• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.142-159
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• 1996

Engineering of automated tools for the agro-food industries and the rural world activities have to pick up two challenges : to answer the immediate important problems related to the situation of these industries, and to imaging the tools that their professional will need next century. Creating or modifying automated tools in the next few will be made taking into account parameters either technical (environmental protection, health and safety), or social and economical (investment , employment). There will be a strong interaction with disciplines like ecology, medicine, ergonomy, psycho-sociology , etc. , The partners for such a research, tools manufactures and users, should have an early involvement in its content, in order to find rapidly the solution to the drastic problems they are meeting. On a longer term , during the next 20 years , there will be an important evolution of the rural space management and of the food processes. This will imply the emergence of new types of activities and know-how's , with lines of automated tools to be invented and developed , like : micro-system for organic localized tasks -mobile and adaptive equipments highly autonomous for natural space actions - device for perception , decision and control reproducing automatically the expert behaviors of human operators. Design of such automated tools need to overcome technological difficulties like the automation of the expert-decision process, or the management of complex design.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.390-390
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• 2000

This research is the development of a skin-type tactile sensor for service robot using PVDF film for the detection of the contact state. The Prototype of the tactile sensor which has 8$\times$8 taxels was fabricated using PVDF film In the fabrication procedure of the sensor, the electrode patterns and common electrode of the thin conductive tape were attached to the both side of the 28 micro meter thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for making stable structure. The signals of a contact pressure to the tactile sensor were sensed and processed in the DSP system in which the signals were digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in PC, the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of contact state was verified through the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.554-554
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• 2000

To improve mechanical properties of Cu-Al-Ni alloy by the grain refinement, Cu-Al-Ni SMA ribbons were fabricated by melt spinning apparatus. The variations of microstructure, mechanical properties and transformation characteristics with the condition of rapid solidification and annealing time-temperature were investigated in Cu-Al-Ni SMA ribbons. The ribbons fabricated by melt spinning obtained around 1.5nm in width and 50-60${\mu}{\textrm}{m}$ in thickness. With increasing wheel speed in order of 10m/s, 15m/s, 20m/s, 30m/s and 3m/s, the grain size was decreased in order of 10${\mu}{\textrm}{m}$, 6.25${\mu}{\textrm}{m}$, 5.5${\mu}{\textrm}{m}$, 3${\mu}{\textrm}{m}$ and 3${\mu}{\textrm}{m}$. $M_{s}$ and $A_{s}$ temperature were decreased with decreasing grain size. By X-ray diffraction test, ordered $\beta$$_1$ phase was observed in all the SMA ribbons and the volume friction of it was increased with increasing wheel speed. With increasing wheel speed, strain was increased from 4.2% to 5.8% and fracture mode has changed from mixture of intergranular and dimple fracture to mixture of fiber structure and dimple fracture. The grain size of ribbon heat-treated at $600^{\circ}C$ was increased with increasing time. In the heat-treated ribbons at 55$0^{\circ}C$, ${\gamma}$$_2$ phases were observed.d.d.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.12
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• pp.65-74
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• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.

• Smart Structures and Systems
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• v.24 no.2
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• pp.223-231
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• 2019

The properties of Electroactive Polymer (EAP) materials are attracting the attention of engineers and scientists from many different disciplines. From the point-of-view of robotics, Ionic Polymer Metal Composites (IPMC) belong to the most developed group of the EAP class. To allow effective design of IPMC-actuated mechanisms with large induced strains, it is necessary to have adequate analytical tools for predicting the behavior of IPMC actuators as well as simulating their response as part of prototyping methodologies. This paper presents a novel IPMC motor construction. To simulate the bending behavior that is the dominant phenomenon of motor movement process, a nonlinear model is used. To accomplish the motor design, the IPMC model was identified via a series of experiments. In the proposed model, the curvature output and current transient fields accurately track the measured responses, which is verified by measurements. In this research, a three-dimensional Finite Element Method (FEM) model of the IPMC motor, composed of IPMC actuators, simultaneously determines the mechanical and electrical characteristics of the device and achieves reliable analysis results. The principle of the proposed drive and the output signals are illustrated in this paper. The proposed modelling approach can be used to design a variety of controllers and motors for effective micro-robotic applications, where soft and complex motion are required.

