• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.535-538
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 한국생산제조학회지
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• 제21권2호
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• pp.324-330
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• 2012

In this paper, we presents a robust control system design for compensating hysteresis of a piezoelectric actuator-based actuation unit. First, the dynamics between the input voltage and the output displacement of the actuation unit are unravelled via a non-parametric system identification method. From the dynamic characteristics of those experimental transfer functions, a parametric model is then derived, whose dynamics match those of the non-parametric ones under various conditions on input voltages. A robust controller is constructed on the basis of this parametric model in order not only to effectively compensate the hysteresis of the actuation unit but also to guarantee the robust stability. Extensive experiments show that the proposed robust control system successfully mitigate the effect of the hysteresis and improve the tracking capability of the actuation unit.

• 한국전산유체공학회지
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• 제17권2호
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• pp.85-92
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• 2012

Flows over a square cylinder with and without plasma actuation are numerically investigated to see whether plasma actuation can effectively modify vortex shedding from the cylinder and reduce the drag and lift fluctuations. In this study, a plasma synthetic jet actuator is mounted on the rear side of cylinder as a means of direct-wake control. The effect of plasma actuation is considered by adding a momentum forcing term in the Navier-Stokes equations. Results show that the reduction of mean drag and lift fluctuations is obtained for both steady and unsteady actuation. However, the steady actuation is better than the unsteady one in terms of mean drag as well as drag fluctuations. With the strong steady actuation considered, the interaction of two separating shear layers from rear corners is effectively weakened due to the interference of synthetic jets. It results in a merging of synthetic-jet and shear-layer vortices and the increase of vortex shedding frequency. On the other hand, the unsteady actuation generates pulsating synthetic jets in the near wake, but it does not change the vortex shedding frequency for the actuation frequencies considered in this study.

• Smart Structures and Systems
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• 제19권5호
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• pp.553-565
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• 2017

Structural modeling of unencapsulated ionic polymer metal composite (u-IPMC) actuators that are used for flapping the insect scale-flapping wing of micro air vehicles (FMAV) in dry environmental conditions is carried out. Structural modeling for optimization of design parameters for retention of water, maximize actuation performance and to study the influence of water activity on the actuation characteristics of u-IPMC is explored for use in FMAV. The influence of equivalent weight of Nafion polymer, cations, concentration of cations, pre-treatment procedures on retention of water of u-IPMCs and on actuation parameters, flapping angle, flexural stiffness and actuation displacement are investigated. IPMC designed with Nafion having equivalent weight 900-1100, pre-heated at $30^{\circ}C$ and with sodium as the cations is promising for optimum retention of water and actuation performance. The actuation parameters while in operation in dry and humid environment with varying water activity can be tuned to desirable frequency, deflection, flap angle and flexural stiffness by changing the water activity and operational temperature of the environment.

• 로봇학회논문지
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• 제14권3호
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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.

• Structural Engineering and Mechanics
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• 제42권5호
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• pp.677-699
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• 2012

This article studies the secondary resonances of a clamped-clamped microresonator under combined electrostatic and piezoelectric actuations. The electrostatic actuation is induced by applying the AC-DC voltage between the microbeam and the electrode plate that lies at the opposite side of the microbeam. The piezoelectric actuation is induced by applying the DC voltage between upper and lower sides of piezoelectric layer. It is assumed that the neutral axis of bending is stretched when the microbeam is deflected. The drift effect of piezoelectric layer (the phenomenon where there is a slow increase of the free strain after the application of a DC field) is neglected. The equations of motion are solved by using the multiple scale perturbation method. The system possesses a subharmonic resonance of order one-half and a superharmonic resonance of order two. It is shown that using the DC piezoelectric actuation, the sensitivity of AC-DC electrostatically actuated microresonator under subharmonic and superharmonic resonances may be tuned. In addition, it is shown that the tuning domain of the microbeam under combined electrostatic and piezoelectric actuations at subharmonic and superharmonic conditions is larger than the tuning domain of microbeam under only the electrostatic actuation.

