• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.1
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• pp.1-6
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• 2008

This paper presents muscle-inspired serial digital actuators, achieving the improvement of the range-to-precision and range-to-voltage performance. We propose a weight-balanced design for the serial actuators with serpentine springs using serial arrangement of digital actuators. We have measured the displacement range, precision, and drive voltage at unit and serial actuation of 1Hz. The serial digital actuators produce a full range displacement of $28.44{\pm}0.02{\mu}m$, accumulating the unit displacement of $2.8{\pm}0.5{\mu}m$ at the operating voltage of $4.47{\pm}0.07V$. In addition, the serial digital actuators having the displacement precision of $37.94{\pm}6.26nm$ do not accumulate the precision of the unit actuators, $36.0{\pm}17.7nm$. We experimentally verify that the serial digital actuators achieve the range-to-squared-voltage ratio of $1.423{\mu}m/V^2$ and the range-to-precision ratio of 749.6.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.735-739
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• 2003

This paper presents a direct seek control algorithm for swing-arm type dual stage servo system that consists of a coarse actuator and a fine actuator. The proposed scheme is to design a control system that attenuates the effect of dynamic coupling between the two actuators so that the seek operation can be performed in a single-shot with stability. In an optical drive system with dual stage servo mechanism, the effect of dynamic coupling between the two actuators needs to be handled during the coarse seek operation due to its inherent structure. In an extreme case, the two actuators can collide each other, which leads to critical degradation of the seek performance. To handle this problem, our proposed control scheme is to generate the drive signals such that the two actuators behave as if they are a single fixed body. To this end, a feedforward controller and two feedback controllers are designed that enable the current drive system perform wide range of track seek. Simulation results are provided to show the validity and feasibility of our proposed algorithm.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1601-1623
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• 2015

Electroactive polymers have attracted considerable attention in recent years due to their sensing and actuating properties which make them a material of choice for a wide range of applications including sensors, biomimetic robots, and biomedical micro devices. This paper presents an effective modeling strategy for nonlinear large deformation (small strains and moderate rotations) dynamic analysis of polymer actuators. Considering that the complicated electro-chemo-mechanical dynamics of these actuators is a drawback for their application in functional devices, establishing a mathematical model which can effectively predict the actuator's dynamic behavior can be of paramount importance. To effectively predict the actuator's dynamic behavior, a comprehensive mathematical model is proposed correlating the input voltage and the output bending displacement of polymer actuators. The proposed model, which is based on the rigid finite element (RFE) method, consists of two parts, namely electrical and mechanical models. The former is comprised of a ladder network of discrete resistive-capacitive components similar to the network used to model transmission lines, while the latter describes the actuator as a system of rigid links connected by spring-damping elements (sdes). Both electrical and mechanical components are validated through experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.658-662
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• 1990

In the air-fuel control of automotive engine to improve its efficiency, fuel economy and less emissions, conventional control methods using $O_{2}$ sensor or the lean air-fuel ratio sensor provide only open control in rich conditions. Control with a wide range air-fuel sensor makes it possible to employ closed loop control for all engine conditions including rich combustion. With a wide range A/F sensor and A/F transfer functions, a PID control system is constructed which employs an learning scheme. A/F controller is designed which enables to improve the ability of its compensation for sensors and actuators, and its control operation is evaluated by computer simulation.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.8-8
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• 2011

During the last half decade, chemically modified graphene (CMG) has been studied in the wide range of applications, such as polymer composites, energy-related materials, sensors, 'paper'-like materials, field-effect transistors (FET), inks, actuators, and biomedical applications due to its excellent electrical, mechanical, and thermal properties. Chemical modification of graphene oxide, which is generated from graphite oxide, which is produced by simple oxidation of graphite, has been a promising route to achieve mass production of CMG platelets via their colloidal suspensions. Graphene oxide contains a range of reactive oxygen functional groups, which renders it a good candidate for use in the aforementioned applications (among others) through chemical functionalizations. In this presentation, I will discuss my recent research activities on the fundamental chemistry of graphite oxide, as well as novel applications based on CMGs. Topics will include the chemical structure of CMGs and colloidal suspensions of CMG platelets, as well as a wide variety of applications.

