• 제목/요약/키워드: Electrorheological fluid

검색결과 94건 처리시간 0.027초

ER 유체를 이용한 햅틱 마스터와 가상 MIS 환경의 연동제어 (Force-Feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment)

  • 강필순;한영민;최승복
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2006년도 추계학술대회논문집
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    • pp.422-427
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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, and theirtrackingerrorsareevaluated.

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전기유변 유체를 이용한 햅틱 마스터와 가상의 최소침습수술 환경과의 연동제어 (Force-feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment)

  • 강필순;한영민;최승복
    • 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.

Role of surfactant on damping performance of polyaniline based electrorheological suspension

  • Kim, Ji-Woo;Kim, Chul-Am;Choi, Hyoung-Jin;Choi, Seung-Bok
    • Korea-Australia Rheology Journal
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    • 제18권1호
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    • pp.25-30
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    • 2006
  • To enhance the stability of dispersed polyaniline (PANI) particles in a silicone oil system, a nonionic surfactant was adopted, and its effect on the electrorheological (ER) performance was investigated under an applied electric field. In the presence of a nonionic surfactant, the PANI based ER fluid exhibited not only an improved sedimentation stability based on the estimated sedimentation ratio but also an enhanced maximum yield stress behavior. Furthermore, the surfactant added ER suspension was applied to an ER damper system, and its damping performance was compared with the ER suspension without a surfactant.

Electrorheological Behavior of the Hollow PANI Sebacate Suspension upon Application of the Electric Field

  • Choi, Ung-Su;Lee, Sang-Soon
    • KSTLE International Journal
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    • 제10권1_2호
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    • pp.13-16
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    • 2009
  • The electrorheological(ER) behavior of hollow polyaniline(PANI) sebacate suspension in silicone oil was investigated by varying the electric fields and shear rates, respectively. The hollow PANI sebacate susepnsion acted as a typical Bingham fluid caused by the polarizability of an amide polar group and showed shear yield stress due to the formation of chains upon application of an electric field. The shear stress for the hollow PANI sebacate suspension exhibited an electric field power of 1.24. On the basis of the experimental results, the newly synthesized hollow PANI sebacate suspension was found to be an anhydrous ER fluid.

전기유변유체를 동작매체로 하는 실험용 토크 전달장치 제작 및 성능평가 (Construction and Evaluation of an Experimental Type Torque Converter by Adapting an Electrorheological Fluid as an Operating Medium)

  • 김상국;정동운;최윤대
    • 대한기계학회논문집
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    • 제18권10호
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    • pp.2706-2711
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    • 1994
  • In this work, an experimental type of torque converter has been constructed and its characteristics have been evaluated by adapting an electrorheological fluid(ERF) as an operating medium. The device was designed by using the equations which were proposed by Carlson et al. The correlation between the rheological behaviour of an ERF and mechanical parameters of the clutch has been investigated. The torque generated by an ERF in this device is sum of one due to the yield strength by polarizing dispersed particles in dielectric oil and one due to the viscous drag. The experimental results are presented in terms of torque and current density as a function of rotational speed at various electric field strength applied. Experimental results showed that the measured torque was rapidly increased with the increase of the electric field, generally being proportional to the rotational speed of the motor. The measured current was shown to be increased with the increased electric field. Also, the current was decreased with the increase of increased with the increased electric field. Also, the current was decreased with the increase of the rotational speed of the motor and reached plateau region after f = 5 Hz.

Rheological Behavior of Glucosamine and Glucosamine Hydrochloride Suspensions under DC Electric Field

  • Kong, Sung-Wook;Kim, Seung-Wook;Choi, Ung-Su
    • KSTLE International Journal
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    • 제8권2호
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    • pp.35-37
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    • 2007
  • The electrorheological behavior of the glucosamine and glucosamine hydrochloride suspensions was investigated. The the glucosamine suspension behaved as a Newtonian fluid due to low conductivity even though it has polar group. The glucosamine hydrochloride suspension behaved as a Nonnewtonian fluid under the application of the electric field. The shear stress of the glucosamine hydrochloride suspension is proportional to 1.86 power of the electric field. The value of the structure factor, $A_s$ was 1 and it may be resulted due to the formation of single chain upon application of the electric field.

