• 한국소음진동공학회논문집
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• 제16권12호
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• pp.1286-1293
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.543-546
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• 1997

The purpose of this study is to investigate the ERSU(Electr0-Rheological Suspension IJnit) and some progress of damping force characteristic of a ERSU. This paper describes overall construction of th'e system design and the manufacturing of ERSU. A model of the ERSU is made by using electric field dependent on Bingham properities of ER fluid. In this paper. the ERSU is designed and manufactured for a light ground tracked vehicle. From the results, it is shown that the damping performance of ERSLJ is better than that of a passive suspension unit. This experimental study might be very useful for the simulat~on and the design of semi-active suspension units.

• 한국정밀공학회지
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• 제15권10호
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• pp.81-87
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• 1998

This paper provides an investigation of torque transmission system using ERF (Electro-Rheological Fluid). The torque transmission system using ERF is a new conception device because an apparent viscosity of ERF can be changed by applying an electric field, We use the coaxial cylinder type in which the ERF fills the annular space between a pair of coaxial cylindrical electrodes and experiment results show that the measured torque was increased with the increase of the electric field. These are analyzed to provide guidelines to assist in the development of practical ER devices.

• 한국기계가공학회지
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• 제3권2호
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• pp.67-72
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• 2004

Electro-Rheological(ER) fluids consist of suspensions of fine polarizable particles In a dielectric oil, which upon application of an external electric field control take on the characteristics of the Bingham solid. In this study, the temperature dependence of the viscosity was Investigated for an ER fluid consisting of 35 weight % of zeolite particles in hydraulic oil 46cSt. Thermal activation analysis was performed by changing the ER fluid's temperature from $-10^{\circ}C$ to $50^{\circ}C$. According to the analysis, the activation energy for flow of the ER fluid was 79.6 kJ/mole without applying electric field. On the other hand, with the electric field of 2kV/mm, the linearity between viscosity and temperature was not existed By changing the temperatures the viscosity (or shear stress) versus shear rates were measured. In this experiment shear rates were increased from 0 to $200s^{-1}$ in 2 minutes. Generally, the hydraulic oil 46cSt will be operated at the temperature of about $40^{\circ}C$, thus, the ER fluid's electric field dependence of viscosity was examined at this temperature. Also, an influence of adding the dispersant(Carbopl 940) on ER effect was discussed.

• 한국재료학회지
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• 제4권2호
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• pp.213-218
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• 1994

제올라이트 분말을 기본재료로 하는 전기유변유체의 전기 및 유변학적 특성이 연구되었다. 전기장 인가시 높은 한계응력을 얻기 위하여 비교적 유전상슈가 큰 5종류의 유전유체를 선택하여 제올라이트 분말과 혼합하여 전기유변유체를 준비하였다. Couette형 rheometer를 이용하여 유변유체의 한계응력을 인가된 전기장 및 온도의 함수로서 측정하였다. 이중 chlorinate hydrocabon oil과 제올라이트 분말을 혼합한 전기유변유체의 한계응력은 6KPa(E=4KV/mm, T=$25^{\circ}C$)로서 최대치를 기록하였다. 측정된 한계응력은 온도가 상승하면 점차 감소하는 반면 전류밀도는 온도에 따라 증가하였다. 전류밀도에 대한 Arrhenius 그라프에서 전기전도에 대한 활성화 에너지는 약 0.7eV였으며 이는 제올라이트 분말에 포함된 $Na^{+}$ 이온의 확산에 기인하는 것으로 분석되었다.

• 한국정밀공학회지
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• 제10권1호
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• pp.134-141
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• 1993

Electro-Rheological(ER) fluids undergo a phase-change when subjected to an external electic field, and this phase-change typically manifests itself as a many-order-of-magnitude change in the rheological behavior. This phenomenon permits the global stiffness and energy- dissipation properties of the beam structures to be tuned in order to synthesize the desired vibration characteristics. This paper reports on a proof-of-concept experimental investigation focussed on evaluation the vibration properties of hollow cantilevered beams filled with an ER fluid. and consequently deriving an empirical model for predicting field-dependent vibration characteristics. A hydrous-based ER fluid consisting of corn starch and silicone oil is employed. The beams are considered to be uniform viscoelastic materials and modelled as a viscously-damped harmonic oscillator. Natural frequency, damping ratio and elastic modulus are evaluated with respect to the electric field and compared among three different beams: two types of different volume fraction of ER fluid and one type of different particle concentration of ER fluid by weight. Transient and forced vibration responses are examined in time domain to demonstrate the validity of the proposed empirical model and to evaluate the feasibility of using the ERfluid as an actuator in a closed-loop control system.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.27-33
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• 2004

Electro-theological fluid is recently used for the micro polishing of 3-dimensional micro-aspherical lens. It's also used for polishing small area defects on the wide flat wafer. Since ER fluid shows a behavior of viscosity changing under certain electric fields. micro polishing efficiency may be enhanced for certain cases. In this paper, a perfluorinated carbonyl fluoride oil based ER fluids was used to improve surface polishing rate and submicron-scale accuracy. As the polishing electrodes, micro size cylindrical tools had been used for maximizing the electric field. An experimental device, which was applied for micro polishing a number of wafers of 4inches in size and other workpiece. was made on a precision polishing system. It consisted of a steel electrode. a wafer fixture. l0㎃ current and DC 5㎸ power supply unit, and a controller unit. From the Experiments. the ER fluid is applicable for micro polishing of small parts.

• 한국가시화정보학회:학술대회논문집
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• 한국가시화정보학회 2003년도 추계학술대회 논문집
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• pp.103-106
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• 2003

An experimental investigation was peformed to study the characteristics of ER(Electro-Rheological) fluid water flow in a horizontal rectangular tube with or without D.C volatage. To determine some characteristics of the ER flow, 2D PIV(Particle Image Velocimetry) technique is employed for velocity measurement. This research found the mean velocity distribution with 0 kV/mm, 1.0kV/mm and 1.5kV/mm for Re = 0, 0.62, 1.29 and 2.26. When the strength of the electric field increased, the claster of ERF are clearly strong along the test tube and the flow rate decreased.

• 한국유변학회:학술대회논문집
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• 한국유변학회 2003년도 춘계학술발표회 논문집
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• pp.73-76
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• 2003

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