• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 대한의용생체공학회:의공학회지
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• 제28권5호
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• pp.636-646
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• 2007

Adequate postural control depends on the spatial and temporal integration of vestibular, visual, and somatosensory information. Especially, the musculoskeletal function is essential to maintain the postural control. The experimental studies was performed on the muscular activities in the lower extremities during maintaining and moving exercises on an unstable platform with Magneto Rheological(MR) dampers. The unstable platform of the developed system was controlled by electric currents to the MR dampers. A subject executed the maintaining and moving exercises which are presented through the display monitor. The electromyographies of the eight muscles in lower extremities were recorded and analyzed in the time and the frequency domain: the muscles of interest were rectus femoris(RF), biceps femoris(BF), tensor fasciae latae(TFL), vastus lateralis(VL), vastus medialis(VM), gastrocnemius(Ga), tibialis anterior(TA), Soleus(So). The experimental results showed that the muscular activities differed in the four moving exercises and the nine maintaining exercises. For the anterior-posterior pattern, the TA showed highest activities; for the left-right pattern, the TFL; for the 45, $-45^{\circ}$ pattern, the TFL and TA. Also, the rate of the increase in the muscular activities were affected by the condition of the unstable platform with MR dampers for the maintaining and moving exercises. The experimental results suggest that the choice of different maintaining and moving exercises could selectively train different muscles in various intensity. Futhermore, the findings suggested that the training using this system can improve the ability of postural control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• Ocean Systems Engineering
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• 제13권4호
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• pp.401-421
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• 2023

Reducing hawser line tensions and dynamic responses to a certain level is of paramount importance as the hawser lines provide important structural linkage between 2 body TLP-TAD system. The objective of this paper is to demonstrate how MR Damper can be utilized to achieve this. Hydrodynamic coefficients and wave forces for two bodies including second-order effects are obtained by 3D diffraction/radiation panel program by potential theory. Then, multi-hull-riser-mooring-hawser fully-coupled time-domain dynamic simulation program is applied to solve the complex two-body system's dynamics with the Magneto-Rheological (MR) Damper modeled on one end of hawser. Since the damping level of MR Damper can be changed by inputting different electric currents, various simulations are conducted for various electric currents. The results show the reductions in maximum hawser tensions with MR Damper even for passive control cases. The results also show that the hawser tensions and MR Damper strokes are affected not only by input electric currents but also by initial mooring design. Further optimization of hawser design with MR Damper can be done by active MR-Damper control with changing electric currents, which is the subject of the next study.

• 상하수도학회지
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• 제26권4호
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• pp.555-563
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• 2012

Due to the importance of energy-saving and CO2 reduction is being emphasized in the world, efforts to find a solution for the problems is increasing rapidly. In particular, the renewable energy is on understanding as a breakthrough for the protection of the environment and the economic development, so it is intensively fostered as future industries. Developed countries are already pursuing policy and technology development related with renewable energy. In this paper, we will develop MHD(Magneto Hydro Dynamics) technology to supply the commercial power that can is targeted at water pipe related with hydro power among renewable energy technologies. Kinetic energy of fluid flowing in the water pipe is converted into electric power. It allows stable power supply to the various sensors and devices on water pipe. We have performed several experiments to verify the application possibility of the developed technologies and present the result and a method of performance improvement of the technologies.

• Journal of Mechanical Science and Technology
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• 제19권10호
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• pp.1835-1845
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• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

• 한국자동차공학회논문집
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• 제17권3호
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• pp.22-28
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• 2009

Recently, there has been an active study about smart fluid to control the vibration, in which MR fluid is evaluated as most efficient because it can generate different bonding forces based on the intensity of the external magnetic fields. This paper attempts to find a mechanism that, under limited conditions during a clutch production that uses such dynamic characteristic, defects the maximum intensity of electromagnetism. Using the finite element analysis program, we predicted a change within the bonding force of the MR fluid occurring inside the clutch when it is subjected to an increased electric current. In addition, we analyzed the change in the magnetic intensity when the coil comprising the coil control center is switched to multiple lines from the standard single line, to find a mechanism that can maximize the effect. Based on this analysis, we developed the clutch and tested its function, hoping to widen future MR fluid's range of application.

