• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1235-1240
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• 2006

Previous isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) has been made under the assumption that the steering link offset is equal to the caster wheel radius. Nevertheless, many practical COMR's in use take advantage of the steering link offset different from the wheel radius, mainly because of improved stability. This paper presents the isotropy analysis of a fully actuated COMR with variable steering link offset, which can be considered as the generalization of the previous analysis. First, the kinematic model of a COMR under full actuation is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize three different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify all possible isotropic configurations completely.

• Structural Engineering and Mechanics
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• v.42 no.5
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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.

• Smart Structures and Systems
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• v.14 no.5
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• pp.765-784
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• 2014

In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.263-270
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• 2003

Before the implementation of the 1992 seismic design provisions in Korea, longitudinal steels of RC bridge piers were practically lap-spliced in the plastic hinge region. Experimental investigation was made to evaluate the seismic performance of RC bridge pier specimens in a flexure/shear mode. Six circular test specimens in an aspect ratio of 2.5 (600mm in diameter) were made with test parameters confinement ratio, lap splices, and retrofit FRP materials. They were damaged under a series of artificial earthquakes with 0.22g PGA, being compatible in Korean peninsula, through the pseudo-dynamic test. Probable damages were assessed by the Park and Ang damage index. Approximate 0.1 and 0.3 damage indices were obtained for RC specimens without lap splice and with lap splice, respectively. Directly after the pseudo-dynamic test, damaged test columns were laterally actuated under inelastic reversal cyclic loadings simultaneously under a constant axial load. Through curvature measurements, residual seismic performance was evaluated for test specimens. Test results show that RC pier specimens with lap-spliced appeared to fail at low ductility, but significant improvement was obtained for the ductility of these specimens if externally wrapped with FRP.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.7
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• pp.758-768
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• 2005

The ball screw actuated by the electric motor is widely used as an essential actuator for driving the mechanical system by virtue of accuracy and force transmission capability. In this paper, a design of the global sliding mode control is presented to drive the ball screw actuator along the minimum time trajectory, In the proposed control scheme, if the ranges of parametric uncertainties and torque limits of the system are specified, the arrival time of the load along the minimum time trajectory can be estimated. Also, the arriving time at the reference input and the maximum acceleration are expressed in a closed form solution. Conversely, the capacity of a ball screw actuator including the motor can be easily designed if the external load and its transportation time are specified. The superior performance of the proposed control scheme and analysis is validated by the computer simulation and experiments comparing with other sliding mode controllers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.243-253
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• 2002

This paper presents the system modeling, analysis, and controller design and implementation for a rotational inverted pendulum system(RIPS), which is an under-actuated system and has the problem of unattainable angular velocity state. A sliding mode controller using the parameterization of both the hyperplane and the compensator fur output feedback is applied to the RIPS. Also, to improve the performance of the control system, a disturbance observer which estimates the disturbance, parameter variation, and some modeling errors of RIPS with less computational effort is used together. The results of simulation and experiment show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1466-1474
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• 2003

This paper presents a system modeling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is the disturbance observer which estimates disturbance and some modeling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.718-721
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• 2007

The ionic-polymer-metal-composite actuators have the best merit for bio-mimetic locomotion because of their large bending performance. Especially, they have the advantage for mimicking a fish-like motion because IPMCs are useful to be actuated in water. So we have developed IPMC actuators with multiple electrodes for realization of biomimetic motion. This actuator is fabricated by combining electroless plating and electroplating techniques capable of patterning precisely and controlling a thickness of Pt electrode layer. The FRF analysis was conducted by a mechanical shaker and direct electrical excitation which is based on sweep sine wave function. From this result, the proper young‘s modulus of Platinum was investigated and applied on expecting the vibration characteristics of patterned IPMC actuator. The calculated maximum displacement of the patterned IPMC was 2.32mm under an applied 4mN/mm. The natural frequency was increased however displacement was decreased in according to increase a thickness of Pt.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.801-805
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• 2009

This paper reports on a flexible flap valve actuated by electromagnetic force under a constant pressure source. The flexible flap valve consists of the three main components: a flexible flap with a steel disk embedded in PDMS, an electromagnetic actuator and two glass plates with inlet and outlet. The flap valve is fabricated by SU-8 mold process, the EDM process and oxygen plasma treatment. The dimension of an assembled flap valve is $12[mm]{\times}20[mm]{\times}28[mm]$. The stroke volume of the flap valve is measured for various pressures. And the time of the applied input voltage is varied to change the open time of the valve. When the input voltage of 30[V] is applied for 0.25[s], the minimum stroke volume of the flap valve is $40[{\mu}L]$ at 70 [kPa].

• Journal of Institute of Convergence Technology
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• v.5 no.2
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• pp.13-19
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• 2015

Recently, quadcopters have been popular as aerial drones. The structure of quadcopters is simpler than traditional helicopters and they are easy to construct and maneuver. Various hardware platforms for quadcopters have been developed. However, the controller design is not easy due to the requirement of 6-DOF flights using 4 rotors(control inputs)(under-actuated systems). In order to overcome the underactuation problem, various control methods - PID, LQR, $H_{\infty}$, SMC, backstepping control, and etc. - have been suggested for the control of quadcopters. In this paper, dynamic features and control methods of quadcopters are reviewed and evaluated. Future works are proposed for designing the advanced controllers of quadcopters.