• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.

• 한국정밀공학회지
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• 제14권5호
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• pp.100-107
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• 1997

A pneumatic artificial muscle type of actuator, which acts similar to human muscle, is developed recently. In this paper, an adaptive controller is presented for the trajectory tracking problem of a two-degree- of-freedom manipulator using two pairs of pneumatic artificial muscle actuators. Due to the nonlinearity and the uncertainty on the dynamics of the actuator, it is difficult to make the effective control schemes of this system. By the adaptive control law which inclueds a nonlinear "feedforward" term compensating paramet- ric uncertainties in addition to P.I.D. scheme, both golbal stability of the system and convergence of the tracking error are guaranted. The effectiveness of the proposed control method for the manipulator using this actuator is illustrated through experiments.periments.

• 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.

• 비파괴검사학회지
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• 제27권6호
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• pp.541-549
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• 2007

This work describes an investigation into the feasibility of using an acoustic emission (AE) technique to evaluate the integrity of a composite actuator with a PZT ceramic under electromechanical cyclic loading. AE characteristics have been analyzed in terms of the behavior of the AE count rate and signal waveform in association with the performance degradation of the composite actuator during the cyclic tests. The results showed that the fatigue cracking of the composite actuator with a PZT ceramic occurred only in the PZT ceramic layer, and that the performance degradation caused by the fatigue damage varied immensely depending on the existence of a protecting composite bottom layer. We confirmed the correlations between the fatigue damage mechanisms and AE signal types for the actuators that exhibited multiple modes of fatigue damage; transgranular micro damage, intergranular fatigue cracking, and breakdown by a short circuiting were related to a burst type signal showing a shortly rising and slowly decaying waveform with a comparably low voltage, a continuous type signal showing a gradual rising and slowly decaying waveform with a very high voltage and a burst and continuous type signal with a high voltage, respectively. Results from the present work showed that the evolution of fatigue damage in the composite actuator with a PZT ceramic can be nondestructively identified via in situ AE monitoring and microscopic observations.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.748-755
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• 2006

In this paper, a trade-off design and fabrication of IPMC(Ionic Polymer Metal Composites) as an actuator for a flapping device have been described. Experiments for the internal solvent loss of IPMCs have been conducted for various combinations of cation and solvent in order to find out the best combination of cation and solvent for minimal solvent loss and higher actuation force. From the experiments, it was found that IPMCs with heavy water as their solvent could operate longer. Relations between length/thickness and tip force of IPMCs were also quantitatively identified for the actuator design from the tip force measurement of 200, 400, 640, and $800{\mu}m$ thick IPMCs. All IPMCs thicker than $200{\mu}m$ were processed by casting $Nafion^{TM}$ solution. The shorter and thicker IPMCs tended to generate higher actuation force but lower actuation displacement. To improve surface conductivity and to minimize solvent evaporation due to electrically heated electrodes, gold was sputtered on both surfaces of the cast IPMCs by the Physical Vapor Deposition(PVD) process. For amplification of a short IPMC's small actuation displacement to a large flapping motion, a rack-and-pinion type hinge was used in the flapping device. An insect wing was attached to the IPMC flapping mechanism for its flapping test. In this test, the wing flapping device using the $800{\mu}m$ thick IPMC. could create around $10^{\circ}{\sim}85^{\circ}$ flapping angles and $0.5{\sim}15Hz$ flapping frequencies by applying $3{\sim|}4V$.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1006-1011
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• 2004

Carbon nanotubes have outstanding properties which make them useful for a number of high-technology applications. Especially, single-walled carbon nanotube (SWNT), 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 structure simulated in this paper is an isotropic cantilever type with an adhesive tape which is sandwiched between two SWNTs. For predicting the geometrical and physical parameters such as deflection, slope, bending moment and induced force with various applied voltages, the analytical model for a 3 layer bimorph nanotube actuator is developed by applying Euler-Bernoulli beam theory. The governing equation and boundary conditions are derived from energy Principles. Also, the brief history of carbon nonotube is overviewed and its properties are compared with other functional materials. Moreover, an electro-mechanical coupling coefficient of the carbon nanotube actuator is discussed to identify the electro-mechanical energy efficiency.

