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Development and Application of Robot Curriculum Based Education in Insects Robot
문외식,유승한 한국정보교육학회 2010 정보교육학회논문지 Vol.14 No.2
곤충형 로봇을 기반으로 개발한 로봇 교육과정을 학생들에게 적용한 결과 학생들이 로봇 움직임을 쉽게 이해하고 프로그래밍 및 알고리즘을 이해하는데 큰 효과가 있었다. 초등학교 5학년 학생들을 대상으로 마인드스톰 NXT 로봇교구로 진행한 로봇학습은 개미나 바퀴벌레 등 곤충을 관찰한 후 그룹별로 곤충의 모양을 따 로봇을 만들고 곤충의 움직임을 모방하여 프로그래밍을 하도록 하였다. 특히 그룹별 임무 수행 경기의 경쟁을 함으로써 학생들 간의 토의 능력 및 로봇 제작, 프로그래밍에 대한 흥미도를 높일 수 있었다. Robot Curriculum based education in Insects Robot help elementary school students better understand how a robot works. This robot curriculum is aimed at elementary school students in fifth grade. This study progressed with LEGO® MINDSTORMS® NXT, departed 6 groups, reached the insect’s movement, designed robot like insects. This curriculum enhanced discussion prowess and improved the ability of building robot. During this study, most of the students were attracted to the action of the robot-like insect’s movement.
Kuwana, Yoshihiko Korean Society of Sericultural Science 2000 International Journal of Industrial Entomology Vol.1 No.2
Insects have many excellent features and functions in their small bodies, such as hexapod walking, flapping flight, vision systems, sensory hairs, etc, and those characteristics can be thought as good models for many types of robots. Insects also will be good models far micro-machines because of its size. Insect behavior consists of simple reflex acts and programmed behavior, Some robots were made in order to clarify the emergent mechanism of insect behavior, Through some experiments it would be found that even if insect behavior consists of some simple action patterns, it looks intelligent through interactions its sensors and actuators with its complex environment. In the near futures small robots inspired by insects will be used in many fields of our life. I hope that insect-model based robots will play an active part in many fields and that they will make us happy.
Triboelectric-Based Film-Type Soft Robot Driven via Low-Frequency Mechanical Stimuli
Sungho Ji,Jaehee Shin,Jiyoung Yoon,Jung-Hwan Youn,Jihyeong Ma,Ki-Uk Kyung,Duck Hwan Kim,Hanchul Cho,Jinhyoung Park 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.10 No.4
Triboelectric nanogenerators (TENGs) have received considerable attention owing to their ability to harvest energy from the environment. They can be effectively used as a self-generating power source to drive low-power devices. Compared with other energy harvesting technologies, the energy conversion efficiency is much higher, but the current output is low—only enough to drive an existing rotor-type motor. In this study, we designed a film-type soft robot that can produce high-voltage, low-power, triboelectric output without using a motor. Polyvinylidene fluoride (PVDF) film was used as the actuator for the soft robot. We designed a resonance structure to increase the movement of the soft robot driven by low-frequency triboelectric output. A driving test was performed by simulating the shape of butterfly wings and an inch-worm. When the butterfly-shaped PVDF film robot simulated the flapping motion of wings using the resonance structure parameter design, it was able to generate 2.5 times greater movement than the model without the resonance structure. In addition, the artificial inch-worm soft robot optimized for the TENG input was fabricated by applying the parameter design method to the PVDF film. We developed and tested a self-powered, intelligent soft robot that can be driven by low-frequency mechanical stimuli. This study can help extend the application of triboelectric generators.
인장스프링을 이용한 모터 직접 구동형 곤충 모방 날갯짓 비행체의 동작 시험
정승희,박정근,강태삼 한국항공우주학회 2023 韓國航空宇宙學會誌 Vol.51 No.12
본 논문에서는 인장스프링을 이용한 곤충 모방 모터 직접 구동형 날갯짓 비행체를 제안하고 날갯짓 비행체의 동작을 위한 제어시스템 보드를 설계 및 제작하였다. 제안된 날갯짓 비행체는 프레임, DC 모터, 스퍼 기어, 피니언 기어, 날개 프레임, 날개, 인장스프링으로 구성된다. 비행체의 부품들의 관성모멘트, 기어비, 회전 스프링 상수를 이용하여 비행체의 공진주파수를 유도할 수 있고, 인장스프링의 오프셋 길이를 조절하여 공진주파수 값을 변경할 수 있다. 제어보드는 마이크로컨트롤러, IMU, 전압 레귤레이터로 구성된다. 날갯짓 비행체 구동을 위한 제어 신호는 기본적으로 사인파의 형태 신호이며, PWM으로 구동된다. 제어보드는 양쪽 날개 구동 신호에 진폭을 서로 다르게 변화시키거나, 오프셋을 주어 날갯짓 중심을 옮기거나, 날갯짓의 업스트로크와 다운스트로크의 속도를 변화시켜, 롤, 피치, 요를 각각 제어한다. 실험을 통하여 롤, 피치, 요 제어입력 신호에 맞추어 PWM 제어 신호가 바뀌는 것을 확인하였다. 제안된 날갯짓 비행체에 제어보드와 모터드라이버를 연결하여 기본 추력이 발생되는 것과 롤, 피치 명령에 따라 모멘트가 발생되어 기체의 자세가 바뀌는 것을 확인하였다. In this paper, we proposed an insect-mimicking motor-directly driven Flapping Wing Micro Air Vehicle (FWMAV) using extension springs and designed and manufactured a control system board for the operation of the FWMAV. The proposed FWMAV consists of a frame, DC motor, spur gear, pinion gear, wing frame, wings, and extension springs. The resonant frequency of the FWMAV can be determined using the moment of inertia, gear ratio, and rotational spring constant. The resonance frequency can be changed by adjusting the offset length of the tension spring. The control board consists of a microcontroller, IMU, and voltage regulator. The control signal for driving the flapping device is basically a sine wave signal and is driven by PWM. The control board controls roll, pitch, and yaw by changing the amplitude of both wing drive signals differently, moving the center of wing flapping by giving an offset, or changing the speed of the upstroke and downstroke of wing flapping. Through experiments, it was confirmed that the PWM control signals are changed according to the roll, pitch, and yaw control input signals. By connecting the control board and motor driver to the proposed FWMAV, it was confirmed that basic thrust for hovering was generated. And also it was checked that moments for attitude control were generated according to roll and pitch commands, changing the FWMAV's attitude.