Earticle

본 논문에서 오픈 소스 하드웨어인 아두이노 기반의 스마트 온실관리 시스템 모델을 제안하고 구현하였다. 제안된 스마트 온실관리 시스템은 센서 및 아두이노 등으로 구성된 제어 장치부, 온실 제어를 담당하는 에이전트 (Agent) 프로그램, 사용자 API를 담당하는 웹 어플리케이션 등으로 구성되어 있다. 제어장치부는 온도, 습도, 광조, 수분 센서 데이터를 에이전트 프로그램으로 전송하고, 에이전트 프로그램은 데이터를 DB에 저장하거나 사용자의 제어 값을 제어장치부에 전송한다. 사용자는 웹을 통해 온실의 센싱 정보를 확인하거나 각종 액츄에이터 (Actuator)를 원격 제어할 수 있다. 또한 제안 시스템의 상황 인지 및 자율 제어 기능을 통해 스마트한 온실 관리가 가능하다. 구현 결과, 제안된 온실관리 시스템 모델이 잘 동작함을 확인할 수 있었다.

In this paper, we proposed an arduino-based smart green house management system model and implemented it. The proposed system consists of control unit composed of sensors and arduino, agent program controlling the green house, and web applications providing user interfaces. The control unit transmits data of sensors such as temperature, humidity, illuminance, moisture, etc. to the agent program, and then the agent saves the data in its database. In reverse, control data are transmitted from agent program to control unit. Users can monitor sensed data of green houses and control actuators remotely using web. Plus, smart green house management is available by context awareness and autonomous control functions of the proposed system.

Recent development in brushless do motors and their drives provided the technology to build electromechanically actuated primary controls, hence they were proposed for pound, aerospace and (recently) mercantile applications. This paper addresses the transfer of single type summing architectures (namely, velocity, Torque and electromagnetic summing) to marine technology. The paper will highlight the drawbacks in such architectures and will propose (as an alternative) a novel Electromagnetic Torque Summing technique and will address the possible application of a vibration control method to this type of architecture. The previously proposed Fault detection and Fault Isolation system (in the all-electric aircraft) will be recommended and description of suitable threshold setting techniques on the imbedded Monitoring Devices will be given. The paper will also show how stringent space and response requirements in aircraft actuation systems could be relaxed when actuation technology is transferred to propel marine systems.

The development of an oscillator controller for a bipedal robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total periodic dynamics of bipedal locomotion. The effectiveness and performance of the proposed controller were evaluated with numerical simulations and experiments with the hardware.

The aim of this paper is to increase the performance of hysteresis compensation for Shape Memory Alloy (SMA) actuators by using inverse Preisach model in closed-loop control system. This is used to reduce hysteresis effects and improve accuracy for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is formulated and incorporated in closed-loop PID control system in order to obtain desired current-to-displacement relationship with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this paper.

The coupling effects between the mechanical and electric properties of piezoelectric materials have drawn significant attention for their potential applications as sensors and actuators. In this investigation, two piezoelectric actuators are symmetrically embedded in a simply supported plate. Electric voltages with the same amplitude and opposite sign are applied to the two symmetric piezoelectric actuators, resulting in the bending effect on the plate. The bending moment is derived by using the theories of elasticity and piezoelectricity. The analytical solution of the flexural displacement of a simply supported plate subjected to the bending moment is solved by using the plate theory. The analytical solution is compared with the finite element solution to show the validation of present approach. The effects of the size and location of the piezoelectric actuators on the response of a plate are presented through a parametric study.