• Structural Engineering and Mechanics
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• v.56 no.3
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• pp.461-472
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• 2015

In this paper, the nonlinear static response of curled cantilever beam actuators subjected to the one-sided electrostatic field is focused on. By assuming the deflection function of electrostatically actuated beam, analytical approximate solutions are established via using Galerkin method to solve the equilibrium equation. The Pull-In voltages which determine the stability of the curled beam actuators are also obtained. These approximate solutions show excellent agreements with numerical solutions obtained by the shooting method and the experimental data for a wide range of beam length. Expressions of these analytical approximate solutions are brief and could easily be used to derive the effects of various physical parameters on MEMS structures.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.2 no.2
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• pp.73-79
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• 2001

In this paper, the transmitted noise reduction performance of piezoelectric smart panels is experimentally studied. The proposed piezoelectric smart panels are comprised of plate structure on which piezoelectric sensor/actuators are bonded and sound absorbing material is provided. It is a combination of passive and active approaches utilizing a passive effect at high frequencies and an active effect at low frequencies. To prove the concept of piezoelectric smart panels, an acoustic measurement experiment is performed. An acoustic tunnel is designed and its acoustic characteristics are tested. Below 800Hz, the tunnel exhibits a plane wave guide characteristics. When an absorbing material is bonded on a single plate, a remarkable transmitted noise reduction in mid frequency range is observed except the first resonance frequency. By enabling the active control of single smart panel with negative feedback control. about 10dB noise reduction is achieved at the resonance frequencies. The double smart panel got 4dB at the first resonance frequency and has more potential to reduce the transmitted noise in a wide range frequency. Piezoelectric smart panels incorporating passive absorbing material and active piezoelectric devices is a promising technology for noise reduction in a wide range frequency.

• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.147-154
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• 2009

Visions of ubiquitous robotics and ambient intelligence involve distributing information, knowledge, computation over a wide range of servers and data storage devices located all over the world, and integrating tiny microprocessors, actuators, and sensors into everyday objects as well in order to make them smart. In this paper, we introduce our ongoing research effort aimed at realizing ubiquitous robots in an information structured space. For this, a ubiquitous space and ambient intelligent systems for a librarian robot are introduced and the RFID technology based approach for these systems is described.

• Journal of Powder Materials
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• v.28 no.6
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• pp.509-517
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• 2021

Smart materials capable of changing their characteristics in response to stimuli such as light, heat, pH, and electric and magnetic fields are promising for application to flexible electronics, soft robotics, and biomedicine. Compared with conventional rigid materials, these materials are typically composed of soft materials that improve the biocompatibility and allow for large and dynamic deformations in response to external environmental stimuli. Among them, smart magnetic materials are attracting immense attention owing to their fast response, remote actuation, and wide penetration range under various conditions. In this review, we report the material design and fabrication of smart magnetic materials. Furthermore, we focus on recent advances in their typical applications, namely, soft magnetic actuators, sensors for self-assembly, object manipulation, shape transformation, multimodal robot actuation, and tactile sensing.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.147-152
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• 2016

Shape Memory Alloys (SMAs) undergo changes in shape and hardness when heated or cooled, and do so with great force. Since wire-type SMAs contract in length when heated and pull with a surprisingly large force and move silently, they can be used as actuactors which replace motors. These SMA actuators can be heated directly with electricity and can be used to create a wide range of motions. This paper presents the mechanical design and control for a three fingered, six degree-of-freedom robotic hand actuated by SMA actuators. Each finger has two joints and each joint is actuated with two tendons in the antagonistic manner. In order to create the sufficient force to make the smooth motion, the tendon is composed of two SMA actuators in parallel. For controlling the current to heat the SMA actuators, PWM drivers are used. In experiments, the antagonistic interaction of fingers are evaluated.