• 로봇학회논문지
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• 제17권2호
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• pp.152-158
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• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• Journal of information and communication convergence engineering
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• 제12권4호
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• pp.208-214
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• 2014

In this paper, in order to solve the problems of a narrow viewing angle and the flip effect in a three-dimensional (3D) integral imaging display, we propose an improved system by using an eye tracking method based on the Kinect sensor. In the proposed method, we introduce two types of calibration processes. First process is to perform the calibration between two cameras within Kinect sensor to collect specific 3D information. Second process is to use a space calibration for the coordinate conversion between the Kinect sensor and the coordinate system of the display panel. Our calibration processes can provide the improved performance of estimation for 3D position of the observer's eyes and generate elemental images in real-time speed based on the estimated position. To show the usefulness of the proposed method, we implement an integral imaging display system using the eye tracking process based on our calibration processes and carry out the preliminary experiments by measuring the viewing angle and flipping effect for the reconstructed 3D images. The experimental results reveal that the proposed method extended the viewing angles and removed the flipping images compared with the conventional system.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회B
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• pp.2692-2695
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• 2008

Polydiacetylene (PDA) is chemosensor materials that exhibit non-fluorescent-to-fluorescent transition as well as blue-to-red visible color change upon chemical or thermal stress. They have been studied in forms of film or microarray chip, so far. In this paper, we provide a novel technique to fabricate continuous micro-fiber PDA sensor using in-situ laser-polymerization technique and 3-D hydrodynamic focusing on a microfluidic chip. The flow of a monomer solution with diacetylene (DA) monomer is focused by a sheath flow on a 3-D microfluidic chip. The focused flow is exposed to 365 nm UV laser beam for in-situ polymerization which generates a continuous fiber containing DA monomers. Then, the fiber is exposed to 254 nm UV light to polymerize DA monomers to PDA. Preliminary results indicate that the fiber size can be controlled by the flow rates of the monomer solution and sheath flows and that a PDA sensor fiber successively responds to chemical and thermal stress.

• Current Optics and Photonics
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• 제6권2호
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• pp.183-190
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• 2022

Based on the linear electro-optic (EO) effect of lithium niobite (LiNbO₃, LN) crystal, an intense two-dimensional (2D) electric field sensor was analyzed, fabricated and experimentally demonstrated. The linear polarized light beam transmits along the optical axis (z-axis) of the LN crystal, and the polarization direction of the polarized light is 45° to the y-axis. The sensor can detect the intensity of a 2D electric field that is perpendicular to the z-axis. Experimental results demonstrated that the minimum detectable electric field of the sensor is 10.5 kV/m. The maximum detected electric field of the sensor is larger than 178.9 kV/m. The sensitivity of the sensor is 0.444 mV/(kV·m^-1). The variation of the sensitivity is within ±0.16 dB when the sensor is rotated around a z-axis from 0° to 360°. The variation of the sensor output optical power is within ±1.4 dB during temperature change from 19 ℃ to 26 ℃ in a day (from 7:00 AM to 23:00 PM) and temperature change from 0 ℃ to 40 ℃ in a controllable temperature chamber. All theoretical and experimental results revealed that the fabricated sensor provides technology for the direct detection of intense 2D electric fields.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1997년도 추계학술대회 논문집
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• pp.321-324
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• 1997

In this study, Efficiency estimation of ultrasonic sensor fabricated with porous piezoelectric resonator by experiment of 3-D underwater object recognition are presented. The sensor was satisfied with requirement of ultrasonic sensor. The recognition rates for the fixed objects and the translation-rotation objects are 95.3 and 92.7[%], respectively using porous piezoelectric ultrasonic sensor and SOFM neural network. According to the experimental results, It is believed that the self-made ultrasonic sensor can be applied as underwater ultrasonic sensor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 C
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• pp.1682-1684
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• 2000

In this study, 3-D underwater object recognition using ultrasonic sensor fabricated with porous PZT-polymer 3-3 composites and SCL neural networks are presented. The recognition rates for the training data and the testing dara were 100 and 94.6% respectively.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2005년도 춘계학술발표대회 논문집
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• pp.21-24
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• 2005

Three dimensional circular braided Glass/Aramid hybrid fabric/epoxy resin composite was fabricated. FBG sensor was embedded along the braid yam in order to monitor the internal dimensional changes of the 3-D braid composite. The amount of cure and thermal shrinkage of epoxy resin was also determined using FBG sensor system. FBG sensors with different grating length were embedded and their response were compared. The thermo-optic coefficient of FBG sensor was measured by several preliminary experiments. The internal strain that measured by FBG sensor and electric strain gauge was compared during compressive test. The released residual strain of the fabricated tubular composite was estimated using cutting method. The internal strain of the composite was estimated using FBG sensor system, and the result was compared with the value from electric strain gauge. It was found that FBG sensor system is a very useful technique to investigate inside region of complicated structure.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• 센서학회지
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• 제5권4호
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• pp.57-70
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• 1996

Motion can be estimated continuously from each sensor through the analysis of the instantaneous states of an object. This paper is aimed to introduce a method to estimate the general 3D motion of a planar object from the instantaneous states of an object using multi-sensor data fusion. The instantaneous states of an object is estimated using the linear feedback estimation algorithm. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown planar object. We present a fusion algorithm which combines averaging and deciding. With the assumption that the motion is smooth, the approach can handle the data sequences from multiple sensors with different sampling times. Simulation results show proposed algorithm is advantageous in terms of accuracy, speed, and versatility.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.583-588
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• 2015

Flexible tactile sensors can provide valuable feedback to intelligent robots regarding the environment around them. This is especially important when robots such as, service robots share a workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by a direct-writing technique, which is one 3D printing method, using multi-walled carbon nano-tubes. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of the Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.