This study explores the course tracking control problem of unmanned surface vessels (USVs) under the influence of actuator faults and internal and external uncertainties. In the control strategy desig n, we first model the unknown dynamics and use adaptive technology to construct an online appro ximator to compensate for the unknown dynamics of the system. Under the framework of adaptive backstepping, a robust adaptive course tracking control scheme is constructed. This control strategy does not require any prior knowledge of the model in advance. The stability analysis of the theoret ical mathematical derivation of the control strategy was conducted based on Lyapunov stability theo ry. Finally, the effectiveness of the control strategy proposed in this paper was verified through sim ulation.

Recently, many countries are performing researchs about weapon systems or communication systems using laser. Because laser weapons are relatively easy to use and can exert powerful energy with high efficiency versus cost. Also laser communication systems has many advantages compared to RF communication systems, such as big data transmission through giga-bit communication, high security and so on. In these systems, one of highly important key components is Fast Steering Mirror(FSM) to control the laser beam precisely and accurately. Therefore, in this paper, we perform static and dynamic analysis to predict performances of Fast Steering Mirror using voice coil actuators. Also we manufacture prototype of FSM on the basis of static and dynamic analysis results, and perform the performance test about four items. As a result, we lay a foundation for research about FSM and laser systems, and expact to contribute improvement of performances of systems using laser.

Motor-operated valve functions to block or connect the flow of fluid in nuclear power plant and especially safety-related valves are evaluated with operability margin calculations, that should have positive value in both open and close stroke. Although all actuators have inertia force which increase operating margin of valve closing stroke, inertia force, after control switch operation in actuator is not considered in evaluating operability margin calculation process. In this paper, the hidden margin by inertia force of each actuator model in closing stroke was studied quantitatively.

In this study, magnetic characteristics of two models of permanent magnet actuator applied and used in the Recloser were studied, and the new model design was verified using numerical analysis on the operation and current characteristics of the magnet actuator accordingly. Such as the Recloser require fast operation characteristics to open the fault current, so when the moving and fixed contacts of a magnet actuator with permanent magnets that generate holding force come into contact, a high holding force is required, and when it open to circuit, the magnetic force is rapidly reduced. It demands very high performance. Therefore, the speed characteristics and current characteristics of the contact points of the magnet actuator for which the design was completed were compared.

With the recent development of autonomous driving technology, many researchers have studied autonomous mobile robots. Accordingly, they are developing diverse mobile robot actuators. However, most actuators mainly use reducers made of chains, belts, multi-stage gears, etc. So the volume and size of the actuators increase, and power transmission efficiency tends to be relatively low. Therefore, this study has proposed the reducer of the mobile robot actuator using a complex planetary gear train with small volume and high power transmission efficiency, and has confirmed the stability of the proposed reducer through finite element analysis.

This paper is about the selection of the optimum position of the driving system and the analysis of the load at that position in order to safely drive an object with heavy load on the turret with a linear actuator. Usually, linear actuator is required the greatest force when first lifting or pushing a structure, and it is determined by the initial angle and positions. After all, the optimal position of the linear actuator in a limited turret space is closely related the required load and driving performance of the linear actuator. Therefore, this paper contains the contents of securing the driving stability and performance at optimum position on the turret by considering the two cases of linear actuator position arrangement.

본 연구에서는 가변 통기성 스마트 의류의 제작을 위해 필요한 형상기억합금 액추에이터의 작동 조건을 파악하였다. 의복의 개방, 폐쇄와 같은 양방향 작동 시 형태 변형 시에만 전력을 소모하는 저전력 소모 액추에이터 개발을 위해 복수 채널의 일방향 형상기억합금을 이용하여 스위치로 작동되는 액추에이터를 설계하였으며 가장 효율적으로 작동할 수 있는 와이어의 직경과 전압인가 단위시간을 도출하였다. 선행연구 결과 도출된 양방향 작동이 가능한 일방향 형상기억합금의 직경 범위 내에서 Arduino 스위치를 제작하여 3.7V 전압인가 시 변화량을 분석한 결과 0.4Φ의 액추에이터가 가장 적합한 것으로 나타났다. 0.4Φ 형상기억합금와이어를 사용한 양방향작동 액추에이터의 개방, 폐쇄에 필요한 최적전압인가 시간을 도출하기 위해 액추에이터의 최대개방, 최소폐쇄 도달 전압인가 시간으로부터 50ms씩 감소, 증가 시키며 냉각 후 액추에이터의 내경을 비교하는 방식으로 측정한 결과 개방 동작에 필요한 최적 전압인가 단위시간은 4,100ms로 나타났다. 각 채널간의 발열에 의한 간섭을 최소화하기 위한 양방향간 작동 시 필요 딜레이 분석을 위해 상온에서 형상기억합금에 최적 전압입가 시간인 4.1초 동안 전원을 공급하고 가열 후 냉각까지의 과정을 열화상카메라로 촬영하여 형상기억합금 와이의 온도가 냉각시의 상변태온 이하로 하강하는 시점을 파악한 결과, 액추에이터의 양방향간 작동 딜레이는 1.8초 이상이 확보되어야 함을 파악할 수 있었다.

Magnetostrictive actuator is fabricated with powder nano bonding method instead of sputtering method. Fabrication process and experimental measurement method for magneto-mechanical characteristics is proposed. For the design of highly flexible magnetostrictive actuator, TbDyFe nano powder bonding with Teflon substrate is adopted. The fabrication process for Teflon substrate and nano powder bonding is suggested and magnetostrictive behaviors are investigated. Variable magnetic field is applied to measure the magnetostrictive characteristics and magnetostriction is measured with different waves and different magnitude of magnetic field.

