• 대한기계학회논문집A
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• 제34권12호
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• pp.1865-1870
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• 2010

이 논문에서는 뉴럴네트워크 모델에 기초하여 셀프 센싱이 가능한 IPMC 액추에이터를 개발하고자 한다. IPMC의 양면에 있는 두 개의 지정된 점에서 측정된 입력 전압과 입력 신호들을 뉴럴네트워크 모델의 입력 신호로 사용한다. CCD 레이저 변위 센서는 제시된 뉴럴네트워크 모델의 학습된 출력값으로 사용되는 IPMC 끝의 변위를 정확히 측정하기 위해 설치된다. 결과적으로 뉴럴네트워크 모델은 수집된 입력/출력 학습데이터에 의해 최대한으로 활용된 IPMC의 끝의 변위를 평가하기 위해 만들어진다. IPMC 액추에이터를 위해 설계된 모델의 효율성은 결과들을 모델링함으로서 증명되어진다.

• 로봇학회논문지
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• 제16권1호
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• pp.17-22
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• 2021

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.562-565
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• 2008

Measuring system for piezo inkjet droplet and ink jetting status was developed. In order to measure the jetting performance, two different approaches have been used. One is to use the self-sensing capability of the piezo actuator in the printhead. The other is to use the droplet image from a CCD camera. The software as well as hardware using two approaches was developed. The self-sensing signal as well as meniscus motion was shown to be useful in monitoring jetting conditions. Furthermore, ink properties such as viscosity and speed of sound, which is related to jetting performance, can be understood.

• Composites Research
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• 제23권2호
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• pp.24-30
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• 2010

니켈-나노분말/에폭시 복합재료의 계면 특성과 소수성을 자체-감지능과 작동기 측정을 위해 평가하였다. 경사형 시편을 사용하여 접촉 저항 및 저항도를 측정하였다. 자기장에서 복합재료의 작동성을 세가지 파형들, 즉, 싸인, 삼각, 그리고 사각파를 사용하여 평가하였다. 균일하지 않은 표면에 존재하는 소수성 영역 때문에 Ni-에폭시 나노복합재료의 어떤 부분은 초소수성보다는 다소 낮은 접촉각인 110도를 가졌다. 동적 접촉각은 정적 접촉각과 경향이 상호 일치함을 보였다. 니켈-나노분말의 고유의 금속성질 때문에 자체 감지를 확인하였으며, 또한 전자기장에 작동 반응을 잘 하였다. 니켈-나노분말/에폭시 복합재료의 최대 및 최적의 성능을 얻기 위해서, 레이져 변위 센서를 사용하여, 파형, 주파수, 그리고 전압의 함수로 작동기의 변위를 평가하였다. 니켈-나노분말/에폭시 복합재료의 작동은 적용된 주파수와 전압의 함수로써 증가하였다. 작동된 복합재료들의 연신율은 전압의 증가에 따라 삼각 혹은 사각파보다 싸인파에서 더욱 빨리 증가하였다.

• Smart Structures and Systems
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• 제14권5호
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• pp.765-784
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• 2014

In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.

• Smart Structures and Systems
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• 제8권3호
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• pp.275-302
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• 2011

This is a review paper on mathematical modeling of actively controlled piezo smart structures. Paper has four sections to discuss the techniques to: (i) write the equations of motion (ii) implement sensor-actuator design (iii) model real life environmental effects and, (iv) control structural vibrations. In section (i), methods of writing equations of motion using equilibrium relations, Hamilton's principle, finite element technique and modal testing are discussed. In section (ii), self-sensing actuators, extension-bending actuators, shear actuators and modal sensors/actuators are discussed. In section (iii), modeling of thermal, hygro and other non-linear effects is discussed. Finally in section (iv), various vibration control techniques and useful software are mentioned. This review has two objectives: (i) practicing engineers can pick the most suitable philosophy for their end application and, (ii) researchers can come to know how the field has evolved, how it can be extended to real life structures and what the potential gaps in the literature are.