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are round. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

Haptic actuators for large display panels play an important role in bridging the gap between the digital and physical world by generating interactive feedback for users. However, the generation of meaningful haptic feedback is challenging for large display panels. There are dead zones with low haptic sensations when a small number of actuators are applied. In contrast, it is important to control the traveling wave generated by the actuators in the presence of multiple actuators. In this study, we propose a particle swarm optimization (PSO)-based algorithm for the haptic localization of plates with electrostatic vibration actuators. We modeled the transverse displacement of a plate under the effect of actuators by employing the Kirchhoff-Love plate theory. In addition, starting with twenty randomly generated particles containing the actuator parameters, we searched for the optimal actuator parameters using a stochastic process to yield localization. The capability of the proposed PSO algorithm is reported and the transverse displacement has a high magnitude only in the targeted region.

Attitude command response type required for enhanced handling qualities of helicopter can be implemented by mechanical automatic flight control system with SAS actuators which have limited authorities. However, the early saturation of SAS actuator hinders the helicopter from following the attitude command for large stick command. Auto-trim controller can delay SAS actuator's saturation by utilizing trim actuators and allows the attitude command response type for larger stick command. This paper describes the control law for limited authority system of helicopter with auto-trim. Limited authority system is applied to BO-105 linear dynamic model and simulation is performed along with handling quality analysis.

With the help of nanoscale materials like carbon nanotube (CNT), there is the potential to develop new actuators that will provide higher work per cycle than previous actuator technologies, and generate much higher mechanical strength. In this study, the electrochemical actuation characteristics of nano carbon materials were experimentally studied to develop electrochemical actuators. The electrochemical actuators were composed of aqueous NaCl electrolyte and their actuating electrodes were made of multi-walled carbon nanotube (MWCNT)/polystyrene composite and graphene respectably. Actuation is proportional to charging transfer rate, and the electrolysis with an AC voltage input has very complex characteristics. To quantify the actuation property, the strain responses and output model were studied based on electrochemical effects between the nano carbon films and the electrolyte.

Several biomimetic artificial muscles including the electro-active synthetic polymers (SSEBS, PSMI/PVDF, SPEEK/PVDF, SPSE, XSPSE, PVA/SPTES and SPEI), bio-polymers (Bacterial Cellulose and Cellulose Acetate) and nano-composite (SSEBS-CNF, SSEBS-$C_{60}$, Nafion-$C_{60}$ and PHF-SPEI) actuators are introduced in this paper. Also, some applications of the developed biomimetic actuators are explained including biomimetic robots and biomedical active devices. Present results show that the developed electro-active polymer actuators with high-performance bending actuation can be promising smart materials applicable to diverse applications.

The paper presents the modeling and optimal control for the reduction of transverse vibration of simply supported beam under a moving mass. The equations of motion are derived by using assumed mode method. The coriolis and centripetal accelerations are accommodated in the equations of motion to account for the dynamic effect of the traveling mass. In order to reduce the transverse vibration of the beam, an optimal controller with full state feedback is designed based on the linearized equations of motion. The optimal actuator locations are determined with the evaluation of an optimal cost functional defined by the worst initial condition with the trade-off of controlled mode performance. Numerical simulations are performed with respect to various velocities and different traveling masses. Even if the velocity of the traveling mass reaches to the critical speed which can cause the resonance of the beam, the controller with two piezoelectric actuators shows the excellent performance under severe time-varying disturbances of the system.

For the purpose of applying to micro-actuator, thermal properties and displacement of electrostrictive polyurethane(PU) elastomers have been measured. In order to understand an effect of PU component, crosslinking agent are controlled by 0.5 wt% and 1 wt%. DMPA and anther chain extenders were used. PU sample that chain extenders are DMPA is added NaOH for comprehension of effect of ionic groups. The deposited electrode sire on PU films is equal to acrylic holder size when the displacement was measured. Dynamic response according to frequency, displacement and recovery time according to PU thickness were measured. 1 wt% crosslinking agent contents PU samples have higher displacement and lower recovery time than 0.5 wt% crosslinking agent contents PU. If the PU thickness is increased, the actuating voltage for generating of same displacement is increased, too.

