• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.927-931
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• 2005

Carbon nanotube actuator, working under physical conditions (in aqueous solution) and converting electrical energy into mechanical energy directly, can be a good substitute for artificial muscle. The carbon nanotube actuator simulated in this paper is an isotropic cantilever type with an adhesive tape which is sandwiched between two single-walled carbon nanotubes. For predicting the static and dynamic characteristic parameters, the analytical model for a 3 layer bimorph carbon nanotube actuator is developed by using Euler-Bernoulli beam theory. The governing equation and boundary conditions are derived from energy principles. The induced displacements of the theoretical model are presented in order to investigate the performance of the carbon nanotube actuator with different control voltages. The developed model presents invaluable means for designing and predicting the performance of carbon nanotube actuator that can be used in artificial muscle applications.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1173-1178
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• 2005

This paper proposes an IPMC actuating system with a bio-mimetic function. EMG signals generated by an intended contraction of muscles in forearm are used for the actuation of the IPMC. To obtain higher actuation force of the IPMC, the single layered as thick as 800 [${\mu}$m] or multi-layered IPMC (Nafion) of which each layer can be as thick as 178 [${\mu}$m] are prepared. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle.

• 대한기계학회논문집A
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• 제20권6호
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• pp.1882-1892
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• 1996

This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.

• 대한전기학회논문지
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• 제43권3호
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2007년도 제33회 하계학술대회 초록집
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• pp.383-383
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• 2007

• 한국자기학회:학술대회 개요집
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• 한국자기학회 2008년도 Asian Magnetics Conference
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• pp.244.1-244.1
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• 2008

• 대한치과보철학회지
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• 제36권2호
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• pp.389-423
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• 1998

This investigation was designed to determine the effectiveness of the posterior occlusal schemes on masticatory activity during mastication in complete denture. Twelve edentulous subjects were selected for this study. All subjects had no past history and no functional abnormality on masticatory system and TMjoint. And, they had residual ridge of favorable morphology, firm mucosa and Class I skeletal jaw relationship, Twelve experimental denture with interchangeable occlusions(0-degree teeth, 30-degree teeth, Levin teeth and S-A teeth) were constructed for this study. The masticatory performance was analyzed by means of standard sieve(10, 16, 20, 30sieve), and the electrical activity from selected muscles(Temporalis and Masseter muscle) was recorded simultaneously with electromyography (Bio-Pak system) as the subject masticated test foods (rice, peanut and gum) with four different occlusal schemes. Mandibular movement was, also, measured with Sirognathography(Bio-Pak system). These recordings were performed in immediately, after 1 week and after 2 weeks of insertion of complete denture. The results were as fellows; 1. The average masticatory performance of 0-degree artificial teeth was higher than any other artificial teeth. 2. Masticatory performance in denture wearer was affected preferentially by food and artificial occlusal schemes. 3. During chewing, there was a statistical difference of EMG activity between masseter and temporal muscle(p<0.01). Especially, EMG activity of working masticatory muscle was highly affected by food rather than by artificial occlusal schemes. 4. In denture wearer, the velocity of opening was not affected by food, whereas, the velocity of closing was faster in soft food chewing than in hard food chewing, and the amount of vertical displacement was grater in chewing of soft and large bolus than in chewing of hard and small bolus. However, the amount of lateral displacement showed conversely(p<0.05). 5. It was considered that masticatory performance in denture wearer is not affected by the condition of residual ridge. the history of denture wear, the preference, the adaptation to artificial teeth and the total mesiodistal length of artificial posterior teeth.

• 대한치과보철학회지
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• 제34권3호
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• pp.539-573
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• 1996

This investigation was designed to determine the effectiveness of the posterior occlusal schemes on masticatory activity during mastication in complete denture. Twelve edentulous subjects were selected for this study. All subjects had no past history and no functional abnormality on masticatory system and TMjoint. And, they had residual ridge of favorable morphology, firm mucosa and Class I skeletal jaw relationship, Twelve experimental denture with interchangeable occlusions(0-degree teeth, 30-degree teeth, Levin teeth and S-A teeth) were constructed for this study. The masticatory performance was analyzed by means of standard sieve(10, 16, 20, 30sieve), and the electrical activity from selected muscles(Temporalis and Masseter muscle) was recorded simultaneously with electromyography(Bio-Pak system) as the subject masticated test foods (rice, peanut and gum) with four different occlusal schemes. Mandibular movement was, also, measured with Sirognathography(Bio-Pak system). These recordings were performed in immediately, after 1 week and after 2 weeks of insertion of complete denture. The results were as follows; 1. The average masticatory performance of 0-degree artificial teeth was higher than any other artificial teeth. 2. Masticatory performance in denture wearer was affected preferentially by food and artificial occlusal schemes. 3. During chewing, there was a statistical difference of EMG activity between masseter and temporal muscle(p<0.01). Especially, EMG activity of working masticatory muscle was highly affected by food rather than by artificial occlusal schemes. 4. In denture wearer, the velocity of opening was not affected by food, whereas, the velocity of closing was faster in soft food chewing than in hard food chewing, and the amount of vertical displacement was grater in chewing of soft and large bolus than in chewing of hard and small bolus. However, the amount of lateral displacement showed conversely (p<0.05). 5. It was considered that masticatory performance in denture wearer is not affected by the condition of residual ridge, the history of denture wear, the preference, the adaptation to artificial teeth and the total mesiodistal length of artificial posterior teeth.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Macromolecular Research
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• 제17권12호
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• pp.1032-1038
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• 2009

A polypyrrole (PPy)/alumina composite filler prepared via in-situ polymerization of pyrrole on alumina particles was incorporated into $Nafion^{(R)}$ to improve the performance of ionic polymer-metal composite (IPMC) actuators. The IPMCs with the pristine PPy without alumina support did not show bending displacements superior to that of the bare Nafion-based IPMC, except at a high PPy content of 4 wt%. This result was attributed to the low redox efficiency of the PPy alone in the IPMC and may have also been related to the modulus of the IPMC. However, at the optimized filler contents, the cyclic displacement of the IPMCs bearing the PPy/alumina filler was 2.2 times larger than that of the bare Nafion-based IPMC under an applied AC potential of 3 Vat 1 Hz. Even under a low AC potential of 1.5 V at 1 Hz, the displacement of the PPy/alumina-based IPMCs was a viable level of performance for actuator applications and was 2.7 times higher than that of the conventional Nafion-based IPMC. The generated blocking force was also improved with the PPy/aiumina composite filler. The greatly enhanced performance and the low-voltage-operational characteristic of the IPMCs bearing the PPy/alumina filler were attributed to the synergic effects of the neighboring alumina moiety near the PPy moiety involving electrochemical redox reactions.