• Smart Structures and Systems
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• v.7 no.2
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3173-3185
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• 1996

Multi-model vibration control of laminated composites plates for various fiver orientations has been carried out by making use of piezolectric materials(PZT) as sensors and actuators. Cantilever plate is used as a specimen to test multi-modal vibration supression under random exitation. Impulse technique is applied to determine the natural frequency, the damping ratio(.zeta.) and the modal damping(2.zeta..omega.) of the first bending and the trosion modes. Two independent controllers are implemented to control the two modes simultaneously and established digitally on the basis of the direct negative velocity feedback control with collocated sensor/actuator. Experimental results for various fiber orientations and feedback gains are compared with finite element analysis considering stiffnesses and dampings of piezoeletiric sensors, actuators and bonding layer.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.06a
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• pp.333-334
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• 2006

The objective of this study is to fabricate a piezoelectric composite consisting of a piezoelectric ceramic and a high toughness material and to evaluate their electromechanical properties for high force actuator applications. The mixture of the piezoelectric material, PMNZT, and high toughness material, $ZrO_2$, exhibited high piezoelectric properties as well as good mechanical fracture resistance. Up to 2 vol% of $ZrO_2$ in PMNZT matrix, piezoelectric $d_{33}$ coefficient was above 400 pC/N, being 80% of that for the original PMNZT, and the toughness showed twice of the PMNZT. When the volume fraction of the $ZrO_2$ was above 5%, however, the piezoelectric coefficient became abruptly decreased and it approached 20% of value for the PMNZT.

• Composites Research
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• v.26 no.5
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• pp.289-294
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• 2013

A thinner is used to improve the multi-walled carbon nano-tube (CNT) and carbon black (CB) dispersion in a polymer matrix and to make a soft electrode. The electrical and mechanical properties of the soft electrodes are investigated as functions of CNT, CB and thinner content. The optimal mixing condition for the electrode is thinner 80, CNT 3.5, CB 18 (phr) on the basis of matrix (KE-12). The specific resistance of that is 73 (${\Omega}{\cdot}cm$), and tensile strength, tensile modulus, and elongation of that is 0.45 MPa, 0.21 MPa, and 184%, respectively. Also, a simple structure of the actuator with an optimized electrode and elastomer is fabricated and its characteristic is evaluated. At the operating voltage 25 kV, the displacement of an elastomer KE-12 is 2.24 mm, and that of an elastomer KE-12 with thinner 50 (phr) is 4.05 mm. It shows a higher displacement compared to that of 3M 4910 which has similar modulus. The actuator made with elastomer and electrode of the same material (KE-12) may have advantages for fatigue life and application.

• Polymer(Korea)
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• v.33 no.4
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• pp.377-383
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• 2009

Ionic polymer-metal composite (IPMC) actuator generates bending actuation via ion/water flux to the cathode side under an electric field. Polyelectrolytes in IPMC should possess high water-retention capability, proton conductivity, and Young's modulus. In this study. for endowing IPMCs with these properties, Nafion-alumina composite membranes containing $\alpha$- or $\gamma$-aluminas of $4{\sim}8$ wt% were prepared. Mechanical moduli of Nafion-alumina composite membranes were $7{\sim}3$ MPa higher than that of Nafion, with the slight decrease in proton conductivity. At DC 3 V. the actuation performance of the Nafion-$\alpha$-alumina (8 wt%)-IPMC was superior to that of the typical Nafion-IPMC. exhibiting 2.7 times the displacement with an enhanced blocking force. The enhanced actuation performance with the Nafion-$\alpha$-alumina composite membranes was attributed to the higher proton conductivity, the elevated ion/water flux, and the lower interfacial electric resistance of platinum electrodes and membrane, compared with those containing $\gamma$-alumina.

• Composites Research
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• v.23 no.2
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• pp.24-30
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• 2010

Interfacial evaluation and hydrophobicity of Ni-nanopowder/epoxy composites were investigated for self-sensing and actuation. Contact resistance and resistivity were measured using gradient micro-specimens. The actuation of the composites in the electromagnetic field was studied with three wave functions, i.e., sine, triangle and square functions. Due tothe presence of hydrophobic domains on the heterogeneous surface, the static contact angle of Ni-nanopowder/epoxy nanocomposite wasabout $100^{\circ}$, which was rather lower than that for super-hydrophobicity. The dynamic contact angle showed the similar trend of static contact angle. Ni-nanopowder/epoxy composite was responded wellfor both self-sensing and actuation in electromagnetic field due to the intrinsic metal property of Ni-nanopowder. Displacement of the actuator of Ni-nanopowder/epoxy composite was evaluated to obtain the maximum and the optimum performance using laser displacement sensor as functions of the wave type, frequency, and voltage. Actuation of Ni-nanopowder/epoxy composites also increased as functions of applied frequency and voltage. Actuated strain increased more rapidly at sine wave with increasing voltage compared to those of triangle or rectangular waves.

• Polymer(Korea)
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• v.36 no.4
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• pp.434-439
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• 2012

To improve the performance of ionic polymer-metal composite (IPMC) actuators, Nafion films sandwiched with Nafion/conducting nanoparticulate electrospun webs were used as polymer electrolytes of IPMC. Multiwalled carbon nanotube (MWNT) and silver were the conducting nanoparticulates and the nanoparticles dispersed in a Nafion solution were electrospun. IPMCs with the Nafion/conducting nanoparticulate electrospun webs displayed improved displacements, response rates, and blocking forces. MWNT was superior to silver in terms of displacement and blocking force, and the webs without the conducting fillers also caused enhanced performances compared with the conventional IPMCs. These improvements were attributed to an elevated electrolyte flux through highly porous interlayers and capacitance induced by well dispersed conducting fillers, and low interfacial resistance between electrolyte and electrodes.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.47-52
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• 2013

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.5
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• pp.143-150
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• 2022

This paper presents an experimental study on the flexural performance of concrete members strengthened with external steel plates for the purpose of improving seismic performance. In order to strengthen the structure, a strengthening method was applied that wraps the walls and columns with steel members. The partial section of the wall with the longest span in the structure was manufactured in real size and the strengthening effect was confirmed by performing a static load test. As a result of the experiment, it was confirmed that the strengthened section exhibited sufficient flexural performance satisfied to the seismic requirements, but the behavior until failure was not obtained because of actuator capacity. It was confirmed that the strengthened member resists the out-of-plane moment with a composite behavior. It was verified that the stiffness and load carrying capacity of the strengthened member were improved compared to the non-strengthened member by displacement and strain measurements.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2009.10a
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• pp.391-394
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• 2009

Asymmetrical and unbalanced features such as rotor blade of helicopter, actuator of hard-disk in personal computer are usually manufactured with composite materials. In this case, mass distributions and center of gravity of the parts are important because of their static balancing. Therefore in the manufacturing processes, it is needed to check out the exact data of weight and gravity center. In this study, it has been studied experimentally the balancing of laminated rotor blade by using multiple-point weighing method and lab-view system.