• 한국기계연구소 소보
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• 통권18호
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• pp.67-74
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• 1988

The force sensor is essentially required in controlling robot manipulator in such applications as precise assembly of mechanical parts, deburring and polishing and various kinds of 6-axis force sensors are developed for these application. This paper presents the algorithm of horizontal assembly of circular cross-sectional workpiece using 3-axis force sensor and procedure to develop the sensor. The sensor is calibrated and tested using AID converter and 16 bit micro computer. The result is $\pm$0.03% FS of zero stability, 0.1%FS of linearity and $\pm$0.05% FS of resolution. The sensor will be used in the research of robot application such as assembly and deburring interfaced with micro computer based robot controller which is under development at the robotics lab.

• 한국통신학회논문지
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• 제39C권1호
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• pp.82-89
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• 2014

최근 M2M/IoT에 대한 관심이 높아지면서 디바이스의 위치와 자세 등을 인식할 수 있는 동작 인식 센서의 필요성이 대두되고 있다. 본 논문에서는 소형의 디바이스에 적합하도록 저잡음, 저전력, 초소형 6축 관성센서 IC를 구현하였다. 본 논문에서 구현된 IC는 3축의 압전형 자이로 센서와 3축의 압저항형 가속도 센서를 사용하며, 3축의 자이로스코프 감지 회로, 자이로스코프 센서 구동 회로, 3축의 가속도 감지 회로, 16bit sigma-delta ADC, 디지털 필터와 제어 회로로 구성되어 있다. 본 IC은 TSMC $0.18{\mu}m$ mixed signal CMOS공정으로 개발되었으며, STM사의 6축 관성 센서인 LSM330의 소비전류 6.1mA보다는 약 27% 낮은 4.5mA의 소비 전류로 동작한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1015-1016
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• 2010

• Asian-Australasian Journal of Animal Sciences
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• 제29권1호
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• pp.149-156
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• 2016

In this experiment, we proposed and implemented a disease forecasting system using a received signal strength indication ZigBee-based wireless network with a 3-axis acceleration sensor to detect illness at an early stage by monitoring movement of experimentally infected weaned piglets. Twenty seven piglets were divided into control, Salmonella enteritidis (SE) infection, and Escherichia coli (EC) infection group, and their movements were monitored for five days using wireless sensor nodes on their backs. Data generated showed the 3-axis movement of piglets (X-axis: left and right direction, Y-axis: anteroposterior direction, and Z-axis: up and down direction) at five different time periods. Piglets in both infected groups had lower weight gain and feed intake, as well as higher feed conversion ratios than the control group (p<0.05). Infection with SE and EC resulted in reduced body temperature of the piglets at day 2, 4, and 5 (p<0.05). The early morning X-axis movement did not differ between groups; however, the Y-axis movement was higher in the EC group (day 1 and 2), and the Z-axis movement was higher in the EC (day 1) and SE group (day 4) during different experimental periods (p<0.05). The morning X and Y-axis movement did not differ between treatment groups. However, the Z-axis movement was higher in both infected groups at day 1 and lower at day 4 compared to the control (p<0.05). The midday X-axis movement was significantly lower in both infected groups (day 4 and 5) compared to the control (p<0.05), whereas the Y-axis movement did not differ. The Z-axis movement was highest in the SE group at day 1 and 2 and lower at day 4 and 5 (p<0.05). Evening X-axis movement was highest in the control group throughout the experimental period. During day 1 and 2, the Z-axis movement was higher in both of the infected groups; whereas it was lower in the SE group during day 3 and 4 (p<0.05). During day 1 and 2, the night X-axis movement was lower and the Z-axis movement was higher in the infected piglets (p<0.05). Overall, the movement of infected piglets was altered, and the acceleration sensor could be successfully employed for monitoring pig activity.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권5호
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• pp.998-1013
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• 2013