• Advances in robotics research
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• v.2 no.3
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• pp.183-199
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• 2018

This paper presents the development of a 3D printed humanoid robotic hands of SignBot, which can perform Malaysian Sign Language (MSL). The study is considered as the first attempt to ease the means of communication between the general community and the hearing-impaired individuals in Malaysia. The signed motions performed by the developed robot in this work can be done by two hands. The designed system, unlike previously conducted work, includes a speech recognition system that can feasibly integrate with the controlling platform of the robot. Furthermore, the design of the system takes into account the grammar of the MSL which differs from that of Malay spoken language. This reduces the redundancy and makes the design more efficient and effective. The robot hands are built with detailed finger joints. Micro servo motors, controlled by Arduino Mega, are also loaded to actuate the relevant joints of selected alphabetical and numerical signs as well as phrases for emergency contexts from MSL. A database for the selected signs is developed wherein the sequential movements of the servo motor arrays are stored. The results showed that the system performed well as the selected signs can be understood by hearing-impaired individuals.

• Journal of Sensor Science and Technology
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• v.33 no.1
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• pp.7-11
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• 2024

Soft-pressure sensors have numerous applications in soft robotics, biomedical devices, and wearable smart devices. Herein, we present a highly sensitive electronic skin device with an isotropic wrinkled pressure sensor. A conductive ink for soft pressure sensors is produced by a solution process using polydimethylsiloxane (PDMS), poly 3-hexylthiophene (P3HT), carbon black, and chloroform as the solvents. P3HT provides high reproducibility and conductivity by improving the ink dispersibility. The conductivity of the ink is optimized by adjusting the composition of the carbon black and PDMS. Soft lithography is used to fabricate a conductive elastic structure with an isotropic wrinkled structure. Two conductive elastic structures with an isotropic wrinkle structure is stacked to develop a pressure sensor, and it is confirmed that the isotropic wrinkle structure is more sensitive to pressure than when two elastic structures with an anisotropic wrinkle structure are overlapped. Specifically, the pressure sensor fabricated with an isotropic wrinkled structure can detect extremely low pressures (1.25 Pa). Additionally, the sensor has a high sensitivity of 15.547 kpa^-1 from 1.25 to 2500 Pa and a linear sensitivity of 5.15 kPa^-1 from 2500 Pa to 25 kPa.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.705-709
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• 2016

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.

• Journal of Adhesion and Interface
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• v.25 no.1
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• pp.169-274
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• 2024

Recent attention has been drawn to materials that undergo reversible expansion and contraction in response to external stimuli, leading to morphological changes. These materials hold potential applications in various fields including soft robotics, sensors, and artificial muscles. In this study, a novel material capable of responding to high temperatures for protection or encapsulation is proposed. To achieve this, liquid crystal elastomer (LCE) with nematic-isotropic transition properties and polyimide (PI) with high mechanical strength and thermal stability were utilized. To utilize a solution process, a dope solution was synthesized and introduced into micro-printing techniques to develop a two-dimensional pattern of LCE/PI bilayer structures with sub-millimeter widths. The honeycomb-patterned LCE/PI bilayer mesh combined the mechanical strength of PI with the high-temperature contraction behavior of LCE, and selective printing of LCE facilitated deformation in desired directions at high temperatures. Consequently, the functionality of selectively and reversibly encapsulating specific high-temperature materials was achieved. This study suggests potential applications in various actuator fields where functionalities can be implemented across different temperature ranges without the need for electrical energy input, contingent upon molecular changes in LCE.