High precision step motor using Terfenol-D linear actuators is proposed and its performance is tested. Four Terfenol-D linear actuators are set up perpendicular to the rotor and saw-tooth current signals are applied on the actuators. It was found that the rotation angle is increased as the excitation current, the inertia of the rotor, and the contact force between the rotor and the push device are increased. The rotation angle per step of $0.001^{\circ}$ and blocking torque of 0.2Nm are achieved. The effect of the time delay between the excitation signals is also investigated.

본 연구에서는 회전운동을 제어하기 위한 새로운 작동기로서 전기장에 대하여 매우 빠른 응답특성을 갖고 있는 두 쌍의 실린더형 ER(electro-rheological) 클러치/브레이크 작동기를 제안하였다. 자체조성 된 ER유체의 빙햄특성 모델을 실험적으로 도출하였으며, 이와 연계한 작동기 모델을 구성하여 전기장에 따른 전달 및 제동 토크를 해석한 후 알맞은 크기의 클러치/브레이크 작동기를 제작하였다. 제작된 작동기의 동적특성(시상수 등)을 작동기 모델에 고려하기 위하여 계단입력 전기장에 따른 과도응답 실험을 클러치와 브레이크 모드에서 각각 수행하였다. 제안된 작동기의 응용성을 보이기 위하여 두쌍의 작동기로 구동되는 실험실 차원의 소형 와권식 세탁기 시스템을 구성한 후 동적지배방정식을 유도하다. 각 작동기와 연계된 PID제어기를 설계하여 세탁과 탈수시의 회전운동을 제어하였으며, 부하질량의 변화에 대한 작동기 시스템의 제어 효율성과 장시간 운전을 통한 제어 내구성 실험을 수행하였다.

This paper proposes an identification method for modes of a thin plate where multiple actuators and sensors are bonded. When a natural frequency of a mode is decoupled from all other natural frequencies, the mode can be identified separatedly with a bandpass filter. Since a thin plate has resonant peaks at natural frequencies, the bandpass filter can be designed to extract the signal of the mode to be identified. Parameters of the second order linear differential equation of the mode can be obtained to apply the Least square method to the extract the modal signal. The proposed identification method is applied to an all-clamped plate with two pairs of piezoelectric actuators and sensors. The outputs of the identified model match with the experimental data well.

Nowadays, there are many researches involving structural actuators, which have adjustable stiffness; they are also called variable stiffness actuators (VSA). The VSAs can adjust the characteristics of actuators for various functions and human-machine safety. This paper describes the design and analysis of two types of VSAs. To adjust stiffness, the actuators are controlled by a principle of lever ratio mechanism, by changing a pivot position or a spring position in the structure with springs. To make the principle workable, the designs are simplified by using a ball screw system with a motor. Each structure shows different static properties with variable rates of stiffness. We have also shown the experimental verification of the dynamic performance of the two types of VSAs. This research can be applied to various industrial fields, where humans work in conjunction with robots.

A crack emanating from an internal electrode or a conducting damage path in ferroelectric ceramic actuators is analyzed. The boundary of the domain switching zone near the edge of the internal electrode in a ceramic multilayer actuator is determined based on the nonlinear electric theory. The stress intensity factor induced by a ferroelectric domain switching under small scale conditions is numerically obtained for flaws of various sizes near the electrode edge. It is found that stress intensity factor near the crack tip depends on the material property of the electrical nonlinearity.

This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.

A fast tool servo (FTS) for diamond turning improves machining accuracy by quickly compensating relative position errors between the cutter and the workpiece. Therefore, the FTS needs to have large band-width with good tracking performance. Serious hysteresis nonlinearity of PZT actuators used in the FTS, however, deteriorates fast tracking performance. Several types of feedforward hysteresis compensators and feedback controllers are tested to improve tracking performance. Through simulations and experiments, control structure which yields the smallest tracking error is selected. The maximum peak to peak error in tracking a sinusoidal waveform is reduced by one fifth compared to that of a regular PID controller.