Paddy harrow machine used hydraulic actuator system has been changed to the electric actuator system method. Because driving system of the agricultural equipments has been changed to electric power system. Besides, the effort to reduce the tractor machine's horse power is proceeding rapidly. In this paper, pressure, load scale factor and loading force(dynamic, static force) are considered to determine the cylinder diameter of the electric actuator. The algorithms of paddy harrow machine was studied to control and test the components of link by using the PLC diagram. Also, the electric actuator mechanism system was evaluated through the PLC algorithm. These test results can be attributed to select the actuator capacity and to determine the reliability of the electric actuator system

As demands of microrobots increases, micro-actuators for lhe microrobots are actively studied. However, miniaturized motors cannot be easily applied 10 microrobots owing to lhe limitatioJ1s of lheir sizes antd generating forces. Therefore, a new smart material for microrobots should be developed. A mong various smart materials, such as PZT, SMA, Ferrofluid, we focused on a ferropaper actuator using ferrof1uid. The ferropaper actuator is regarded as a smart mater ial and can show large displacemenls, excellent repetilion perfonnances, and relative small actuation forces. In lhis paper, a cellulose is used 10 make a backbone membrane because il has superior properties compared with any others conventional papers. The cellulose paper backbone membrane is easily fabricated as complex shapes and shows a large displacement in a magnetic tield. In detail, patterned ferropaper actuator is made of cellulose acetate using general MEMs procedure and PDMS molding method. Finally, through EDS mapping and alignment experiments of the làbricated ferropaper actuator using an electromagnetic actuation (EMA) system, the patterned ferropaper actuator was characterized.

A kind of field bus called Actuator and Sensor interface bus(AS-i) was designed in this paper. The configuration of AS-i network system used Application Specific Integrated Circuit(ASIC) SAP5S chip and PLC S7-200 station, which included CPU 224 and AS-i master module CP 243-2. We also created an example program for PLC S7-200 to control AS-i network. The fire and smoke detection system was made with AS-i network system that was designed. This system had got more advantages than other system such as number of stations, easy installation, wide working area, etc. And designed system can be used as a partner network for higher level field bus networks.

The latest weight reduction research of automotive industry and technology was improved. In this paper, we aim to evaluate the composite frame to manufacture the floor assembly of commercial vehicle. The design of subframe incorporated into the floor module was determined by FEM(Finite Element Method) simulation. The mechanical properties used for the simulations were obtained from the tests for samples of glass fiber/epoxy composites. We made two kinds of pultrusion products, one was aluminum profile, the other was unidirectional composites with aluminum profile. Based on the results from the simulation and bending test, the design of the subframe was finally determined prior to adoption of the commercial vehicle floor.

Numerical analysis of a Ni-PZT stacked piezoelectric micro actuator is investigated for the prediction of mechanical behavior as a preceding research for the manufacturing of three dimensional micro structures. Finite element method is adopted to examine the simulation of a piezoelectric actuator according to applied direction of voltage, by researching displacement characterization of piezoelectric material through piezoelectric theory. PZT-4 is selected as a piezoelectric material. And bimorph finite element modeling is employed to study the response of Ni-PZT bi-layered micro actuator under the various input voltages. The results are presented as maximum displacement values under each applied voltages. Maximum displacement of 0.71μm at 60V is obtained

Magnetostrictive actuator is fabricated with epoxy bonding method instead of sputtering method in this study. Fabrication process and experimental measurement method for magneto-mechanical characteristics is proposed. For the design of highly flexible magnetostrictive actuator, TbDyFe epoxy bonding with SU-8 substrate is adopted. The fabrication process for SU-8 substrate and the epoxy bonding is suggested and magnetostrictive behavior is investigated. Variable magnetic field is applied to measure the various magnetostrictive characteristics and magnetostriction is measured with different waves and different magnitude of magnetic field.

This paper presents the design for performance improvement of 2-axis cartesian coordinate robot. We cannot obtain the expected design performance unless we select the best-fit linear system for the robot. For this, this paper finds conditions of most suitable to select a LM(Linear Motion) guide and design a 2nd axis arm. By simulation results, the 2nd axis LM guide and the 2nd axis arm structure are confirmed that influence to the deflection of work piece end and the loads on 1 axis LM block. On using LM guide that have capacity near, this paper shows that the maximum load on LM block of 1 axis increases 4.23% and the maximum deflection of work piece end increases 7.95%.

위상 최적화 기술은 제품의 초기단계의 개념설계에 유용한 기술이며, 주로 구조물의 탄성을 고려한 분야를 중심으로 개발되었다. 그러나 일반적인 기계의 정밀도가 향상됨에 따라 열적인 영향을 함께 고려할 경우가 많아지게 되어, 열과 탄성계를 동시에 고려하는 위상 최적설계가 필요하다. 본 연구에서 균질화법을 이용하여 열-탄성계를 고려한 위상 최적설계를 해석하였다. 열-탄성 문제에서는 열전달 해석과 구조해석을 고려하는 문제이므로 열전달 재료 물성치와 구조 재료 물성치를 함께 사용하였다. 가동에너지를 기계적인 변위 또는 응력으로 변환하는 트랜스듀서인 액츄에이터의 설계에 적용하였으며, 열계와 탄성계 그리고 열-탄성계를 동시에 해석한 설계 결과를 얻었다. 얻어진 각각의 결과를 동일한 하중조건으로 재해석한 결과, 열-탄성계를 고려하였을 경우가 각각의 계를 고려했을 경우보다 개선된 성능을 가진다.