• Nuclear Engineering and Technology
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• 제49권1호
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• pp.82-91
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• 2017

Liquid alloy systems have a high degree of thermal conductivity, far superior to ordinary nonmetallic liquids and inherent high densities and electrical conductivities. This results in the use of these materials for specific heat conducting and dissipation applications for the nuclear and space sectors. Uniquely, they can be used to conduct heat and electricity between nonmetallic and metallic surfaces. The motion of liquid metals in strong magnetic fields generally induces electric currents, which, while interacting with the magnetic field, produce electromagnetic forces. Electromagnetic pumps exploit the fact that liquid metals are conducting fluids capable of carrying currents, which is a source of electromagnetic fields useful for pumping and diagnostics. The coupling between the electromagnetics and thermo-fluid mechanical phenomena and the determination of its geometry and electrical configuration, gives rise to complex engineering magnetohydrodynamics problems. The development of tools to model, characterize, design, and build liquid metal thermomagnetic systems for space, nuclear, and industrial applications are of primordial importance and represent a cross-cutting technology that can provide unique design and development capabilities as well as a better understanding of the physics behind the magneto-hydrodynamics of liquid metals. First studies for the development of computational tools for the design of liquid metal electromagnetic pumps are discussed.

• Advances in nano research
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• 제4권2호
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• pp.65-84
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• 2016

This paper investigates the buckling behavior of shear deformable piezoelectric (FGP) nanoscale beams made of functionally graded (FG) materials embedded in Winkler-Pasternak elastic medium and subjected to an electro-magnetic field. Magneto-electro-elastic (MEE) properties of piezoelectric nanobeam are supposed to be graded continuously in the thickness direction based on power-law model. To consider the small size effects, Eringen's nonlocal elasticity theory is adopted. Employing Hamilton's principle, the nonlocal governing equations of the embedded piezoelectric nanobeams are obtained. A Navier-type analytical solution is applied to anticipate the accurate buckling response of the FGP nanobeams subjected to electro-magnetic fields. To demonstrate the influences of various parameters such as, magnetic potential, external electric voltage, power-law index, nonlocal parameter, elastic foundation and slenderness ratio on the critical buckling loads of the size-dependent MEE-FG nanobeams, several numerical results are provided. Due to the shortage of same results in the literature, it is expected that the results of the present study will be instrumental for design of size-dependent MEE-FG nanobeams.

• Current Applied Physics
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• 제18권12호
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• pp.1473-1479
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• 2018

Recently multiferroic materials have attract great interest for the applications on memorial, spintronic and magneto-electric sensor devices for their spontaneous magneto-electric coupling properties. Research and development of the various kinds of multiferroics are indispensable factor for a new generation multifunctional materials. In this research, mechanical, electronic, magnetic and nonlinear optical properties of La modified $BiLaFe_2O_6$ (BLFO) and Mn modified $Bi_2FeMnO_6$ (BFMO) were studied as new members of multiferroic $BiFeO_3$ (BFO) series by first-principles calculations, and compared with the pure BFO to discover the optimized properties. Our results show that BLFO and BFMO have good mechanical stability as revealed by elastic constants that satisfy the stability criteria. All these compounds exhibit anisotropic and ductile nature. The enhanced properties by La and Mn substitution, such as increased hardness, improved magnetism, decreased band gap and comparable second harmonic generation responses reveal that the new multiferroic members of BLFO and BFMO would get wider application than their BFO counterpart. Our study is expected to providing an appropriate mechanical reference data as guidance for engineering of high efficiency multifunctional devices with the BFO series.