• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.319-320
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• 2013

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.194-199
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• 2001

In this paper, we propose a new locomotive mechanism using impulsive force for microcapsule-type endoscope. It has the compact size for movement in the colon and actuating mechanisms for hi-directional movement. The actuating mechanism resembles a pneumatic cylinder and consists of body, inertia mass(piston). spring. pneumatic source and calve. When valve is ON, the pneumatic impulsive force between piston and body drives them in two opposite direction. As the air in the body is passed away, the contrary movements are occurred by spring reaction. Therefore, the direction of body's motion is determined by the relative magnitude of two opposite impulsive forces, i.e., pneumatic and spring force. The effect of two impulsive forces can simply be controlled by On-Off time of solenoid valve.

• Transactions of The Korea Fluid Power Systems Society
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• v.6 no.4
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• pp.24-32
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• 2009

For a design of on/off solenoid actuator for valve actuating, designer must have the experimental knowledge as well as general electromagnetic formulas to design object. It is possible for theoretical knowledge to do the out-line design, but it is impossible to optimal design without experimental knowledge which only can be achieved through many repeated experiments. In addition, in present on/off type solenoid actuator field, the smaller, lightening, lower consumption power, high response time are effected as the most important design factor. So, experimental knowledge is more needed for optimal design of solenoid actuator. In this study, we derived the governing equations for optimal design of on/off solenoid actuator for valve actuating and developed a design program composed electromagnetic theories and experimental parameter values for inexperienced designers. And we proved the propriety of this program by experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.919-926
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• 2010

This paper proposes a wearable hand rehabilitation device, DULEX, for persons with functional paralysis of upper-limbs after stoke. DULEX has three degrees of freedom for rehabilitation exercises for wrist and fingers except the thumb. The main function of DULEX is to extend the range of motions of finger and wrist being contracture. DULEX is designed by using a parallel mechanism, and its parameters such as length and location of links are determined by kinematic analysis. The motion trajectory of the designed DULEX is aligned to human hand to prevent a slip. To reduce total weight of DULEX, artificial air muscles are used for actuating each joint motion. In feedback control, each joint angle is indirectly estimated from the relations of the input air pressure and the output muscle length. Experimental results show that DULEX is feasible in hand rehabilitation for stroke survivals.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.86-93
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• 2021

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.10
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• pp.884-888
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• 2007

It is necessary to evaluate periodically the performance of the AOV(air-operated valve) which is used for controlling flow and pressure in nuclear power plant. The required thrust for actuating valve and available thrust of actuator are calculated with conditions of flow through a valve in this study and operating performance is analyzed through comparing two thrusts. In general, differential pressure is increased according to increase the flow rate and differential pressure affects the required thrust of valve. We found the fact that it is possible not to close the valve perfectly because required thrust becomes bigger than available thrust of actuator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.7
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• pp.1321-1328
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• 2009

In this paper, an electromagnetic force driving actuator (EMFA) and three-link mechanism are proposed as a driving mechanism and connection device for low voltage air circuit breaker (ACB). As the result of dynamic characteristic analysis, the actuator and link mechanism are designed from the simulation and manufactured. The magneitc field of the EMFA is analyzed using the finite element method (FEM). The dynamic characteristic analysis with calculation of the circuit equation and kinetical equation is performed by the time difference method (TDM). Also, the result of the analysis is verified through the experiment of the fabrication model. In this paper, the EMFA size is smaller than the actuator for high voltage circuit breaker. Thus, the dynamic characteristic is analyzed with end-winding inductance that is calculated by the same method which is applied on the circle type end-winding of motors. The designed model for 1600 ampere-frame ACB and the three-link mechanism for connecting contact part with actuating part are manufactured. It is confirmed that the three-link mechanism is possible for improving the circuit breaker efficiency and reducing the size of the EMFA. It is proved that the improved 2-D analysis is more accurate than established method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1081-1086
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• 2009

This paper presents dynamic characteristics of pneumatic artificial muscles. Since the actuating performance of a pneumatic muscle is closely related to the input pressure of a pneumatic muscle, the air flow model on a valve orifice and an elastic bladder of the muscle is formulated to estimate precisely the pressure variance of pneumatic muscles during deflating and inflating process. Frequency response experiments are performed with an antagonistic system consisting of two pneumatic muscles and fast pneumatic control valves. Comparing with experimental results, the proposed model yielded good performance in estimating dynamic motions of the antagonistic system as well as the pressure variance of the pneumatic artificial muscles

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• Convergence Security Journal
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• v.8 no.2
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• pp.27-34
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• 2008

In this paper, we designed and implemented mobile object automatic system based on senor networks for telematics. For developing this system, we gather the various sensing data through wireless communication method using zigbee sensor networks and analyze them in monitoring equipment. And we enable the driver to recognize the car state information on the whole by interfacing analyzed data to telematics unit. And, we implemented automatic controller that can control temperature and humidity in car automatically by actuating air conditioner based on the data that was monitored throughout temperature sensor, humidity sensor and brightness sensor based on sensor networks.