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4개의 전자기 코일을 이용한 위치기반의 전자기장 제어에 관한 연구
고광준(Gwangjun Go),최현철(Hyunchul Choi),이청(Cheong Lee),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
Recently, various wireless manipulating methods for microrobots have been proposed. Among these methods, an electromagnetic actuation (EMA) method showed free motion and accurate controllability of wireless microrobots. In previous our study, eight electromagnetic coils (two stationary pairs of Helmholtz coil and two stationary pairs of Maxwell coil) were used for 2-DOF (Degree Of Freedom). In contrast, this paper proposed a new EMA system with only four electromagnetic coils, which can realize 2-DOF (translation and roll motion). Generally, for the control of many EMA systems, it was assumed that the electromagnetic field in workspace is identical. However, the electromagnetic field was distorted in boundary of the workspace owing to the characteristic of the electromagnetic field. To improve the locomotive accuracy of the microrobot, the position based magnetic field control method for the microrobot was developed. Finally, through the position based magnetic field control method in the proposed EMA system, the microrobot can be accurately moved along the desired path.
관형소화기관 진단을 위한 전자기 구동 캡슐내시경의 3차원 나선형 운동
이청(Cheong Lee),최현철(Hyunchul Choi),정세미(Semi Jeong),고광준(Gwangjun Go),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
We propose a new electromagnetic actuation system for capsule endoscope with steering, locomotion and rotational motion. The proposed electromagnetic actuation system consists of 3 pair of Helmholtz oils and 1 pair of Maxwell coils. The precessional motion and ascending motion of the magnetic capsule endoscope were realized using the proposed electromagnet actuation system. In addition, the magnetic capsule endoscope can move in an esophagus by the propulsion and the rotation with centrifugal force. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in the mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it tracks the helical path, and this force makes the capsule endoscope prototype to attach the inner wall of tubular environment. Through various experiments, the precession of the magnetic capsule endoscope using a glass tube was demonstrated and the feasibility of the capsule endoscope actuated by the electromagnetic actuation system was verified.
4D printed Microvehicle for Gastric Cancer Therapy
Darmawan Bobby Aditya,Dohoon Gong(공도훈),Hyeon Gyu Park(박현규),Gwangjun Go(고광준),Seok-Jae Kim(김석재),Nguyen Kim Tien,Zheng Shirong,Nan Minghui,Ratri Monica Cahyaning,Hyungwoo Kim(김형우),Doyeon Bang(방도연),Jong-O 한국자동차공학회 2021 한국자동차공학회 지부 학술대회 논문집 Vol.2021 No.12