서 사용되는 FEM에서 사용될 수 있는 높은 안전성과 좋은 RF 특성을 가지는 스위치의 개발을 목표로 한다. 따라서 작은 삽입손실 특성을 가지기 위해 comb drive를 이용하여 큰 접촉 힘을 발생시키고, 큰 격리도 특성을 가지기 위해 스위치 off 상태에서 작은 정전용량을 갖도록 한다. 그리고 단결정 실리콘을 스위치의 구조물로 사용함으로써 기계적인 안전성을 갖도록 한다. 개발된 RF MEMS 스위치는 26 V의 동작 전압을 가지며, 2 GHz에서 0.44 dB 이하의 삽입손실과 60 dB 이상의 격리도 특성을 가진다.

• 한국복합재료학회:학술대회논문집
• /
• 한국복합재료학회 2005년도 춘계학술발표대회 논문집
• /
• pp.51-54
• /
• 2005

Shape memory alloys (SMAs) find many applications in smart composite structural systems as the active components. Their ability to provide a high force and large displacement makes them an excellent candidate for an actuator for controlling the shape of smart structures. In this paper, using a macroscopic model that captures the thermo-mechanical behaviors and the two-way shape memory effect (TWSME) of SMAs smart morphing polymeric composite shell structures like shape-changeable UAV wings is demonstrated and analyzed numerically and experimentally when subjected to various kinds of pressure loads. The controllable shapes of the morphing shells to that thin SMA strip actuator are attached are investigated depending on various phase transformation temperatures. SMA strips start to transform from the martensitic into the austenitic state upon actuation through resistive heating, simultaneously recover the prestrain, and thus cause the shell structures to deform three dimensionally. The behaviors of composite shells attached with SMA strip actuators are analyzed using the finite element methods and 3-D constitutive equations of SMAs. Several morphing composite shell structures are fabricated and their experimental shape changes depending on temperatures are compared to the numerical results. That two results show good correlations indicates the finite element analysis and 3-D constitutive equations are accurate enough to utilize them for the design of smart composite shell structures for various applications.

• Composites Research
• /
• 제27권2호
• /
• pp.47-51
• /
• 2014

본 논문은 기존의 유/공압 및 전기식 모터를 대체할 수 있는 경량, 고성능 지능소자 구동기를 설계/제작하고 이를 소형 무인비행체의 조종익 시스템에 적용 가능성을 연구한 것이다. 또한 압전 복합재료 작동기에 대한 성능평가를 수행하였으며, 유니모프 및 바이모프 형태의 작동기를 제작하여 각각의 작동 특성을 확인하였다. 이와 같은 성능시험 평과 결과를 통해 바이모프 형태의 작동기가 하중 유무와 무관하게 선형적인 받음각 변화를 가짐을 알 수 있었다. 이러한 지능소자 구동 시스템은 소형 로봇, 유도무기 및 MAV, UAV의 조종익 제어 시스템으로 사용될 수 있는 가능성을 확인하였다.

• 한국항공우주학회지
• /
• 제31권4호
• /
• pp.44-52
• /
• 2003

형상기억합금은 스마트 구조물에서 작동기로 널리 쓰인다. 형상기억합금은 초기변위를 부고 열을 가하게 되면 단위 부피당 큰 회복력과 변위를 발생한다. 형상기억합금의 이론 특성은 인공근육, 작동기, 소음 및 진동감쇠, 형상의 변형 제어 등에 응용될 수 있다. 본 논문에서는 형상기억합금의 3차원 비선형 구성방정식을 이용하여 재료의 거동특성을 해석하고, 형상기억합금이 부착된 스마트구조로 응용될 수 있는 공기 흡입 덕트, 항공기 및 잠수함 동체 등의 구조를 압력이 존재하는 원형 및 복원을 해석하였다. 수치해석결과, 형상기억합금 엑츄에이터가 내압 하에서 작동하자 단면은 변형전의 모습(낮은 응력상태)으로 회복되었다.

• 한국정밀공학회지
• /
• 제23권6호
• /
• pp.166-173
• /
• 2006

In this study, a probe array has been developed for use in a data storage device that is based on scanning probe microscope (SPM) and MEMS technology. When recording data bits by poling the PZT thin layer and reading them by sensing its piezoresponse, commercial probes of which the tip heights are typically shorter than $3{\mu}m$ raise a problem due to the electrostatic forces occurring between the probe body and the bottom electrode of a medium. In order to reduce this undesirable effect, a poly-silicon probe with a high aspect-ratio tip was fabricated using a molding technique. Poly-silicon probes fabricated by the molding technique have several features. The tip can be protected during the subsequent fabrication processes and have a high aspect ratio. The tip radius can be as small as 15 nm because sharpening oxidation process is allowed. To drive the probe, electrostatic actuation mechanism was employed since the fabrication process and driving/sensing circuit is very simple. The natural frequency and DC sensitivity of a fabricated probe were measured to be 18.75 kHz and 16.7 nm/V, respectively. The step response characteristic was investigated as well. Overshoot behavior in the probe movement was hardly observed because of large squeeze film air damping forces. Therefore, the probe fabricated in this study is considered to be very useful in probe-based data storages since it can stably approach toward the medium and be more robust against external shock.

• 한국안전학회지
• /
• 제29권6호
• /
• pp.166-171
• /
• 2014

Nuclear power plants are equipped with the reactor trip system (RTS) and the engineered safety features actuation system (ESFAS) to improve safety on the normal operation. In the event of the design basis accident (DBA), a various of post accident monitor(PAM)systems support to provide important details (e.g. Containment pressure, temperature and pressure of reactor cooling system and core exit temperature) to determine action of main control room (MCR). Operator should be immediately activated for the accident mitigation with the information. Especially, core exit temperature is a critical parameter because the operating mode converts from normal mode to emergency mode when the temperature of core exit reaches $649^{\circ}C$. In this study, uncertainty which was caused by exterior environment, characteristic of thermocouple/connector and accuracy of calibrator/indicator was evaluated in accordance with ANSI-ISA 67.04. The square root of the sum of square (SRSS) methodology for combining uncertainty terms that are random and independent was used in the synthesis. Every uncertainty that may exist in the hardware which is used to measure the core exit temperature was conservatively applied and the associative relation between the elements of uncertainty was considered simultaneously. As a result of uncertainty evaluation, the channel statistical allowance (CSA) of single channel of core exit temperature was +1.042%Span. The range of uncertainty, -0.35%Span ($-4.05^{\circ}C$) ~ +2.08%Span($24.25^{\circ}C$), was obtained as the operating criteria of core exit temperature.