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A Study on 3D Locomotion of Intravascular Therapeutic Microrobot using EMA System
Semi Jeong,Hyunchul Choi,Cheong Lee,Kiduk Kwon,Gwangjun Go,Doo Sun Sim,Kyung Seob Lim,Myung Ho Jeong,Seong Young Ko,Jong-oh Park,Sukho Park 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, we proposed an intravascular microrobot using an EMA system with bi-plane X-ray fluoroscopy. The proposed EMA system consists of a pair of stationary Helmholtz-Maxwell coils in x-axis and a pair of rotational uniform-gradient saddle coils on x-axis. The microrobot using the EMA system can be aligned to the desired direction by the uniform magnetic field from the Helmholtz-uniform saddle coil pairs and can be propelled to the aligned direction by the uniform gradient magnetic field from the Maxwell-gradient saddle coil pairs. Based on this actuating principle, we developed the microrobot which can move and have a treatment function in blood vessel. For the position recognition of the microrobot, a bi-plane X-ray fluoroscopy was installed in the EMA system. The bi-plane X-ray fluoroscopy can provide frontal and lateral views of mini-pig and the image of the microrobot. In addition, the bi-plane X-ray fluoroscopy can be rotated together with the pair of rotational uniform-gradient saddle coils on x-axis. Through various in-vitro and in-vivo experiments, we could verify the feasibility of the proposed intravascular therapeutic microrobot.
Conceptual Design of HTS Magnet for a 5 MJ Class SMES
Myungjin Park,Sangyeop Kwak,Wooseok Kim,Jikwang Lee,Jinho Han,Kyeongdal Choi,Hyunkyo Jung,Joonhan Bae,Seokho Kim,Kiduk Sim,Haejong Kim,Kichul Seong,Songyop Hanh IEEE 2008 IEEE transactions on applied superconductivity Vol.18 No.2
<P>Superconducting magnetic energy storage (SMES) systems with High Temperature Superconducting (HTS) wires have been actively developed world-wide. A 600 kJ class SMES with Bi-2223 HTS wire has been in development as a national project since 2004 and is currently approaching the final testing stage of the first of three phases. In the second phase of the project, several MJ class HTS SMES will be developed. In this paper, designs of magnets for 5 MJ class SMES with DI-BSSCO and YBCO coated conductor are presented and compared.</P>
The Optimal Design of 600 kJ SMES Magnet Based on Stress and Magnetic Field Analysis
Sangyeop Kwak,Myungjin Park,Wooseok Kim,Seungyong Hahn,Seungwook Lee,Jikwang Lee,Kyeongdal Choi,Jinho Han,Joonhan Bae,Seokho Kim,Kiduk Sim,Haejong Kim,Kichul Seong,Hyunkyo Jung,Songyop Hahn IEEE 2008 IEEE transactions on applied superconductivity Vol.18 No.2
<P>In the development of large scale superconducting magnetic energy storage (SMES) systems, the problem of mechanical stresses induced in the windings by Lorentz force becomes more critical as dimensions of system and magnetic field increase. In this paper, an optimal design process of a 600 kJ SMES magnet combined with mechanical stress analysis is presented. A stress analysis method based on electromagnetic finite element analysis (FEA) is explained in detail. The results of the analysis led to the development of an optimum design, electro-magnetically and mechanically, of a single-pole double pancake coil (DPC) type 600 kJ SMES magnet. The stress in each DPC are described along with recommendations for winding tension in the manufacturing process to minimize radial and hoop stress in each DPC.</P>