• Journal of Advanced Marine Engineering and Technology
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• v.38 no.6
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• pp.648-657
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• 2014

This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed and test for 10m waterproofness. The closed-form solution for the robot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equation including the damping force due to the mechanical seal for waterproofness is derived using Newton-Euler method. Using derived dynamics equation, a sliding mode controller is designed to track the desired path of the developed robot arm, and its performance is verified through a simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.8
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• pp.767-773
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• 2010

This paper describes development of a non-explosive separation device which can be equipped on small satellites. The spur geared micro DC motor, which has high reliability and advantage of price, is adopted as an actuator. The proposed separation device has resettability and it does not need extra jig to reload. In addition, the simple structure makes it easy to fabricate and assemble. To verify the performance of the proposed device, the response time tests, maximum preload tests and maximum shock level tests were performed. Also, through the vibration tests and thermal vacuum tests, feasibility of the proposed separation device was shown in launching and space environments. Therefore, we expect that the proposed separation device can replace the imported separation devices in near future.

• Applied Chemistry for Engineering
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• v.17 no.6
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• pp.586-590
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• 2006

As one of electro active polymers for soft smart materials, the ionic polymer metal composites (IPMC) are easy to produce through chemical reduction processing and show high displacements at low voltage. When the IPMC actuates, the deformation depends on a few factors including the structure of based membrane, species and morphology of the metal electrodes, the nature of cations and the level of hydration. As previously published, we have been studying on improvement of actuation through surface electrode modification of IPMC to grasp the effect of electrode morphology on actuation. This study is comparative experiments through the chemical reaction and deposition by ion beam assisted deposition (IBAD) in order to prepare the very thin and homogeneous surface electrode of IPMC. The IPMCs were prepared with different surface roughness of polymer membrane, and the influence of the surface roughness on the actuation was studied. By investigating the electrical properties and driving displacement, the actuating properties of IPMC with different surface roughness were studied.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.305-316
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• 2014

As avionics and mechanical devices have been developed, the size of unmanned aerial vehicle (UAV) is getting smaller. However, the complicated and accurate missions are provided to the UAV. Among various types of UAVs, quadrotors are widely used for their availability by virtue of simple structure and hovering function. However, the control of quadrotor is highly constrained, because the quadrotor is an under-actuated system which has only 4 actuator inputs. To deal with this under-actuated problem, a new quadrotor model with two more actuators in addition to the 4 propeller inputs is provided to make the system fully-actuated. For the proposed model, a controller is designed using feedback linearization methods. To validate the model and to verify the performance of the proposed controller, numerical simulation is performed.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1996.11a
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• pp.54-58
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• 1996

In this paper, the structure, dieletric and piezoelectric properties of Pb(Fe$_{\frac{1}{2}}$/Sb$_{\frac{1}{2}}$$O_3$+ Pb(Zr$_{0.52}$ Ti$_{0.48}$ )O$_3$system ceramics were investigated and the effects of donor Nb$^{+5}$ on these properties were characterized for the application of the actuator. In xPb(Fe$_{\frac{1}{2}}$Sb$_{\frac{1}{2}}$)O$_3$+ (1-x) Pb(Zr$_{0.52}$ Ti$_{0.48}$ )O$_3$system ceramics, tetragonality decreased as x and Nb$_2$O$_{5}$ wt% were increased. In 0.05Pb(Fe$_{\frac{1}{2}}$Sb$_{\frac{1}{2}$}$)O$_3$+ 0.95 Pb(Zr$_{0.52}$ Ti$_{0.48}$ )O$_3$system, grain size was smallest but showed best dielectric and piezoelectric properties. The specimen sintered at 120$0^{\circ}C$ in 0.05pb(Fe$_{\frac{1}{2}}$Sb$_{\frac{1}{2}}$ )O$_3$+ 0.95 Pb(Zr$_{0.52}$ Ti$_{0.48}$ )O$_3$+ Nb$_2$O$_{5}$ 0.6wt% exihibited best piezoeletric properties such as $K^{p}$ =64%, d$_{33}$ =490 [$\times$10$^{-12}$ C/N] and strain was 1320[$\times$10$^{-6}$ Δ$\ell$/$\ell$]at AC 6kV/cm

• Smart Structures and Systems
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• v.18 no.1
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• pp.139-154
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• 2016

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

• Journal of the Korean Society of Marine Environment & Safety
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• v.11 no.1 s.22
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• pp.23-28
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• 2005

We have investigated the usefulness cf active stabilizing system to reduce ship rolling under disturbances, using varying reaction cf the flaps. In the proposed anti-rolling system for a ship, the flaps as the actuator are installed on the stem to reject rolling motion induced by disturbances like wave. The action induced by flaps which depends on power of disturbances am take the ship balance. Especially, in this study we identify the controlled system under the undefined system structure using spectral analysis and experimental studies. Based on these informations, we design the controller to evaluate the usefulness of the proposed system.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.1
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• pp.245-248
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• 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
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• v.29 no.12
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• pp.764-768
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• 2016

To investigate excess $Na^+$ effect, $Bi_{0.5}(Na_{0.78+x}K_{0.22})_{0.5}TiO_3$ ($0{\leq}x{\leq}0.05$) (BNKT) ceramics were prepared by using a conventional solid-state reaction method. The structure and ferroelectric properties of BNKT ceramics were characterized by XRD (X-ray diffraction) and polarization dependence by external electric field. Also, the temperature dependence of dielectric constant and loss were studied. From these results, it was found that appropriate excess $Na^+$ into BNKT ceramics compensate the volatility and induce dense ceramics. The enhanced piezoelectric coefficient (158 pC/N) and depolarization temperature ($202^{\circ}C$) were obtained for the x=0.01 composition.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.5
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• pp.421-427
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• 2008

A robot crane truck is developed by the Bridge Inspection Robot Development Interface(BRIDI) for an automated and/or teleoperated bridge inspection. This crane truck looks similar to the conventional bucket crane, but is much smaller in size and light-weight. At the end of the telescoping boom which is 12m long, a robot platform is mounted which allows the operator to scan the bridge structure under the deck trough the camera. Boom vibration induced by wind and deck movement can cause serious problems in this scanning system. This paper presents a control system to mitigate such vibration of the robot boom. In the proposed control system, an actuator is installed at the end of the working boom. This control system is studied using a mathematical model analysis with LQ control algorithm and a scaled model test in the laboratory. The study indicates that the proposed system is efficient for the vibration control of the robot booms, thereby demonstrating its immediate applicability in the field.