This paper introduces an entire development trend of the bio-inspired robots, details of the single locomotive robots, and multimodal robots. Unlike general robots that utilize rigid structures and complex control techniques, creatures have compliant and soft body structures and survive in a simpler way. Inspired by the creatures’ standout performances, bioinspired robotic research has been started by implementing the single locomotion modes of insects such as crawling, jumping, and climbing. Recently, to expand locomotion domain, multimodal robots are actively being studied by integrating more than two locomotion modes of the insects such as jumping-crawling, jumping-gliding, and flying-climbing. Based on the reviews, we carefully suggest how the bio-inspired robotic research will proceed.
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Actuation Mechanisms of Soft Actuator Materials Driven by Electric Field Giseok Park, Bogyoung Kim, Jieun Lee, Jaehwan Kim International Journal of Precision Engineering and Manufacturing-Green Technology.2025;[Epub] CrossRef
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In this paper, we examine the exoskeleton robot which can support the muscular strength of the soldiers handling the front load and its applicability in the military field. In fact, in the questionnaire survey on the military applicability of exoskeleton robots, many soldiers reported that they felt immensely fatigued due to the heavy load on their back during the operation. Most of the exoskeleton robots in the military have been developed to reduce fatigue during the mobility and movement of soldiers. Research on the exoskeleton robots to support the waist has been carried out with emphasis on its role in assisting performance of repetitive work in the industrial field or the medical field. To examine the studies on conventional back support exoskeleton robots and to find out the functions required to apply a back-support exoskeleton robot to soldiers, we have classified the existing back support exoskeleton robots into power type, supported body, waterproof grades, and others based on weight, purpose, working time, etc. Apparently, the shape of the exoskeleton robot suitable for application in the military field and the required performance is presented in the present work.
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The design of subminiaturized natural fragment warhead is based on the analysis of its effectiveness against target personnel. Toward this end, the personnel incapacitation probability suggested by Sperrazza and Kokinakis was used. The effectiveness of various natural fragment warhead designs was analyzed by altering the fragment mass, velocity, number, and the target distance. A preliminary optimal design value of the natural fragment warhead in a subminiaturized missile was suggested, which was greater than the threshold value of the fragment mass to cope with air resistance. We also determined that the appropriate fragment mass was about 2.1204 × 10-4 kg (3.3 grain) in case of a subminiature warhead. This work facilitates the development of final optimal design stage of the natural fragment warhead in a subminiaturized missile and can also be utilized for the analysis and design of different types of fragment warhead.
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The deformable mirror is the main component of the adaptive optical imaging system, which removes the atmospheric disturbance and acquires the target image without any loss and the beam transmission system, which transmits the laser beam to a long distance. The mirror transforms the optical wavefront distortion caused by atmospheric disturbance into the opposite wavefront shape thereby correcting the distorted wavefront. In order to develop the deformable mirror, it is necessary to analyze the adaptive optics system and the usage environment where the application is required. In the present work, a prototype of a deformable mirror with a single continuous mirror was developed. In order to design the deformable mirror, the main factors of the adaptive optics system and the large diameter telescope were analyzed. Subsequently, the mirror material and the actuator were selected by confirming the amount of deformation through the finite element analysis. Based on the data collected, we designed and fabricated the prototype of the deformable mirror, and the Gaussian model was derived by analyzing the influence function of the deformable mirror through the design data. It was observed that the derived Gaussian model matched with the Zernike polynomial. Apparently, the fitting ability of the deformable mirror was confirmed.
The Store Automatic Fixing Equipment operates as an external force acting on fixing the Store during the flight and as a device designed to prevent the Store from being shaken when the aircraft is flying with the Store. In this paper, we derived the mathematical modeling of the Store Automatic Fixing Equipment through the analysis of the operating principles of the Equipment. The gap occurred by the external vibration forces was calculated through the mathematical model and structure analysis. And then the shape and stiffness design of the wedge, i.e., the Store Automatic Fixing Equipment was derived by the mathematical modeling and structural analysis. We made the Store Automatic Fixing Equipment and took the vibration testing under the aircraft flight conditions. We used the load cell to measure the reaction forces acting on the gap between the Store Automatic Fixing Equipment and the Store. The results of the reaction force measurements were compared with the analysis results of the design and the suitability of the Store Automatic Fixing Equipment’s design was verified based on the analysis.
