• Journal of Mechanical Science and Technology
• /
• v.17 no.9
• /
• pp.1268-1275
• /
• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.4
• /
• pp.82-90
• /
• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.12 no.1
• /
• pp.245-248
• /
• 2012

In this paper, the optimized growing conditions of PZT thin films on low temperature co-fired ceramics (LTCC) substrates are studied. The LTCC technology is an emerging one in the fields of mesoscale (from 10 um to several hundred um) sensor and actuator against silicon based technology due to low cost, high yield, easy manufacturing of 3 dimensional structure, etc. The LTCC substrates with thickness of 400 um are fabricated by laminating 100 um green sheets using commercial power (NEG, MLS 22C). The Pt/Ti bottom electrodes are deposited on the LTCC substrates, then the growing conditions of PZT thin films using rf magnetron sputtering method are studied. The growing conditions are tested under various rf power and gas ratio of oxygen to argon. And the crystallization and ingredient of PZT films are analyzed by X-ray diffraction method (XRD) and energy dispersive spectroscopy (EDS). The optimized growing conditions of PZT thin films are rf power of 125W, Ar/O2 gas ratio of 15:5.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.35 no.1
• /
• pp.24-31
• /
• 2022

This study investigated microstructures, crystal structures, polarization, dielectric and electromechanical properties of 0.76Bi_1/2Na_1/2TiO₃-0.24SrTiO₃ (BNT-24ST)-based piezoceramcs by adding Li₂CO₃ and B₂O₃ (LB) as sintering aids for low-temperature sintering. All samples were successfully synthesized using conventional solid-state reaction method and sintered at 950, 1,000, 1,050, 1,100 and 1,175℃ for 2 hours. Without LB, specimens required sintering temperatures over 1,175℃ for sufficient densification, while the addition of 0.10-mol LB decreased the sintering temperatures down to 950℃. The average grain size and dielectric properties of BNT-24ST-10LB ceramics were enhanced with increasing sintering temperature. We found that the low-temperature sintered BNT-24ST piezoceramics by adding LB showed the d₃₃*value of 402 pm/V at 4 kV/mm after sintering at 1,050℃, which was better than that of high-temperature fired specimens sintered at 1,175℃ without LB (242 pm/V). We believe that the results of this study promise a candidate for low-cost multilayer ceramic actuator applications.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.44 no.11
• /
• pp.981-988
• /
• 2016

Dynamometer is a device for testing the performance of the brake and it is composed of a test zone, the mechanical inertia zone, the electric motor and the control zone. Hybrid dynamometer is a way to compensate for the loss of mechanical inertia in accordance with the brake operation by using an electric motor to reduce the size of the mechanical inertia with the advantage that can be tested in the relatively small size of the mechanical inertia and low cost. In this paper, design the proper size of hybrid dynamometer in the laboratory level with the space constraints, analysed the effect of critical parameter on the braking performance of hybrid dynamometer such as changing the friction coefficient. With this study, could get the results of guideline to judge the poor friction material by measuring the torque of the electric motor to compensate the energy loss due to a reduced mechanical inertia.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2008.11a
• /
• pp.301-304
• /
• 2008

This paper presented an structural efficiency of steel coupling beam jointed single plate shear connections with seat and top angle. Parameters for the test specimens were are seat and top angle, reinforcing of concrete, embedded length, section loss. Steel coupling beam with angle showed excellent strength, stiffness, energy dissipation capacity. The specimen with no reinforcement around the embedded steel plate showed slightly low deformation capacity because of early failure in the precast concrete walls. However, the specimen with reinforcement around the embedded steel plate showed good deformation capacity. Deformation capacity was not decrease despite short embedded length. The specimen with section loss showed excellent deformation capacity. Because shear strength of steel coupling beam was lesser than of connections. These results showed that for workability and cost efficiency, the proposed system is promising for one of steel coupling beam.

• Structural Monitoring and Maintenance
• /
• v.2 no.4
• /
• pp.319-338
• /
• 2015

The electro-mechanical impedance (EMI) technique makes use of surface-bonded lead zirconate titanate (PZT) patches as impedance transducers measuring impedance variations monitored on host structural components. The present experimental work further evaluate an alternative to the conventional EMI technique which performs measurements of the variations in the output voltage of PZT transducers rather than computing electromechanical impedance (or admittance) itself. This paper further evaluates a variant of the EMI approach presented in a previous work of the present authors, suitable, for low-cost concrete structures monitoring applications making use of a credit card-sized Raspberry Pi single board computer as core hardware unit. This monitoring approach is also deployed by introducing a new damage identification index based on the ratio between the area of the 2-D error ellipse of specific probability of EMI-based measurements containment over that of the 2-D error circle of equivalent probability. Experimental results of damages occurring in concrete cubic and beam specimens are investigated under increasing loading conditions. Results illustrate that the proposed technique is an efficient approach for identification and early detection of damage in concrete structures.

• Journal of Bio-Environment Control
• /
• v.24 no.4
• /
• pp.308-316
• /
• 2015

This study was conducted to investigate the situation of ICT apply to plastic greenhouse, and the results be apply to design of new one. A CFD analysis were conducted to monitering the ventilation and energy saving of the single span greenhouse newly designed. The causes of delay to apply ICT to plastic greenhouse are the high cost for installation(24%), insufficiency of after services(19%), often disorder(16%), unskillful management of soft ware(15%), insufficient ICT efficiency(13%) and unsatisfying of income increase(12%). The parts of problem occurred in ICT plastic greenhouse are the structure, actuator, environmental control system and sensor(approximate 14%, respectively), remote control technique(13%), plant management technique(12%), energy saving technique(10%) and utilization of software(8%). In the condition of lateral window closed, the average wind speed changed to slow, but it was faster in the condition of leeward side window opened than in the condition of lee and winward side window opened. The air movement in the condition of lateral window closed occur by air moving fan not by out air. It is not affect the room temperature but effective the uniformity of room temperature. The average temperature of low height greenhouse was uniform than high height one. The average temperature in condition of 3rd curtain opened become same with outside temperature after 2 hours, but take more 5 hours in condition of 3rd curtain closed.