• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.456-465
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• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

• Structural Engineering and Mechanics
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• v.17 no.3_4
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• pp.303-329
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• 2004

Magnetostrictive materials are routinely employed as actuator and sensor elements in a wide variety of noise and vibration control problems. In infrastructural applications, other technologies such as hydraulic actuation, piezoelectric materials and more recently, magnetorheological fluids, are being favored for actuation and sensing purposes. These technologies have reached a degree of technical maturity and in some cases, cost effectiveness, which justify their broad use in infrastructural applications. Advanced civil structures present new challenges in the areas of condition monitoring and repair, reliability, and high-authority actuation which motivate the need to explore new methods and materials recently developed in the areas of materials science and transducer design. This paper provides an overview of a class of materials that because of the large force, displacement, and energy conversion effciency that it can provide is being considered in a growing number of quasistatic and dynamic applications. Since magnetostriction involves a bidirectional energy exchange between magnetic and elastic states, magnetostrictive materials provide mechanisms both for actuation and sensing. This paper provides an overview of materials, methods and applications with the goal to inspire novel solutions based on magnetostrictive materials for the design and control of advanced infrastructural systems.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.486-494
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• 2006

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.11a
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• pp.117-120
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• 2005

The relationship between strain and applied potential was derived for composite actuators consisting single-wall carbon nanotubes (SWNTs) and conductive polymers (CPs). During deriving the relationship, an electrochemical ionic approach is utilized to formulate the electromechanical actuation of the composite film actuator. The results show that the well-aligned SWNTs composite actuator can give good actuation responses and high actuating forces available. The actuation is found to be affected by both SWNTs and CPs components and the actuation of SWNTs component has two kinds of influences on that of the CPs component: reinforcement at the positive voltage and abatement at the negative voltage. CNT/EAP was fabricated successfully using the chemical polymerization method.

• JSTS:Journal of Semiconductor Technology and Science
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• v.7 no.3
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• pp.177-182
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• 2007

This paper presents the see-saw type RF MEMS switch based on a single crystalline silicon structure with narrow gap vertical comb. Low actuation voltage and high isolation are key features to be solved in electrostatic RF MEMS switch design. Since these parameters in conventional parallel plate RF MEMS switch designs are in trade-off relationship, both requirements cannot be met simultaneously. In the vertical comb design, however, the actuation voltage is independent of the vertical separation distance between the contact electrodes. Therefore, the large separation gap between contact electrodes is implemented to achieve high isolation. We have designed and fabricated RF MEMS switch which has 46dB isolation at 5GHz, 0.9dB insertion loss at 5GHz and 40V actuation voltage.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.168-174
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• 2012

This paper presents a bending propagating actuation using SMA (Shape Memory Alloy) spring for an effective shape transition of a flytrap-inspired soft morphing structure. The flytrap-inspired soft morphing structure is made from unsymmetric CFRP (Carbon Fiber Reinforced Prepreg) structure which shows bi-stability and snap-through phenomenon. For a thin and large curved bistable CFRP structure, SMA spring is more acceptable than SMA wire and piezoelectric actuator which used in previous investigations. A bending propagating actuation is proposed which can induce snap-through of the bi-stable CFRP structure effectively. From this research, effective shape transition of soft morphing structure is possible.

• Polymer(Korea)
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• v.29 no.5
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• pp.463-467
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• 2005

In order to enhance the actuation force of ionic polymer-metal composite (IPMC) made with the acrylic copolymer of fluoroalkyl methacryate, acrylic acie, and 2-hydroxyethyl methacrylate(HEMA), the hydroxy group of HEMA was corsslinked with 1,3-diethoxy-1,1,3,3-tetramethyldisiloxane. The water uptake was reduced and the mechanical strengths and the actuation force of the membrane was improved by crosslinking. However, current and deformation responses of IPMC were decreased by crosslinking.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.221-227
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• 2019

This paper studies an effect of vibration on twisted string actuation inside conduit at high curvature angles. In our previous work. we have mentioned that twisted string actuators can be used to transmit power even at significant curvature angles of the conduit. However, several undesirable effects, namely pull-back, hysteresis, and chattering, were present during actuation due to friction between strings and the internal sheath of the conduit. This paper reports the results of experimental study on effects of vibration on twisted string actuation inside curved conduits. We have demonstrated that applying vibration generated near natural frequency of the system during the stages of twisting and untwisting cycles helped reduce pull-back and hysteresis and increase string contraction. In case when sheath was deflected by $180^{\circ}$ under a constant load of 3 kg, we were able to achieve over 40% decrease in pull-back and 30% decrease in hysteresis, compared with no vibration case.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.769-770
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• 2012

• Journal of electromagnetic engineering and science
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• v.6 no.2
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• pp.135-145
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• 2006

This paper presents the theory, design, fabrication and characterization of the novel low actuation voltage capacitive shunt RF-MEMS switch using a corrugated membrane with HRS MEMS packaging. Analytical analyses and experimental results have been carried out to derive algebraic expressions for the mechanical actuation mechanics of corrugated membrane for a low residual stress. It is shown that the residual stress of both types of corrugated and flat membranes can be modeled with the help of a mechanics theory. The residual stress in corrugated membranes is calculated using a geometrical model and is confirmed by finite element method(FEM) analysis and experimental results. The corrugated electrostatic actuated bridge is suspended over a concave structure of CPW, with sputtered nickel(Ni) as the structural material for the bridge and gold for CPW line, fabricated on high-resistivity silicon(HRS) substrate. The corrugated switch on concave structure requires lower actuation voltage than the flat switch on planar structure in various thickness bridges. The residual stress is very low by corrugating both ends of the bridge on concave structure. The residual stress of the bridge material and structure is critical to lower the actuation voltage. The Self-alignment HRS MEMS package of the RF-MEMS switch with a $15{\Omega}{\cdot}cm$ lightly-doped Si chip carrier also shows no parasitic leakage resonances and is verified as an effective packaging solution for the low cost and high performance coplanar MMICs.