• 대한조선학회논문집
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• 제41권2호
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• pp.90-97
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• 2004

Flow mechanism of contractive and dilative motion is numerically investigated to obtain a propulsive force in highly viscous fluid. An axisymmetric code is developed with unstructured grid system based on cell-centered scheme. It is validated by comparing with the results of Stokes approximation for the problem of uniform flow past a sphere in low Reynolds number(R$_{n}$=1). The validated code is applied to the simulation of contractive and dilative periodic motion of body whose results are quantitatively compared with the two dimensional case. In order to investigate the grid dependency, two different grids are applied to the present computations. The present study provides key information for the development of an axisymmetric Micro-hydro-robot.t.

• 로봇학회논문지
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• 제19권1호
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• pp.45-52
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• 2024

This paper introduces an approach to enhance the performance of magnetic manipulation systems for microrobot actuation. A variety of eight-electromagnet configurations have been proposed to date. The previous study revealed that achieving 5 degrees of freedom (5-DOF) control necessitates at least eight electromagnets without encountering workspace singularities. But so far, the research considering the influence of iron cores embedded in electromagnets has not been conducted. This paper offers a novel approach to optimizing electromagnet configurations that effectively consider the influence of iron cores. The proposed methodology integrates probabilistic optimization with finite element methods (FEM), using Bayesian Optimization (BO). The Bayesian optimization aims to optimize the worst-case magnetic force generation for enhancing the performance of magnetic manipulation system. The proposed simulation-based model achieves approximately 20% improvement compared to previous systems in terms of actuation performance. This study has the potential for enhancing magnetic manipulation systems for microrobot control, particularly in medical and microscale technology applications.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.231-232
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.179-180
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• 2006

• Journal of Welding and Joining
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• 제29권1호
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• pp.29-32
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.73-74
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• 2010

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.716-722
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• 2001

In this paper, the modeling and control of electrostrictive polymer is introduced for endoscopic microcapsule. The endoscopic microcapsule works in the body, so the material of robot must be no harmful to the body. The electrostrictive polymer satisfies this condition. The modeling and control of endoscope microcapsule must be processed. So the modeling and control of electrostrictive was processed preferentially. The electrostrictive polymer is so flexible that we considered the electrostrictive polymer as flexible membrane. The dynamic equation of flexible membrane is time variant in electrostrictive polymer. It is the reason that the elastic modulus of electrostrictive polymer is very small and changes as deformation of electrostrictive polymer. The control algorithm must overcome these characteristics. So the algorithm of adaptive fuzzy control was used to control. In this paper, we introduced the dynamic modeling and control of electrostrictive polymer. And its deformation is introduced.

• 전력전자학회지
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• 제9권3호
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• pp.18-22
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• 2004

PC용 마이크로프로세서는 Intel사의 아키텍처로 거의 표준화되어 있지만, 임베디드 마이크로프로세서에 눈을 돌린다면 마치 춘추전국시대의 양상을 뛰고 있다 국외에서 임베디드 마이크로프로세서로써 주목을 받는 것들 중에 하나인 Renesas Technology사(2003년, 히타치와 미쯔비시와의 합작회사)의 SuperH(SH) 계열을 소개하고자 한다. 현재 국내에서는 SuperH RISC CPU를 사용하는 교육기관. 연구소, 그리고 업체는 소수에 그치고 있지만, 한국을 제외한 국외에서는 TI사의 TMS시리즈와 같이 전력전자분야뿐만 아니라 로봇, 모바일 홈네트워크, AV기기, CIS(Car Information System) 등의 분야에도 폭 넓게 응용되고 있다. [1-4] 저자는 본 특집을 통해 SuperH시리즈에 대한 구조와 특징을 소개함으로써 국내에서도 이를 이용한 연구활동이나 제품개발에 커다란 도움이 되었으면 한다.(중략)

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.288-293
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• 1987

This study presents the methodology for the hierachical construction of digital control system which can be of practical value to a wide application of sequence control. Optimization of digital control system, programming of the system by micropascal, and simulation of a model program under test are discussed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1433-1436
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• 2008

Flagellate bacteria such as Escherichia coli or Serratia marcescens possess a remarkable motility system based on a reversible rotary motor. We have employed S. marcescens as microactuators in low Reynolds number fluidic environments to move a larger engineering element around. Microstructures fabricated using conventional microfabrication techniques are blotted on the swarm plate, which leaves a bacterial monolayer on the surface of the microstructure. We have investigated microstructures powered by bacteria to determine how cell orientation on the microstructure surface relates to the swarming patterns as well as how the orientation is affected by the blotting process. This study will help to refine directional control of bacterial transporters by exploiting bacterial sensory mechanisms.