• 비파괴검사학회지
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• 제26권4호
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• pp.220-230
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• 2006

3점 굽힘 하중을 받는 단일 PET 및 평판형 압전 복합재료 작동기(PCA)의 파괴거동을 음향방출(AE) 법을 이용하여 살펴보았다. 단일 PET의 경우 최대 굽힘하중에서 발생한 AE신호는 고진폭 및 긴 유지시간을 갖는 특징을 보였으며 FFT에 의한 지배 주파수 대역을 확인한 결과 $100{\sim}230kHz$의 비교적 저주파수 대역이었다. PCA의 경우, stage 1에서 발생한 80dB이상의 고진폭 및 $170{\sim}223kHz$의 저 지배 주파수 대역을 갖는 신호는 PZT층에서의 취성파괴 및 PZT층과 인근 섬유층 사이의 층간분리에 의한 것으로 추정되었다. 상기의 AE거동 해석결과와 광학현미경 및 주사전자현미경에 의한 손상관찰에 근거하여 비대칭으로 적층된 PCA의 파괴거동과 관련한 AE특성을 규명하였다.

• Composites Research
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• 제19권5호
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• pp.7-11
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• 2006

SWNT(Single-Walled Carbon Nanotubes)와 도전성 고분자 PANi(Polyaniline)로 구성된 복합재료 합성물질을 제조하여 전기적 기계적 특성을 실험적으로 조사하였다. 이러한 재료는 인공근육 등으로 사용될 수 있어서 미소 인공생물체및 로봇의 구동에 응용될 수 있다. 이 작동기는 90% 순도의 SWNT와 화학적 Polymerization을 이용하여 본 연구실에서 개발된 완전히 새로운 방식으로 제조되었다. 4 탐침 측정법(4-probe method)을 사용하여 이 필름형 복합재 작동기의 전기전도도를 측정한 결과 56.15 S/cm의 값을 나타냈으며, 순수 PANi은 17.38 S/cm를 나타내었다. 순수한 도전성 폴리머 보다 3.2배 높은 전도성을 나타내었다. 이 작동기의 재료적 특성은 SEM을 사용하여 분석하였으며, 우수한 특성을 갖고 있었다. 전압이 작용할 때 변형률을 측정하기 위해서 레이저 측정 센서가 부착된 측정장치가 개발되었으며, $NaNO_3$ 용액 속에서 작동되며, 1볼트의 전압이 가해졌다. 초기 길이 12.690 mm에서 12.733 mm로 늘어났으며, 0.34%의 변형률이 계산되었다. 이 값은 호주 Tahhan의 0.23%보다 48% 정도 높은 변형률이다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.723-726
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• 2005

The two major obstacles in the application of IPMC to flapping actuators operated in the air are solvent loss and actuation force. In this paper, solvent loss of various IPMCs made of Nafion$^{TM}$117(183$\mu$m thickness) has been experimentally investigated to find out the best combination of cation and solvent for minimal solvent loss in IPMCs and higher actuation force. For this purpose. experiments for the internal solvent loss measurement of IMPCs have been conducted for various combinations of cation and solvent. From the experiments, it was found that heavy water showed improvement in the operating time up to more than two minutes. in the tip force measurement of IPMCs, it was found that smaller and thicker IPMCs produced larger tip forces. However, the shorter IPMCs generated reduced actuation displacements and created flapping motion with decreased natural frequency. For the design of flapping device actuated by 5mm wide, 10mm long, 0.2mm thick IPMCs were used in the stacked form. Since the actuation force is a few gram-force, we stacked five IPMCs to improve actuation force. To amply the actuation force, rack-and-pin ion type hinge was used for the flapping device and insect (Cicadidae) wing was attached to the stacked IPMC actuator. In the flapping test, the device could generate flapping angle of 15$^{\circ}$ at 6Hz excitation by 2.5 voltage square wave input.