• 폴리머
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• 제29권5호
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• pp.463-467
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• 2005

Fluoroalkyl methacrylate, 아크릴산, 2-hydroxyethyl methacrylate(HEMA)를 공중합한 불소화 아크릴계 이온성 고분자로 제조한 이온성 고분자-백금 복합재료(IPMC)의 구동력을 증대시키기 위하여, HEMA의 OH기를 1,3-diethoxy-1,1,3,3-tetramethyldisiloxane으로 가교하였다. 가교반응에 의하여 IPMC의 수분흡수가 감소하면서, 기계적 강도, 구동력이 증가함을 관찰하였다. 그러나 IPMC의 구동성, 즉 외부 전위에 의한 변위와 전류량은 가교에 의해 감소하였다.

• Smart Structures and Systems
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• 제13권1호
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• pp.55-80
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• 2014

The present work pays emphasis on investigating the effect of different types of debonding on the bending behaviour of active sandwich beam, consisting of both extension and shear actuators. An active sandwich beam finite element is formulated by using Timoshenko's beam theory, characterized by first order shear deformation for the core and Euler-Bernoulli's beam theory for the top and bottom faces. The problem of debondings of extension actuator and face are dealt with by employing four-region model for inner debonding and three-region model for the edge debonding respectively. Displacement based continuity conditions are enforced at the interfaces of different regions using penalty method. Firstly, piezoelectric actuation of healthy sandwich beam is assessed through deflection analysis. Then the effect of actuators' debondings with different boundary conditions on bending behavior is computationally evaluated and experimentally clamped-free case is validated. The results generated will be useful to address the damage tolerant design procedures for smart sandwich beam structures with structural control and health monitoring applications.

• Advances in aircraft and spacecraft science
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• 제1권4호
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• pp.409-425
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• 2014

Converging flows of a gas and a liquid at a microchannel cross junction, under proper conditions, can result in the formation of periodic, dispersed microslugs. This microslug formation phenomenon has been proposed as the basis for a fuel injection system in a novel, 'discrete' monopropellant microthruster designed for use in next-generation miniaturized satellites. Previous experimental studies demonstrated the ability to generate fuel slugs with characteristics commensurate with the intended application during steady-state operation. In this work, numerical and experimental techniques are used to study the effect of valve actuation on slug characteristics, and the results are used to compare with equivalent steady-state slugs. Computational simulations of a valve with a 1 ms valve-actuation cycle show that as the ratio of the response time of the valve to the fully open time is increased, transient effects can increase slug length by up to 17%. The simulations also demonstrate that the effect of the valve is largely independent of surface tension coefficient, which is the thermophysical parameter most responsible for slug formation characteristics. Flow visualization experiments performed using a miniature valve with a 20 ms response time showed less than a 1% change in the length of slugs formed during the actuation cycle. The results of this study indicate that impulse bit and thrust calculations can discount transient effects for slower valves, but as valve technology improves transient effects may become more significant.

• 한국항공우주학회지
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• 제34권3호
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• pp.81-86
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• 2006

본 논문은 유압 공급 면에서는 2중으로 전기제어 면에서는 3중으로 다중화된 DDV 구동장치에 대한 구동전류 고장 모니터 설계에 관한 논문이다. 다중화된 신호들 가운데 어느 한 채널에 고장이 발생한다면, 이 신호는 정확히 감지되어야 하고, 시기적절하게 제거되어야 하며, 남겨진 정상채널들은 그 기능이 재조정되어야 한다. 조종면 구동장치의 고장 모니터 설계는 비행체 역학, 비행제어법칙, 그리고 유압 구동장치 운동특성이 모두 고려된 통합적 관점에서 수행되어야 한다. MIL-F-8785C에서 규정하고 있는 고장에 따른 비행체 천이 응답 요구조건으로부터 조종면 구동장치의 고장이탈 한계를 결정하는 설계 방법이 제시되었다.