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마찰을 고려한 탄성변형 환경과 접촉하는 가상도구의 조작감 제시
최혁렬,이승룡,류성무,Choi, Hyoukryeol,Lee, Seungryong,Ryew, Sungmoo 대한기계학회 1998 大韓機械學會論文集A Vol.22 No.4
This paper presents a haptic rendering algorithm in the case that the virtual environment elastically deforms in response to the force applied by a user with a virtual tool. Considering friction, elasticity, multiple contacts and dynamics of the virtual object, this algorithm lets the operator have the feel of interactions in the virtual environment as close as to the reality. Based on the proposed algorithm several experiments are conducted and its effectiveness is confirmed.
Adaptive Fuzzy 제어기를 이용한 Embedded 시스템 기반의 기능성 고분자 구동체 다중제어에 관한 연구
김태형(Tae Hyoung Kim),황교일(Kyoil Hwang),김훈모(Hunmo Kim),최혁렬(Hyoukryeol Choi),전재욱(Jea Wook Jeon),남재도(Jea Do Nam) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
In case of environment requiring safety such as human body and requiring flexible shape. a conventional mechanical. actuator system does not satisfy requirements. Therefore. in order to solve these problems, a research of various smart material such as EAP(Electro Active Polymer), EAC (Electro Active Ceramic) and SMA (Shape Memory Alloy) is in progress. Recently, the highest preferring material among various smart material is EP (Electrostictive Polymer), because it has very fast response time, poerful force and large displacement. The previous researches have been studied properties of polymer and simple control, but present researches arc studied a polymer actuator. An EP (Electostrictive Polymer) actuator has properties which change variably as shape and environmental condition. Therefore, in order to coincide with a user's purpose, it is. important not only to decide a shape of actuator and mechanical design but also to investigate a efficient controller. In this paper, we constructed the control logic with an adaptive fuzzy algorithm which depends on the physical properties of EP that has a dielectric constant depending on time. It caused for a sub-actuator to operate at the same time that a sub-actuator system operation increase with a functional improvement and control efficiency improvement in each actuator. hence it becomes very important to manage it effectively and to control the sub-system which is operated effectively. <br/> There is a limitation on the management of Main-host system which has multiple sub-system. hence it brings out the: Multi-Vehicle Control process that disperse the task efficiently. Controlling the multi-dispersion system efficiently, it needs the research of Main-host system's scheduling, data interchange between sub-actuators, data interchange between Main-host system and sub-actuator system, and data communication process. Therefore in this papers, we compared the fuzzy controller with the adaptive fuzzy controller. also. we applied the scheduling method for efficient multi-control in EP Actuator and the algorithm with interchanging data, protocol design.
Inkjet Printing을 이용한 Polymer Film의 전극 Patterning에서의 나노 Composite의 분사에 관한 연구
황교일(Kyo-il Hwang),신창용(Chang-yong Sin),이정훈(Jung-Hoon Lee),류경주(Kyung-Joo Ryu),김훈모(Hunmo Kim),최혁렬(Hyoukryeol Choi),전재욱(Jae Wook Jeon),남재도(Jae-Do Nam) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
To perform the Polymer MEMS, makig thin electrode and patterning of electrode that makes an active area of polymer are necessary. Because these operations are handled by investigator, there is no accuracy is needed. But actuators that are made by polymer MEMS is more smaller and need more accuracy, precise patterning and making thin electrode skills are necessary.<br/> So in this paper, the research that deposit the nano-sized electrode particle using inkjet print method for makig thin electrode and patterning of electrode