Papers by Author: Yun Jung Lee

Abstract: This paper introduces a novel spherical robot, KisBot III, with a newly designed wind-driven driving mechanism. The ducted fan for wind propulsion of the robot is installed at the center of the sphere, and according to the direction of the fan, the robot is able to move forwards or backwards. The outer shell is an open framework of spring carbon rods, and also includes two arms that can be folded-out to make the robot stop and partially deform its shape. Plus, for turning and balance control, a pendulum is located under the ducted-fan frame. By adopting wind as the driving mechanism, the robot has enough propulsion to drive over flat and uneven terrain, and negotiate a raised curb and slope. Experiments verify the driving motions and efficiency of the proposed spherical robot.

Abstract: Ti-51Ni(at%) and Ti-40Ni-10Cu(at%) alloy wires with diameters of 0.3mm, 0.5mm and 0.7mm were prepared by drawing the alloy ingots fabricated by vacuum induction melting. Heating rates of the wires were investigated by measuring changes in temperatures of them while applying currents in the range of 1 A and 6 A to them and cooling rates were investigated by measuring changes in temperatures of them after cutting currents. Heating rate increased with increasing the amount of current, while cooling rate was kept constant. Both heating rate and cooling rate increased with decreasing diameter of wire. This suggested that high amount of current and small wire diameter were required for high heating and cooling rate. Comparing Ti-50Ni alloy wires with Ti-40Ni-10Cu alloy wires, heating rates of the latter was faster than that of the former, although cooling rates were almost same. This suggested that Ti-40Ni-10Cu alloy wires is better than Ti-50Ni alloy wires for the applications requiring high actuating rates.

Abstract: Shape memory characteristics and superelasticity of an temperature gradient annealing(TGA) treated equiatomic Ti-Ni alloy have been investigated by means of differential scanning calorimetry(DSC), thermal cycling tests under constant load and tensile tests. By annealing 25% cold worked alloy under the temperature gradient from 658 K to 466 K, 7 K variation in TR*and 19 K variation in Ms* were obtained along the length of sample(150mm). Temperature dependence of transformation elongation(dε/dT) of TGA treated Ti-Ni alloy wires was in the range of 0.05 %/K and 0.01 %/K depending on annealing temperature ranges. The dε/dT obtained from TGA treated sample under the temperature gradient from 658 K to 466 K was 0.03 %/K. TGA treated alloy showed the clear superelastic recovery.