• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 추계학술대회 논문집 전기물성,응용부문
• /
• pp.3-8
• /
• 2004

The Pulse Width Modulation (PWM) Inverter plays an important role in express locomotive. Especially after traction motors are fed by fast switching inverters, the interturn insulation is destroyed more heavily. However, a new type of polyimide corona resistant film is developed and used in insulation of traction motors. In order to investigate the service life of this kind of traction motor, the mechanism and characteristics of dielectric breakdown of polyimide corona resistant are studied in the paper. Experiments have been carried out on specimen according to the condition of traction motor. The breakdown point of tested sample film is analyzed through energy spectrum analysis and electron microscopic photograph. At last, it is presented that the characteristics and mechanism of breakdown of polyimide corona resistance film.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1158-1162
• /
• 2005

Drug delivery systems have been developed to reduce the side toxicity of drugs by localizing them in the site of action. But it depends on the circulation of the blood and it doesn't have the function of locomotive mechanism of itself for searching for the region of disease. However, this problem could be solved by nanobot which have the locomotive function. So, we mimic the movement of cell that can move in a human body. In this paper, to polymerize the encapsulated actin within the liposome, electroporation technique is employed. In order to optimize polymerization and depolymerization of the liposome, we compare the time of polymerization and depolymerization by concentration of crown ether. we synthesis the liposome which contain azobenzene Linked crown Ether conjugated Actin protein. Azobenze linked crown ether holds the K+ ion by exposure of UV light and this disturbs the actin polymerization. In result, UV light could control the liposome growth. Finally, we could develop the liposome robot and control the growth and degeneration of the liposome by external stimuli such s UV light. The merit of the controlling by UV light doesn't need to inject proteins which induce polymerization and depolymerization of actin protein.

• 제어로봇시스템학회논문지
• /
• 제8권4호
• /
• pp.345-350
• /
• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.

• 대한기계학회논문집A
• /
• 제33권11호
• /
• pp.1300-1305
• /
• 2009

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.743-747
• /
• 2000

The coordinated mechanism of terrestrial vertebrates enables them to maneuver over all of the terrain conditions since they have a distinct ability to adapt to varying conditions. Their locomotions remain infinitely more advanced and elegant than that of present-day existing mechanical walking robots. However, the principles of existing walking robots are based more on technical rather than on biological concepts, yielding unstable locomotion with low speed. In order to apply these advanced biological phenomena to the mechanical design of 4-legged walking robot, modeling methods are introduced and mathematical equations are also introduced.

• Journal of Magnetics
• /
• 제22권1호
• /
• pp.162-167
• /
• 2017

Magnetic spiral-type microrobots, which are driven by a rotating magnetic field, have excellent locomotive abilities, whereas their medical applications are limited in the terms of function, such as the ability to drill in blood vessels. In this study, we propose a new robot with superior applications using a magnetic spiral-type machine. The proposed robot can be applied to stent transportation and installation without a catheter. In particular, the robot can be applied to the cardiovascular system, cerebrovascular disease, and nonvascular stent applications depending on the robot size. The robot consists of two independent spiral-type machines and four magnets in total. We controlled directions of thrust force of the two machines, respectively, for active locomotion with a task. We conducted a preliminary validation of the proposed robot for stent transportation and installation through experimental analyses.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2002년도 추계학술대회 논문집(I)
• /
• pp.553-558
• /
• 2002

The harmonics in railway high voltage system is due to common use of 3 phase incoming bus and doing the power converter for traction system on the electric car(or electric locomotive). This paper, we analyze the harmonics mechanism and characteristics of railway high voltage system, also we analyze the problem according to the actual measurement about influence of harmonicsontherailwayhighvoltagesystem. And we proved the countermeasure device(passive filter or L-C filter) of harmonics applies in the field. The test result, we have know that the filter is not fit. Consequently, The countermeasure of harmonics for the railway high voltage system be able to resolve by another filter.

• 한국정밀공학회지
• /
• 제24권6호
• /
• pp.66-71
• /
• 2007

Development of a locomotive mechanism for the capsule type endoscopes will largely enhance their ability to diagnose disease of digestive organs. As a part of it, there should be provided a detection device of their position in human organs for the purpose of observation and motion control. In this paper, a permanent magnet outside human body was employed to project magnetic field on a capsule type endoscope, while its position dependent flux density was measured by three hall-effect sensors which were orthogonally installed inside the capsule. In order to detect the 2-D position data of the capsule with three hall-effect sensors including the roll, pitch and yaw angle, the permanent magnet was extra translated during the measurement. In this way, the 2-D coordinates and three rotation angles of a capsule endoscope on the same motion plane with the permanent magnet could be detected. The working principle and performance test results of the capsule position detection device were introduced in this paper showing that they could be also applied to 6-DOF position detection.

• 한국정밀공학회지
• /
• 제21권5호
• /
• pp.188-202
• /
• 2004

This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
• /
• pp.2357-2364
• /
• 2011

Diesel locomotive operates the generator with the power from the diesel engine, and it consists of the typical serial-hybrid system which operates the train wheels by converting its generated electric energy into the torque of DC (or AC) motor. However, the technology of locomotives is only focused on trains' controlling power generation mechanism. Hence, it is a current issue that the efficiency of its engine and its generator is relatively lower than that of auto vehicles'. Particularly, since there are no proper equipment to measure the amount of fuel which is essentially necessary for the efficient use of fuel, it is not easy to confirm the instant amount of fuel use as well as the exact average fuel consumption per an hour. Due to those difficulties, it is urgent to develop the device that measures the fuel consumption. Plus, this use of the developed measuring device allows the various and useful analysis relating to the fuel consumption, and this could lead to establishing the efficient driving pattern regarding to fuel saving. This device consists of two flux (fuel level) measuring censors, MCU for calculating the measured values, the information recorder for saving measured values, and the display device for indicating the fuel amount consumed during driving.