• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.734-741
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• 2009

A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

• 센서학회지
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• 제14권4호
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• pp.272-277
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• 2005

A CMOS active pixel sensor has been designed and fabricated using standard 2-poly and 4-metal $0.35{\mu}m$ CMOS processing technology. The CMOS active pixel sensor has been made up of a unit pixel having a highly sensitive PMOSFET photo-detector and electronic shutters that can control the light exposure time to the PMOSFET photo-detector, correlated-double sampling (CDS) circuits, and an 8-bit two-step flash analog to digital converter (ADC) for digital output. This sensor can obtain a stable photo signal in a wide range of light intensity. It can be realized with a special function of an electronic shutter which controls the light exposure-time in the pixel. Moreover, this sensor had obtained the digital output using an embedded ADC for the system integration. The designed and fabricated image sensor has been implemented as a $128{\times}128$ pixel array. The area of the unit pixel is $7.60{\mu}m{\times}7.85{\mu}m$ and its fill factor is about 35 %.

• 센서학회지
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• 제12권4호
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• pp.149-155
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• 2003

고감도 능동픽셀센서(active pixel sensor, APS)를 위한 PMOSFET 광검출기를 설계 및 제작하였다. 이 센서는 5V의 전원 전압을 사용하며, 1-poly 2-metal $1.5{\mu}m$ CMOS공정으로 제작하였다. 사용된 광검출기는 빛에 대한 감도를 높이기 위해서 n-well과 게이트를 연결한 PHOSFET을 사용하였다. 제작된 광검출기는 일반 MOSFET이 $I_{DS}-V_{DS}$ 곡선과 유사한 특성을 가진다. PMOSFET 광검출기를 기본으로 하여 설계된 1차원 이미지 센서는 16개의 픽셀로 구성되어 있으며, 단위 픽셀은 하나의 PMOSFET 광검출기와 4개의 NMOSFET으로 구성되어있다. 단위 픽셀의 크기는 $86{\mu}m{\times}90.5{\mu}m$이며, 개구율은 약 12%이다.

• 한국자동차공학회논문집
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• 제21권2호
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• pp.26-36
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• 2013

Purpose of this study is to develop virtual components and environment for developing a controller of an Active Air Suspension System in laboratory that slough off existing development environment using real vehicle test. This paper presents an air spring modeling and analysis of air suspension system for a commercial vehicle. Preferentially, It was performed vehicle test for pneumatic system and an air spring for characteristic analysis of system. Each component of an air spring suspension system was developed through emulations and modeling of system for pressure and height sensors in the basis on test results in SILS environment. Non-linear characteristics of air spring are accounted for using the measured data. Also, pressure and volume relations for vehicle hight control is considered. After performance verification of virtual model was performed, we developed virtual environment based on HILS for an Active Air Suspension System. We studied estimation and verification technology for control algorithm that developed.

• 한국세라믹학회지
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• 제40권12호
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• pp.1177-1182
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• 2003

BaTiO$_3$ 분말에 흑연 분말을 첨가하여 BaTiO$_3$계 가스센서용 다공성 감지물을 제조하였으며, 이 감지물의 결정구조와 미세구조를 연구하였다. 이 감지물 소성체는 정방정 perovskite 결정구조를 가지고 있었다 흑연 분말의 첨가량이 증가함에 따라 소성체의 기공도가 증가하였다. 이것은 소성 시 흑연 분말과 산소가 발열반응하여 CO 및 $CO_2$ 가스를 생성하고, 이 가스가 휘발하였기 때문이라고 생각된다. 제조한 BaTiO$_3$계 소성체는 대기에서 측정한 저항과 CO 가스에서 측정한 저항이 고온( >∼20$0^{\circ}C$)에서 큰 차이를 나타내고 있으며 온도가 증가함에 따라 차이가 커짐을 관찰하였다. 소성체 기공도의 증가에 따른 반응 site의 증가로 인하여 소성체의 표면흡착기인 $O_2$$^{-}$와 CO 가스의 반응과, 소성체에 있는 $O^{-}$와 CO 가스의 반응이 활발하기 때문에 CO 가스의 민감도가 크게 증가하였다. 본 연구에서 제조된 다공성 BaTiO$_3$계 세라믹스는 CO 가스센서의 감지물 재료로써 유망하다고 생각된다.

• 센서학회지
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• 제18권2호
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• pp.110-115
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• 2009

Polystyrene (PS) microspheres were used to good advantage as a template material to prepare macroporous $TiO_2$ thin films. This is enabled to run the thermal decomposition of the PS without the collapsing of the 3-D macroporous framework during the calcination step. $TiO_2$ thin films were deposited onto the colloidal templated substrates at room temperature by RF sputtering, and then samples were thermally treated at $450^{\circ}C$ for 40.min in air to remove the organic colloidal template and induce crystallization of the $TiO_2$ film. The macroporous $TiO_2$ thin film exhibited a quasi-ordered partially hexagonal close-packed structure. Burst holes, estimated to be formed during PS thermal decomposition, are seen as the hemisphere walls. the inner as well as the outer surfaces of the hollow hemispheres formed by the method of thermal decomposition can be easily accessed by the diffusing gas species. As a consequence, the active surface area interacting with the gas species is expected to be enlarged about by a factor of fourth as large as compared to that of a planar films. Also the thickness at neighboring hemisphere could be controlled a few nm thickness. If the acceptor density becomes as large that depletion width reaches those thickness, the device is in the pinch off-situation and a strong resistance change should be observed.