ER 현가장치 및 ER 브레이크를 적용한 전체차량의 거동분석 (Maneuver Analysis of Full-Vehicle Featuring Electrorheological Suspension and Electrorheological Brake)

  • 성금길;최승복
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2007년도 춘계학술대회논문집
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    • pp.1125-1130
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    • 2007
  • This paper presents a maneuver analysis of a full-vehicle featuring electrorheological (ER) suspension and ER brake. In order to achieve this goal, an ER damper and an ER valve pressure modulator are devised to construct ER suspension and ER brake systems, respectively. After formulating the governing equations of the ER damper and ER valve pressure modulator, they are designed and manufactured for a middle-sized passenger vehicle, and their field-dependent characteristics are experimentally evaluated. The governing equation of motion for the full-vehicle is then established and integrated with the governing equations of the ER suspension and ER brake. Subsequently, a sky-hook controller for the ER suspension and a sliding mode controller for the ER brake are formulated and implemented. Control performances such as vertical displacement and braking distance of vehicle are evaluated under various driving conditions through computer simulations.

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ER 유체를 이용한 반능동 현가장치용 고전압 전원장치의 개발 (Development of High Voltage Power Supply for Semi-Active Suspension System Using ER Fluids)

  • 정세교;신휘범
    • 전력전자학회논문지
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    • 제7권5호
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    • pp.453-464
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    • 2002
  • ER 유체(Electrorheological fluid)는 인가 전계에 따라 유체의 점도(Viscosity)와 댐핑력(Damping force)이 변화하는 혼합물질이며 반능동 현가장치, 고속 클러치, 진동 흡수장치 등에 적용되고 있다. ER 유체의 응용을 위해서는 강한 전계를 인가해 줄 수 있는 고전압 가변 전원장치가 필요하다. 본 논문에서는 반능동 현가장치에 적용하기 위한 전원장치의 개발에 대하여 기술하였다. ER 유체의 전기적 특성, 고전압 전원장치의 요구조건, 전원장치의 설계 및 제작에 대하여 설명하였으며 최종적으로 실험을 통하여 개발된 고전압 전원장치가 ER 유체 응용에 적합함을 검증하였다.

Surface Finishing Technique for Micro 3-Dimensional Structures Using ER Fluid

  • Kim, Wook-Bae;Lee, Sang-Jo;Kim, Yong-Jun;Lee, Eung-Sug
    • International Journal of Precision Engineering and Manufacturing
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    • 제5권1호
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    • pp.47-54
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    • 2004
  • In this study, the electrorheological (ER) fluid was used as finishing agent. Since the apparent viscosity can be controlled by an electric field, the ER fluid can be one of efficient materials in finishing processes. To finish small 3-dimensional structures such as the aspherical surface in optical elements, the possible arrangement of a tool, part and auxiliary electrode was described. We examined the influence of the addition of a few abrasive particles on the performance of the ER fluid by measuring yield stress and observed the behavior of abrasive particles in the ER fluid by a CCD camera, which had been also theoretically predicted from the electromechanical principles of particles. On the basis of the above results, the steady flow analysis around the rotating micro tool was performed considering the non-uniform electric field. Finally, borosilicate glass was finished using the mixture of the ER fluid and abrasive particles and material removal with field strength and surface roughness were investigated.

신경 제어 기법을 이용한 ER 밸브-실린더 시스템의 위치 제어 (Position Control of ER Valve-Cylinder System Via Neural Control Technique)

  • 정재민;최승복;정재천
    • 한국자동차공학회논문집
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    • 제4권6호
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    • pp.52-64
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    • 1996
  • This paper presents an active position control of a single-rod cylinder system featuring an electrorheological(ER) fluid-based valve. The ER fluid consisting of silicone oil and chemically treated particles is firstly composed and its Bingham property is tested as a function of imposed electric field. A multi-channel plate type of ER valve is then designed and manufactured on the basis of the field-dependent Bingham model. Performance test of the ER valve is undertaken by evaluating pressure drop with respect to the number of electrode as well as the intensity of the electric field. Subsequently, the ER valve-cylinder system is constructed and its governing equation of motion is derived. A neural control scheme for position control of the cylinder is formulated by incorporating proportional-plus-derivative(PD) controller and implemented. Experimental results of both regulating and tracking control responses are presented in order to demonstrate the efficacy of the proposed ER valve-cylinder control system.

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