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Biomimetic Swimming Mini-Robots Using Electro-Magnetic Actuation (EMA) System
Hyunchul Choi,Semi Jeong,Cheong Lee,Youngho Ko,Seong Young Ko,Jong-Oh Park,Sukho Park 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
For the actuation of mini-robots, electromagnetic based actuation (EMA) methods were proposed. EMA system has many advantages for the wireless actuation of mini-robots. This paper introduces our proposed biomimetic swimming mini-robots such as tadpole robot and jellyfish robot. The biomimetic swimming mini-robots could be driven by an external alternating magnet field using three pairs of Helmholtz coils. The swimming mini-robots consist of a buoyant robot body, permanent magnets, and fins. Especially, the tadpole mini-robot has a single fin which is directly linked to the permanent magnet and the jellyfish mini-robot has multiple fins which have a permanent magnet at the end of fin. The external alternating magnetic field from three pairs of Helmholtz coils could generate the propulsion and steering force of the tadpole mini-robot and the jellyfish mini-robot in 2- and 3-dimensional (-D) space. Firstly, we demonstrated the fabrications of the EMA coil system and the mini-robots. Secondly, we summarized the locomotive algorithms of the mini-robots using EMA. Thirdly, we setup the control system for the EMA driven mini-robots, which consists of EMA coils, dual cameras, controller, power amplifier, and conventional joystick. Through various experiments, we evaluated the locomotion algorithms the swimming mini-robots using EMA system. Finally, we demonstrated the performances of the swimming mini-robots in 2-D and 3-D space.
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Three-Dimensional Swimming Tadpole Mini-Robot using Three-Axis Helmholtz Coils
Choi, Hyunchul,Jeong, Semi,Lee, Cheong,Park, Bang Ju,Ko, Seong Young,Park, Jong-Oh,Park, Sukho 제어로봇시스템학회 2014 Transaction on control, automation and systems eng Vol. No.
Electromagnetic-actuated robotic systems have been studied recently for special purposes. Because these systems use external magnetic fields to control their robots, the robots can have simple structures and move with much freedom. In particular, these electromagnetic actuation (EMA) systems are being widely adopted for the actuation of biomedical mini-robots and microrobots for minimally invasive surgery (MIS) and diagnosis. We previously reported, as a feasible biomedical robot, the biomimetic swimming tadpole mini-robot, which can only swim above water. Indeed, the two-dimensional (D) plane swimming tadpole mini-robot is limited in its use because of its motility in the 2D plane. Therefore, this paper proposes a 3D swimming tadpole mini-robot that can move freely in water. First, in the proposed 3D swimming tadpole mini-robot, the buoyancy force was regulated for subaqueous swimming, and the permanent magnet was rearranged for precise movement. Second, to attain a 3D swimming motion, the actuation mechanism of the robot was developed using an EMA system. Finally, various experiments verified that the proposed 3D swimming tadpole mini-robot can swim freely in a 3D water environment.
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Three-Dimensional Swimming Tadpole Mini-Robot using Three-Axis Helmholtz Coils
최현철,정세미,이정,박방주,고성영,박종오,박석호 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.3
Electromagnetic-actuated robotic systems have been studied recently for special purposes. Because these systems use external magnetic fields to control their robots, the robots can have simple structures and move with much freedom. In particular, these electromagnetic actuation (EMA) systems are being widely adopted for the actuation of biomedical mini-robots and microrobots for minimally invasive surgery (MIS) and diagnosis. We previously reported, as a feasible biomedical robot, the biomimetic swimming tadpole mini-robot, which can only swim above water. Indeed, the two-dimensional (D) plane swimming tadpole mini-robot is limited in its use because of its motility in the 2D plane. Therefore, this paper proposes a 3D swimming tadpole mini-robot that can move freely in water. First, in the proposed 3D swimming tadpole mini-robot, the buoyancy force was regulated for subaqueous swimming, and the permanent magnet was rearranged for precise movement. Second, to attain a 3D swimming motion, the actuation mechanism of the robot was developed using an EMA system. Finally, various experiments verified that the proposed 3D swimming tadpole mini-robot can swim freely in a 3D water environment.