• 한국재료학회지
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• 제24권3호
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• pp.152-158
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• 2014

We report the effect of the fabric of the surface microstructure on the CO gas sensing properties of $SnO_2$ thin films deposited on self-assembled Au nanodots ($SnO_2$/Au) that were formed on $SiO_2/Si$ substrates. We characterized structural and morphological properties, comparing them to those of $SnO_2$ thin films deposited directly onto $SiO_2/Si$ substrates. We observed a significant enhancement of CO gas sensing properties in the $SnO_2$/Au gas sensors, specifically exhibiting a high maximum response at $200^{\circ}C$ and quite a low detection limit of 1 ppm level in dry air. In particular, the response of the $SnO_2/Au$ gas sensor was found to reach the maximum value of 32.5 at $200^{\circ}C$, which is roughly 27 times higher than the response (~1.2) of the $SnO_2$ gas sensor obtained at the same operating temperature of $200^{\circ}C$. Furthermore, the $SnO_2/Au$ gas sensors displayed very fast response and recovery behaviors. The observed enhancement in the CO gas sensing properties of the $SnO_2/Au$ sensors is mainly ascribed to the formation of a nanostructured morphology in the active $SnO_2$ layer having a high specific surface-reaction area by the insertion of a nanodot form of Au nucleation layer.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제18권6호
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• pp.1478-1499
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• 2024

Coronavirus disease (COVID-19) is an infectious disease caused by the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. COVID-19 become an active epidemic disease due to its spread around the globe. The main causes of the spread are through interaction and transmission of the droplets through coughing and sneezing. The spread can be minimized by isolating the susceptible patients. However, it necessitates remote monitoring to check the breathing issues of the patient remotely to minimize the interactions for spread minimization. Thus, in this article, we offer a wearable-IoTs-centered framework for remote monitoring and recognition of the breathing pattern and abnormal breath detection for timely providing the proper oxygen level required. We propose wearable sensors accelerometer and gyroscope-based breathing time-series data acquisition, temporal features extraction, and machine learning algorithms for pattern detection and abnormality identification. The sensors provide the data through Bluetooth and receive it at the server for further processing and recognition. We collect the six breathing patterns from the twenty subjects and each pattern is recorded for about five minutes. We match prediction accuracies of all machine learning models under study (i.e. Random forest, Gradient boosting tree, Decision tree, and K-nearest neighbor. Our results show that normal breathing and Bradypnea are the most correctly recognized breathing patterns. However, in some cases, algorithm recognizes kussmaul well also. Collectively, the classification outcomes of Random Forest and Gradient Boost Trees are better than the other two algorithms.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.941-948
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• 2022

인간의 접근이 어려운 재난 현장에 투입되는 재난 대응 로봇은 재난의 확산 방지 및 피해 최소화를 위해 현장탐색, 인명구조 등의 임무를 수행한다. 재난 현장에는 다양한 장애물이 산재한 험지, 통신 장애, 비가시적인 환경 등 복합적인 요인으로 인해 로봇 운용에 어려움이 있다. 본 논문에서는 직렬연결이 가능한 바퀴 로봇 모듈을 개발하였다. 바퀴 로봇 모듈은 직접 구동이 가능한 로봇 모듈과 수동으로 구동되는 로봇 모듈 두 가지로 개발하였다. 두 개의 직접 구동이 가능한 로봇 모듈과 하나의 수동으로 구동되는 로봇 모듈을 직렬연결하여 하나의 바퀴 로봇을 구성하였다. 로봇 모듈은 1 자유도 회전 관절로 연결되어 바퀴 로봇은 수직 방향으로의 장애물 회피가 가능하다. 바퀴 로봇은 압력 센서만을 이용해 주행과 장애물 극복을 수행하도록 제어하여 비가시적 환경에서 운용할 수 있도록 하였다. 바퀴 로봇의 성능 평가를 위해 두 개의 직접 구동이 가능한 바퀴 로봇 모듈과 한 개의 수동으로 구동되는 바퀴 로봇 모듈을 연결하여 장애물 극복 실험을 수행하였다. 바퀴 로봇은 압력 센서만을 사용해 최대 높이 80 mm의 계단형 장애물을 24.5초의 시간 동안 성공적으로 극복하여 비가시적인 상황에서 주행 및 장애물 극복이 가능함을 확인하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.258-263
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• 2009

This paper describes an analysis of the stability and performance of a large-capacity flywheel energy storage system (FESS) supported by active magnetic bearings. We designed and manufactured the system that can store up to 5kWh of usable energy at the maximum speed of 18,000 rpm. In order to analyze the stability of the systems accurately, we derived a rigid body rotor model, flexible rotor model using finite-element method, and a reduced-order model using modal truncation. The rotor model is combined with those of active magnetic bearings, amplifiers, and position sensors, resulting in a system simulation model. This simulation model is validated against experimental measurements. The stability of the system is checked from the pole locations of the closed-loop transfer functions. We also investigated the sensitivity function to quantify the robustness of the systems to the disturbances such as mass imbalance and sensor noises.