Ionic Polymer-Metal Composites (IPMCs) of EAP actuators is famous for its good property of response and durability.
The performance of Ionic Polymer-Metal Composites (IPMCs) is an important issue which is affected by many factors.
There are two factors for deciding the performance of IPMC. By treating anisotropic plasma etching process to 6 models
of the IPMCs, enhanced experimental displacement and force results are obtained. Plasma patterning processes are
executed by changing the groove and the land length of 6 patterns. The purpose of the present investigation is to find out
the major factor which mainly affects the IPMC performance. Simulations using ANSYS have been executed to compare
with the experimental results about the values and the tendency of data. Experimental and simulating data of the
performances seem to have similar tendency. In the next part of the paper, we observed the other properties like
capacitance, resistance and stiffness of 6 plasma patterned IPMCs. And we observed that the stiffness is the major factor
which affects the performance of IPMCs. As we seen, our problem has been reduced to investigate about the property of
stiffness. We suggest that the stiffness is largely changed mainly because of the different thickness of Platinum stacked
of the groove and the land part which are produced by anisotropic plasma etching processes. And we understand that
anisotropic plasma patterned IPMCs of better performance can be applied to various applications.
Ionic polymer metal composites is the proposing material for applications, since it has many attractive qualities that are
durability, aquatic, miniature and light-weighted. Especially, IPMC has extraordinary advantages that are large
displacement at low driving voltage(~3V), low power consumption and simple structure. However, slow time response
prevents IPMC from various applications. Since IPMC is generally used in simply-supported configuration, which has
same characteristic with a cantilever beam, IPMC has natural frequency and it oscillates extremely at natural frequency.
We propose new open loop control method based on frequency response, which is combined with conventional DC
input. This method is experimentally tested and compared with result by conventional input.
In field of endoscopy, in order to overcome limitation in conventional endoscopy, capsule endoscope has been developed
and has been recently applied in medical field in hospital. However, since capsule endoscope moves passively through
GI tract by peristalsis, it is not able to control direction of head including camera. It is possible to miss symptoms of
disease. Therefore, in this thesis, 2-Axis Tilting Actuator for Endoscope, based on Ionic Polymer Metal Composites
(IPMC), is presented. In order to apply to capsule endoscope, the actuator material should satisfy a size, low energy
consumption and low working voltage. Since IPMC is emerging material that exhibits a large bending deflection at low
voltage, consume low energy and it can be fabricated in any size or any shape, IPMC are selected as an actuator. The
system tilts camera module of endoscope to reduce invisible area of the intestines and a goal of tilting angle is selected to
be an angle of 5 degrees for each axis. In order to control tiling angle, LQR controller and the full order observer is
IPMC-EMIM (Ionic Polyer Metal Composites + 1-ethyl-3- methyl imidazolium trifluromethane sulfonate, EMIM-Tfo)
is fabricated by substituting ionic liquid for water in Nafion film, which improves water sensitiveness of IPMC
and guarantees uniform performance regardless of the surrounding environment. In this paper, we will briefly
introduce the procedure of fabrication of IPMC-EMIM and proceed to introduce the Hook-type actuator using IPMC-EMIM
and application to AF Lens actuator. Parameters of Hook-type actuator are estimated from experimental data.
In the simulation, The proposed AF Lens Actuator is assumed to be a linear system and based on estimated parameters,
PID controller will be designed and controlled motion of AF Lens actuator will be shown through simulation.
DE EAP(Dielectric Elastomer ElectroActive Polymer) has advantages in its weight, ease of fabrication and low
power consumption. There are many efforts applied to various field in recent ten years. But the present modeling is not
enough to appear its characteristics because of its hysteresis. In this paper, we propose modeling of DE EAP with
Preisach Model that is used in order to model the hysteretic response arising in PZT and SMA. The modeling of DE
EAP with Presach model is verified by experiment with various DE EAP actuators.
IN this paper, we propose a new scene change detection (SCD) algorithm, and also provide a novel video-indexing scheme for fast content-based browsing and retrieval in video databases. We detect scene changes from the MPEG video sequence, and extract key frames to represent contents of a shot. Then, we perform the video indexing by applying the rosette pattern to the extracted key frames, and retrieve them. Our SCD method is better than the conventional ones in terms of the SCD performance. Moreover, by applying the rosette pattern for indexing, we can remarkably reduce the number of pixels required to index and excellently retrieve the video scene.