Scaffolds for bone tissue engineering (BTE) should accomplish appropriate mechanical, cell interaction, and new bone ingrowth properties. Among calcium phosphate (CaP) based bio-ceramics used for preparing scaffolds, biphasic calcium phosphate (BCP) is attracting great interest for fabricating BTE scaffolds owing to its excellent biocompatibility and osteoconductivity. Fused deposition modeling (FDM) is an additive manufacturing technology commonly used for modeling, prototyping, and production applications. It is one of techniques used for 3D printing. The main purpose of this study was to develop new fabrication process of BCP scaffolds based on extrusion moulding using a 3D printer. Through the 3D printer, we showed new fabrication process for making scaffold mould and extrusion device parts that could be combined with tension-compression test machine. Line width, pore size, and porosity of these fabricated BCP scaffolds were measured and calculated. Mechanical properties and cell proliferation results of these BCP scaffolds were then evaluated.
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This paper proposes a walking position tracking method using inertial measurement unit (IMU) based on kinematic model of human body and walking cycle analysis. A kinematic model of lower body consisting of 9 coordinate frames and 7 links is used to estimate walking trajectory of the body based on rotation angles of the lower body measured by IMU. In this method, the position of left or right end frame of the lower body which is in contact with the ground is first identified and set as the reference position. The position of the base frame attached on the center of pelvis is then computed using the kinematic model and the reference position. One can switch the reference position with the position of the other end frame at the moment of heel strike. The proposed position tracking method was experimentally validated. Experimental result showed that position tracking errors were within 1.4% of walking distance for straight walking and 2.2% for circular walking.
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Quality management is very important to ensure competitiveness through good quality products. It is performed in all fields of manufacturing. While small and medium-sized manufacturing enterprises have introduced quality management systems for systematic quality control, the effectiveness of such systems has been very low. To overcome this problem, it is necessary to develop and introduce a quality management system that can reflect uality work characteristics of individual SMMEs and support quality work on a company-wide basis. This study constructed a quality management platform for all SMMEs by first gathering common functions essential to perform quality work and then created a customized quality management system for each company by adding optional functions reflecting characteristics and requirements of the individual company. The quality management platform is designed in detail through a series of processes such as deriving functions that users want, redefining them, organizing the information flow, and designing the DB and user interface. It is structured in three steps involving DB layer, functional layer, and service layer. Its effectiveness was demonstrated by constructing and operating the customized quality management system applied to actual companies.
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This paper presents an experimental observation of the rotation of a magnetostrictive motor about an arbitrary axis using a Terfenol-D rod and a helical magnetic field. Mangetostrictive motors consist of a solenoidal coil that generates a longitudinal magnetic field, a toroidal coil that generates a circumferential magnetic field, a Terfenol-D rod, a stator, a rotor, and so on. Two experiments were conducted in order to confirm the motors rotation about an arbitrary axis. The first measures the twist angle of the Terfenol-D rod and the second measures the tilt angle of the rotor with respect to the z-axis. The twist angle can be determined by the strain value of the strain gauge attached to the Terfenol-D rod. The tilt angle was obtained using a new trajectory tracking method with five cameras. When the ratio between the circumferential magnetic field and the longitudinal magnetic field changes, the twist and tilt angles also change.
The objective of this study was to investigate wear characteristics of Fe-TiB₂ composites prepared by pressureless sintering (PLS) and spark plasma sintering (SPS) using nanocomposite mixtures. Prior to wear test, micro-structures and mechanical properties of specimens were examined. Wear characteristics of these specimens slid against SiC were assessed using ball-on-disk tribo-tester. Results showed that PLS specimen had significantly large TiB₂ particles in the Fe matrix than SPS specimen. The relatively large TiB₂ particles in PLS specimen might be due to grain growth and coarsening during sintering process. Hardness of SPS specimen was substantially larger than that of PLS specimen. Furthermore, SPS specimen exhibited significantly larger wear resistance than PLS specimen. These differences in hardness and wear resistance between specimens might be associated with differences in their micro-structures. Results of this study provide better understanding of wear characteristics of Fe-TiB₂ composites.
This study shows the 4 - Bar linkage design process and static/dynamic stability analysis of a foldable electric wheelchair that can be loaded into a vehicle for long-distance trips. Conventional foldable electric wheelchairs have been developed for indoor use because the safety of the disabled is not secure enough for outdoor use. However, the disabled have generally used foldable electric wheelchairs for outdoor use, potentially putting themselves in a dangerous situation. The body of a foldable electric wheelchair consists of a double 4 - Bar linkage system that shares one link. The architecture of the wheelchair’s four-bar linkage frame was synthesized using four finitely separated design positions. This simple method can design a planar four-bar mechanism through the use of four finitely separated poses (orientation and position). The power driving module includes a battery and controller, and can be separated to load into a car easily. An analysis of the tip-over measurement was performed using ADAMS and LifeMOD during a maneuver on the ground. by force-moment stability metric. Several elements, including the center of gravity position, rotational radius, and acceleration, were evaluated how to affect stability metric.
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