• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.90.6-90
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• 2002

An active stick which has the variable force-feel characteristics is developed. A combined position and force control strategy is mechanized using a 2-axis built-in force sensor and LVDT. The 2-axis force sensor which measures the stick force felt by the operator is developed by using strain gages and appropriate instrumental amplifiers. A mathematical model of the active stick dynamics is derived, and compared with the experimental results. The frictional torque of the stick due to the mechanical contacts of several parts makes the experimental frequency responses to be dependent on the magnitude of excitation signal, and the precision closed loop control to be difficult. A friction observe...

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.7
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• pp.2334-2340
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• 2010

Sun position computed by Michalsky shows maximum $1.5^{\circ}$, $0.88^{\circ}$ and 2 minutes differences in azimuth, altitude, and sunrise and sunset times respectively compared with Korean Almanac. The 2-axis solar tracking system, which consist control panel with ATmega128 CPU, BLDC motor-cylinder actuator and 2-axis link mechanism, was developed. Computed azimuth and altitude of sun for a current time, and latitude and longitude of tracker position built are controlled in real time by BLDC motor-cylinder actuators comparing with the position feed-backed by Hall sensor. The use of BLDC motor is free in maintenance. Implementation of a home-return function by Hall sensor is to minimize the cumulative error.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.7
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• pp.71-78
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• 2006

Sun sensors are frequently implemented by satellites for attitude sensing, due to its simple manufacturability and light weight. A modeling of sun sensors has an important effect on the accuracy of satellite attitude determination. This paper addresses a new modeling of a 2-axis miniature fine sun sensor with improved accuracy. Unlike other previous algebraic modeling methods, the newly suggested physical modeling method takes into account the shadowing effect of the slit thickness. It was shown that a newly proposed sun sensor modeling provides a substantial accuracy improvement of 29% compared to the generic algebraic modeling. The proposed sensor modeling was validated using 2-axis fine sun sensors with FOV(Field of View) of ${\pm}60^{\circ}$ mounted on HAUSAT-2 small satellite, currently under development by SSRL(Space System Research Lab.) at Hankuk Aviation University, Korea.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.10
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• pp.4733-4739
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• 2012

While traditional two-axis tracking systems with double sensors had been using two sensors to control azimuth and elevation angle of the sun so that a solar cell module would make a normal line with the sun, this paper proposed a new two-axis system that can achieve the same performance with only one sensor in it. It is Two-axis tracking system that control azimuth and elevation to control to be reduced for solar cell module as proposed tracking system uses 1 sensors and the sun always forms normal. Two-axis tracking system of one sensor method that propose in paper that could reduce electric power consumption and sees than fixed type preventing action and the most efficient driving and needless drive could confirm that generation efficiency of about 23 [%] increases. To heighten efficiency of solar cell doing to receive more sunlights chasing the sun, done tracking device have proceeded a lot of studies in large size way. Therefore, is expected that will do big part in the sun tracking supply through utility study about persistent generation efficiency constructing monitoring system of the sun tracking of this paper.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.4
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• pp.319-327
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• 2004

The Electronic compass made as a pilot model in this research is comprised of a three axis magnetic sensor, an accustar clinometer, and a fiber optic gyro sensor. The results confirming the output character, performance, and the accuracy of the deviation corrects of each sensor are as follows: 1) As for the output character of the three axis magnetic sensor, the magnetic field showed a cosine curve on the X axis, a - sine curve on the Y axis, and constant figures on the Z sensor. The horizontal component H and the vertical component V of the terrestrial magnetism calculated from the output voltage were 33.2${\mu}$T and 23.95${\mu}$T respectively. 2) When the fiber optic gyro sensor is fixed on the electromotive rotation transformation and has made a clockwise rotation with the speed of 10/sec, 20/sec, and 30/sec, the relationship between the output and the rotation angle of the fiber optic gyro sensor showed proportionally constant values. 3) When the magnetic field was induced with a magnet, the deviation before the correction was significant at a high of 25. However, the deviation after the correction using Poisson correction was in the 2 range, significantly lower than before the correction. It was confirmed that automatic deviation corrects are possible with the electronic compass made as a pilot model in this research.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.10
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• pp.61-68
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• 2010

In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.

• International Journal of Internet, Broadcasting and Communication
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• v.11 no.4
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• pp.71-75
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• 2019

Sleep apnea is a disease that causes various complications, and the polysomnography is expensive and difficult to measure. The purpose of this study is to develop an unrestricted wearable monitoring system so that patients can be examined in a familiar environment. We used a method to detect sleep apnea events and to determine sleep satisfaction by non-constrained method using SpO2 measurement sensor and 3-axis acceleration sensor. Heart rate and SpO2 were measured at the finger using max30100. After acquiring the SpO2 data of the user in real time, the apnea measurement algorithm was used to transmit the number of apnea events of the user to the mobile phone using Bluetooth (HC-06) on the wrist. Using the three-axis acceleration sensor (mpu6050) attached to the upper body, the number of times of tossing and turning during sleep was measured. Based on this data, this algorithm evaluates the patient's tossing and turning during sleep and transmits the data to the mobile phone via Bluetooth. The power source used 9 volts battery to operate Arduino UNO and sensors for portability and stability, and the data received from each sensor can be used to check the various degree between sleep apnea and sleep tossing and turning on the mobile phone. Through thisstudy, we have developed a wearable sleep apnea measurement system that can be easily used at home for the problem of low sleep efficiency of sleep apnea patients.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1169-1174
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• 2009

In this paper, a prototype of implementable Sun tracking algorithm for mobile systems powered by alternative energy is proposed. The proposed system uses 2-axis tilt sensor and 3-axis magnetic sensor to measure orientation and posture of the system according to the horizon coordinates system, which are used to compensate tilt effects. Then through astronomical calculation using the present time and position informations obtained from GPS sensors, the calculated azimuth and altitude of the Sun in that location. The position of the Sun is converted to that of the mobile Sun tracking system coordinates and used to control A-axis and C-axis of the system.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.30 no.4
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• pp.253-257
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• 2017

Nowadays, it is increasingly important to detect whether cables are live for the operator's safety if there is a sudden power failure. It is especially hard to detect the electrical field of an underground line because of shielding. This paper on detection of live-line states in cables studied the detection characteristics of the change in the magnetic field and axis as the frequency, voltage, and distance at the same load are changed using 3 axes. A search coil type was used as a magnetic field sensor with non-contact. We found that magnetic fields decrease proportionally to the square of the distance and the decrease of rated voltage with load effected to magnetic field. The magnetic field was detected by 3-axis sensors given correct proximity, but appeared as noise components beyond a distance of 2 cm.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.79.1-79.1
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• 2019

The Schwarzchild-Chang telescope is a confocal off-axis two mirror telescope with D = 50 mm, F = 100 mm and FOV = 8 ° × 8 °. Unlike common off-axis telescopes, the mirrors of the Schwarzchild-Chang telescope share their focal points to remove the linear astigmatism. In this poster, we show the alignment process of the Schwarzchild-Chang telescope with wavefront measurement and the sensitivity table method. Wavefront is measured using the Shack-Hartmann sensor, and Zernike polynomials are obtained from measured wavefront. Sensitivity table method is to calculate alignment errors from the Zernike coefficients. As a result, we evaluate tilt, decenter, and despace of each mirror of linear astigmatism-free con-focal off-axis system.