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알파미니 AI로봇을 활용한 통합놀이가 유아의 언어표현력에 미치는 효과 및 교육적 의미
유구종,윤여진 한국열린유아교육학회 2023 열린유아교육연구 Vol.28 No.3
This study was conducted with the main purpose of identifying the effect of integrated play using Alpha Mini AI robots on the language expression of preschoolers. For this, 18 four-year-old preschoolers from a childcare center in Incheon were observed for 15 weeks during play activities using Alpha Mini AI robots. The study analyzed the qualitative case data of the children during play using the robots and quantitatively analyzed the effect on the language expression of the preschoolers. The quantitative analysis results showed that integrated play using Alpha Mini AI robots improved the language expression of the preschoolers in terms of lower factors as the regression progressed, and a statistically significant difference was observed. In addition, according to the case study, the meanings of the concepts of “Experiencing the joy of self-discovery through new experiences and challenges” “Communicating linguistically while controlling their desires and behaviors,” “Experiencing new linguistic expressions in various contexts,” and “Developing cooperation and communication skills while experiencing problem-solving” were derived and interpreted. This study has educational significance in that it has statistically analyzed the effect of preschoolers’ self-directed activities with Alpha Mini AI robots supported by teachers, on their language expression and verified it through case analysis. 본 연구는 알파미니 AI로봇을 활용한 통합놀이가 유아의 언어표현력에 미치는 효과를 밝히는데 주목적을 두고 수행되었다. 이를 위해 인천시 소재의 Y어린이집 만 4세 유아 18명의 알파미니 AI로봇을 활용한 놀이행동을 15주간 관찰하여 AI로봇을 활용한 놀이에서 유아들의 사례를 질적으로 분석하고 유아의 언어표현력에 미치는 효과를 양적으로 분석하였다. 양적 분석 결과, 알파미니 AI로봇을 활용한 통합놀이는 회기가 지남에 따라 유아의 언어표현력 하위요인에 있어 향상을 보였으며 통계적으로 유의미한 차이가 나타났다. 또한, 사례연구에 따라‘새로운 경험과 도전으로 스스로 알아가는 기쁨을 경험하기’, ‘자신의 욕구와 행동을 조절하며 언어적 소통하기’, ‘다양한 맥락 속에서 새로운 언어적 표현을 경험해보기’, ‘문제해결과정을 경험하면서 협력과 소통 능력 키워가기’ 등의 의미를 도출하고 해석하였다. 본 연구는 교사 지원에 따른 유아 주도적 알파미니 AI로봇 활동이 유아의 언어표현력에 미치는 효과를 통계적으로 분석하고 사례분석을 통하여 검증하였다는 점에서 교육적 의의를 지닌다.
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인간형 로봇냉각을 위한 소형 수냉식 냉각판의 열적 특성
강상우(Sarng Woo Karng),김서영(Seo Young Kim),문종민(Jongmin Moon),황규대(Kyudae Hwang),리광훈(Gwanghoon Rhee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Thermal performance for mini water-cooled cold plates covered with non-metallic polycarbonate (PC) is experimentally measured in this study. The mini cold plates are designed to reduce the overall weight of the cooling device for effective heat dissipation from a humanoid robot. The water-cooled cold plate has a l0×10 ㎟ of base plate which is made of copper or aluminum. Two different types of enhanced surfaces are considered in the present study: copper pin-finned surface of 0.5×0.5 ㎟ area and 1.5 ㎜ high with 0.5 ㎜ fin spacing and aluminum foam-finned surface of 92% porosity and 40 PPI (pores per inch). Heat transfer rates are measured according to the input power and the flow rate of cooling water. The surface temperature of the base plate and the cooling water temperatures at inlet and outlet of each cold plate are measured. From the results, it is found that the copper pin-finned cold plate shows better performance than the aluminum foam-finned cold plate in terms of thermal resistance and pressure drop.
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강창현 대한흉부외과학회 2021 Journal of Chest Surgery (J Chest Surg) Vol.54 No.4
Totally robotic esophagectomy is performed using a robotic technique without additional thoracoscopy or laparoscopy. However, most robotic esophagectomies are currently performed in a hybrid form combining robotic and other endoscopic techniques. Laparoscopic stomach mobilization and thoracoscopic esophagogastric anastomosis are commonly used methods in robotic esophagectomy. In this paper, totally robotic esophagectomy without thoracoscopic or laparoscopic assistance is presented.
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알파미니 AI로봇을 활용한 통합놀이가 유아의 언어표현력에 미치는 영향
윤여진,유구종 한국열린유아교육학회 2022 한국열린유아교육학회 학술대회 논문집 Vol.2022 No.11
본 연구는 알파미니 AI로봇을 활용한 통합놀이가 유아의 언어표현력에 미치는 영향을 밝히는데 주목적을 두고 수행되었다. 이를 위해 I시 소재의 Y어린이집 만 4세 유아 18명의 알파미니 AI로봇을 활용한 놀이 행동을 15주간 관찰하여 AI로봇을 활용한 놀이에서 유아들의 사례를 질적으로 분석하고 유아의 언어표현력에 미치는 효과를 양적으로 분석하였다. 연구결과, AI로봇을 활용한 놀이에서 유아들은 AI로봇의 기능과 움직임에 흥미를 갖고 자발적으로 놀이에 참여하는 모습이 나타났다. 또한, AI 로봇과 유아, 유아와 유아 간의 활발한 언어적 상호작용의 모습이 나타났다. 양적 분석결과, 알파미니 AI로봇을 활용한 통합놀이는 회기가 지남에 따라 유아의 언어표현력 하위요인인 ‘흥미 및 관심 가지기’, ‘자진성과 적극성’, ‘이야기 듣고 이해하기’, ‘바른 태도로 말하기’, ‘말과 글의 관계 알기’, ‘쓰기에 흥미 가지기’에 있어 향상을 보였으며 통계적으로 유의미한 차이가 나타났다. 본 연구는 교사 지원에 따른 유아 주도적 알파미니 AI로봇 활동이 유아의 언어표현력에 미치는 효과를 통계적으로 분석하고 사례분석을 통하여 검증하였다는 점에서 교육적 의의를 지닌다.
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