Wireless wearable sensor networks have emerged as a promising technique for human motion tracking due to the flexibility and scalability. In such system several wireless sensor nodes being attached to human limb construct a wearable sensor network, where each sensor node including MEMS sensors (such as 3-axis accelerometer, 3-axis magnetometer and 3-axis gyroscope) monitors the limb orientation and transmits these information to the base station for reconstruction via low-power wireless communication technique. Due to the energy constraint, the high fidelity requirement for real time rendering of human motion and tiny operating system embedded in each sensor node adds more challenges for the system implementation. In this paper, we discuss such challenges and experiences in detail during the implementation of such system with wireless wearable sensor network which includes COTS wireless sensor nodes (Imote 2) and uses TinyOS 1.x in each sensor node. Since our system uses the COTS sensor nodes and popular tiny operating system, it might be helpful for further exploration in such field.

• 한국정보전자통신기술학회논문지
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• 제2권4호
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• pp.53-58
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• 2009

최근 각 종 분야에서 센서들을 이용한 연구 및 활용도가 증가하고 있다. 본 논문에서 는 3축 가속도 센서를 이용해 serial 통신을 통한 물체의 기울기를 감지 및 검출 하고 사용자는 실시간으로 모니터링 할 수 있는 GUI 환경 및 기울기 감지 시스템을 제안하였다. 기존 전자식 액체충전 방식의 기울기 센서의 불안정한 데이터와 오차의 단점을 줄이고자 AD 변환기가 내장된 디지털식 3축 가속도 센서를 이용함으로서, 보다 정확한 데이터를 검출하여 정확도를 높이고 사용자는 이상 여부를 보다 쉽게 인식할 수 있었다.

• 한국군사과학기술학회지
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• 제20권3호
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• pp.337-344
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• 2017

In this paper, the optical axis alignment(OAA) of an infrared sensor(IRS) using a microwave sensor(MWS) was presented as a method of an axis alignment to minimize the problems that could be caused by the misalignment of the two sensors in the missile including the dual-mode sensor. The azimuth(AZ) and elevation(EL) angles of the two targets used for each sensor test were calculated by using the transformation equation and the test results of the MWS and IRS, and then the proposed OAA was verified by comparing the angles. Furthermore, the validity of the proposed OAA was demonstrated by confirming the abnormality of the OAA through the test results of the electro optical head(EOH) of the IRS which was equipped with a tilt on the missile fuselage.

• 센서학회지
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• 제22권2호
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• pp.118-123
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• 2013

Most serious stroke patients have the paralysis of their wrists, and can't use of their hands freely. But their wrists can be recovered by rehabilitation exercise. Recently, professional rehabilitation therapeutists exercise the wrists of stroke patients in hospital. But the wrists of stroke patients have not rehabilitated, because the therapeutists are much less than stroke patients in number. Therefore, the wrist bending-exercise rehabilitation robot that can measure the bending force of the patients' wrists is developed. In this paper, the three-axis force sensor was designed for the wrist bending-exercise rehabilitation robot. As a test results, the interference error of the three-axis force sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist bending force of the patient.

• 조명전기설비학회논문지
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• 제25권8호
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• pp.99-105
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• 2011

This paper is about the design of 3-axis magnetic sensor module which detects parking and moving vehicle. For the sensor module, MR Sensor from Honeywell of which maximum measurement range is ${\pm}2$[G] is used. It also consisted of amplifier and sensor filter and fabricated $30{\times}50$[mm] PCB. Fabricated sensor module produced helmholtz coil of which the length is 1.2[m] of 3-axis to know the performance. It installed sensor module at the center and measured the detected magnetic field. In result, 3-axis were detected as 0.2~0.3[mG] and the drift of the fluctuation of magnetic field was stabilized at 0.03[mG] unit. For the performance evaluation of the vehicle detection, after the entry and parking of the vehicle, variation of magnetic field was measured as 0.323~0.695[G] which the average 0.5[G] of the earth magnetic field was the center and the range of variation was confirmed as 0.37[G]. Therefore, the designed magnetic sensor can be used as the vehicle detection sensor module.

• 한국정밀공학회지
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• 제26권12호
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• pp.78-84
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• 2009

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.