• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.2-103
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• 2001

In this paper, we discusses compliant actuators those are made of electrostrictive polymer. Electrostrictive polymer actuators(EPAs) are based on the deformation of dielectric elastomer polymer in the presence of an electric field. We address actual design and fabrication method of an actuator using the electrostrictive polymer. We have developed primitive prototypes of the actuator using elastic restoring force. And they actuators have 1 to 3 DOF, 1 DOF actuators are simple linear actuators and 3 DOF actuator has linear actuation and steering capability. They are simple in structure with lightweight, high trust, force and large stroke. Basic design principles and experimental procedures for confirming their performance will be introduced.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.5
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• pp.18-24
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• 2016

An electromagnetic linear actuator is controlled precisely and securely and is useful in devices that require linear motion. The most commonly used method in the performance verification process for an electromagnetic actuator is finite element analysis that utilizes CAE. However, finite element analysis has the disadvantage that modeling and analysis consume a lot of time. Accordingly, lumped parameter analysis can be an alternative approach to the finite element method because of its computation iteration capability with fair accuracy. In this paper, the lumped parameter model and simulation results are presented. In addition, the results of the lumped parameter analysis are compared with those obtained from finite element analysis for verification.

• Transactions of the Society of Information Storage Systems
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• v.5 no.1
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• pp.8-13
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• 2009

In this study, to compensate trembling of camera caused by vibration of user's hand, 2-axis voice coil actuator of optical image stabilizer (OIS) is suggested. In consideration of actuating performance, volume of OIS and application of hall sensor, one of concept models is selected and it is optimized to maximize the actuating performance. Two types of mechanisms that have the feasibility of moving in 2-axis and the capability of including the optimized EM circuit are proposed. Finally both types are fabricated and then actuating performance of OIS actuator and behavior of hall sensor are verified through the experiment.

• Nuclear Engineering and Technology
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• v.53 no.11
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• pp.3685-3693
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• 2021

This paper presents a disturbance observer-based robust backstepping load-following control (DO-RBLFC) scheme for modular high-temperature gas-cooled reactors (MHTGRs) in the presence of actuator saturation and disturbances. Based on reactor kinetics and temperature reactivity feedback, the mathematical model of the MHTGR is first established. After that, a DO is constructed to estimate the unknown compound disturbances including model uncertainties, external disturbances, and unmeasured states. Besides, the actuator saturation is compensated by employing an auxiliary function in this paper. With the help of the DO, a robust load-following controller is developed via the backstepping technique to improve the load-following performance of the MHTGR subject to disturbances. At last, simulation and comparison results verify that the proposed DO-RBLFC scheme offers higher load-following accuracy, better disturbances rejection capability, and lower control rod speed than a PID controller, a conventional backstepping controller, and a disturbance observer-based adaptive sliding mode controller.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.528-532
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• 1991

Having very small linear displacement, piezoelectric actuators have been restricted in robotic application as positioning devices. In this paper, a mechanical amplifier was developed to enhance the displacement of piezoelectric actuator and the corresponding driving circuit was designed. This equipment was integrated as a robotic wrist having 2 D.O.F micropositioning capability. Each joint was analysed in mechanical and dynamic view points. Experimental result showed that this device has Some hysteresis but could be used as vibratory robotic wrist with relatively high frequency. For more fine positioning control, a closed loop approach must be taken into account.

• Journal of the Korean Magnetics Society
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• v.20 no.4
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• pp.149-152
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• 2010

The flat coil actuator is widely used to make high precision products because it has no friction between the moving coil and the guide. Finite Element Method, a favored actuator design tool due to its high accuracy, was utilized to analyze the electromagnetic actuator, but it consumes a lot of time especially in computation iterations for optimization. Accordingly, the magnetic equivalent circuit analysis can be an alternative tool to FEM because of its computation iteration capability with fair accuracy. In this paper, lumped parameter model and the simulation results are presented. In addition, the result of lumped parameter analysis is compared with those obtained from finite element analysis for verification.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.156-165
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• 1997

In the practical control systems, the dynamic range of actuatiors is limited(or saturated) when actuators are driven by sufficiently large signals. This gives rise to a nonlinearity as a result of actuator saturation. For example, the upper limit is imposed on productive capability by available factory space and capital equipment. Other examples of those kinds of actuator saturations are a maximum torque of the actua- ting motors and a throttle position in an aircraft speed control A saturating actuator may lead not only to a large overshoot during start-up and shut-down, but also to deterioration of the performance due to the uncertainties. That is, the speed of response is decreased and, possibly, the system output may not follow the lalrge reference inputs. The large-overshoot may be accompanied by rest wind-up(or called by integra- tor wind-up) which comes from controllers with integral action in saturation operation regions. Eventually, as the overshoot increases, the system has a limit cycle or becomes oscillatorily unstable. Due to these cir- cumstances, many studies are focused on the stability and robustness of the nonlinear systems with satu- rating actuator in the time-domain as well as in the frequency-domain.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.1997-2003
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• 2004

This paper presents a new method and an associated device, capable of detecting protein presence and size from the shift of the mechanical stiffness changing points due to the presence and size of proteins in a nano-gap actuator. Compared to the conventional resonant detection method, the present nanomechanical stiffness detection method shows higher precision for protein detection. The present method also offers simple and inexpensive protein detection devices by removing labeling process and optical components. We design and fabricate the nanomechanical protein detector using an electrothermal actuator with a nano-gap. In the experimental study, we measure the stiffness changing points and their coordinate shift from the devices with and without target proteins. The fabricated device detects the protein presence and the protein size of 14.0$\pm$7.4nm based on the coordinate shift of stiffness changing points. We experimentally verify the protein presence and size detection capability of the nanomechanical protein detector for applications to high-precision biomolecule detection.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.04a
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• pp.9-12
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• 2005

Recently, research on the morphing wing is an interesting issue to develop the capability of the wing such as improving the lift and reduction of drag during the operation of an aircraft by changing the wing shape from one configuration to another. A more efficient weight reduction of the wing using smart or morphing wing concept can be achieved in comparison with the conventional flaps. In this study, it is investigated the behaviors of the morphing wing using Macro Fiber Composite (MFC) actuators. Generally, MFC is the piezocomposite actuator with the rectangular PZT fiber and epoxy matrix, and uses the interdigitated electrode to produce more powerful actuation in the in-plane direction. Furthermore, it can produce the twisting actuation as compared with the traditional PZT actuators. In the formulation, the first-order shear deformation plate theory is used, and finite element method is adopted in the numerical analysis of the model. Results show the characteristics of the static behavior of the morphing wing according to the change of the actuation voltage.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.2
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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.