• Title/Summary/Keyword: Direction sensor

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Development of a 6-axis robot's finger force/moment sensor for making a robot's gripper (로봇의 그리퍼 제작을 위한 6 축 로봇손가락 힘/모멘트센서의 개발)

  • Kim, Gab-Soon;Lee, Hun-Doo;Park, In-Chul;Son, Young-Hun
    • Proceedings of the KSME Conference
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    • 2003.04a
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    • pp.758-763
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    • 2003
  • This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

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A Solar Cell Based Coarse Sun Sensor for a Small LEO Satellite Attitude Determination

  • Zahran, Mohamed;Aly, Mohamed
    • Journal of Power Electronics
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    • v.9 no.4
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    • pp.631-642
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    • 2009
  • The sun is a useful reference direction because of its brightness relative to other astronomical objects and its relatively small apparent radius as viewed by spacecrafts near the Earth. Most satellites use solar power as a source of energy, and so need to make sure that solar panels are oriented correctly with respect to the sun. Also, some satellites have sensitive instruments that must not be exposed to direct sunlight. For all these reasons, sun sensors are important components in spacecraft attitude determination and control systems. To minimize components and structural mass, some components have multiple purposes. The solar cells will provide power and also be used as coarse sun sensors. A coarse Sun sensor is a low-cost attitude determination sensor suitable for a wide range of space missions. The sensor measures the sun angle in two orthogonal axes. The Sun sensor measures the sun angle in both azimuth and elevation. This paper presents the development of a model to determine the attitude of a small cube-shaped satellite in space relative to the sun's direction. This sensor helps small cube-shaped Pico satellites to perform accurate attitude determination without requiring additional hardware.

Collision Detection Algorithm using a 9-axis Sensor in Road Facility (9축센서 기반의 도로시설물 충돌감지 알고리즘)

  • Hong, Ki Hyeon;Lee, Byung Mun
    • Journal of Korea Multimedia Society
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    • v.25 no.2
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    • pp.297-310
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    • 2022
  • Road facilities such as CCTV poles have potential risk of collision accidents with a car. A collision detection algorithm installed in the facility allows the collision accident to be known remotely. Most collision detection algorithms are operated by simply focusing on whether a collision have occurred, because these methods are used to measure only acceleration data from a 3-axis sensor to detect collision. However, it is difficult to detect other detailed information such as malfunction of the sensor, collision direction and collision strength, because it is not known without witness the accident. Therefore, we proposed enhanced detection algorithm to get the collision direction, and the collision strength from the tilt of the facility after accident using a 9-axis sensor in this paper. In order to confirm the performance of the algorithm, an accuracy evaluation experiment was conducted according to the data measurement cycle and the invocation cycle to an detection algorithm. As a result, the proposed enhanced algorithm confirmed 100% accuracy for 50 weak collisions and 50 strong collisions at the 9-axis data measurement cycle of 10ms and the invocation cycle of 1,000ms. In conclusion, the algorithm proposed is expected to provide more reliable and detailed information than existing algorithm.

Local Obstacle Avoidance Method of Mobile Robots Using LASER scanning sensor (레이저 스캐닝 센서를 이용한 이동 로봇의 지역 장애물 회피 방법)

  • Kim, Sung Cheol;Kang, Won Chan;Kim, Dong Ok;Seo, Dong Jin;Ko, Nak Yong
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.51 no.3
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    • pp.155-160
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    • 2002
  • This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

Magnetic Field Sensor by Using Magnetic Effect in YBaCO Superconductor (자기적 성질을 응용한 YBaCuO계 초전도 자기센서)

  • 이상헌
    • Journal of the Korean Institute of Electrical and Electronic Material Engineers
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    • v.14 no.6
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    • pp.491-498
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    • 2001
  • The relationship between electrical properties of YBaCuO superconductor and externally applied magnetic field was studied to develop a magnetic field apolarity sensor. The electrical resistance of the superconductor was increased by applying external magnetic field and even after removal of the magnetic field. The behavior was related to the magnetic flux trapped in the superconductor, which penetrates through the materials by the external magnetic field. Some portion of the superconductor was changed to a normal state by the trapped magnetic flux. The appearance of the normal state yielded to enhance the electrical resistance. Electrical characteristics of the superconductor with trapped magnetic flux were extremely sensitive to the external magnetic field and showed different responses depending on the direction of the magnetic field. Considering the observed properties of the superconductor with trapped magnetic flux, a magnetic sensor was fabricated to detect simultaneously both the intensity and the direction of the magnetic field.

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A Study on the Sensor Calibration of Motion Capture System using PSD Sensor to Improve the Accuracy (PSD 센서를 이용한 모션캡쳐센서의 정밀도 향상을 위한 보정에 관한 연구)

  • Choi, Hun-Il;Jo, Yong-Jun;Ryu, Young-Kee
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.583-585
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    • 2004
  • In this paper we will deal with a calibration method for low cost motion capture system using psd(position sensitive detection) optical sensor. To measure the incident direction of the light from LED emitted marker, the PSD is used the output current ratio on the electrode of PSD is proportional with the incident position of the light focused by lens. In order to defect the direction of the light, the current output is converted into digital voltage value by opamp circuits peak detector and AD converter with the digital value the incident position is measured. Unfortunately, due to the non-linearly problem of the circuit poor position accuracy is shown. To overcome such problems, we compensated the non-linearly by using least-square fitting method. After compensated the non-linearly in the circuit, the system showed more enhanced position accuracy.

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Magnetic Field Sensor by Using Superconductor (초전도 자기 검출소자)

  • 이상헌
    • Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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    • 2002.07a
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    • pp.86-88
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    • 2002
  • The relationship between electrical properties of superconductor and externally allied magnetic field was studied to develop a magnetic field polarity sensor. The behavior was related to the magnetic flux trapped in the superconductor, which penetrates through the material by the external magnetic field. Electrical characteristics of the superconductor with trapped magnetic flux were extremely sensitive ta the external magnetic field and showed different responses depending on the direction of the magnetic field. Considering the observed properties of the superconductor with trapped magnetic flux, a magnetic sensor was fabricated to detect simultaneously both the intensity and the direction of the magnetic field.

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New Dynamic Fiber Orientation Sensor Based on Dielectric Anisotropy Measurement Technology

  • Sawamoto, Hidetada;Nagata, Shinichi
    • Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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    • 2006.06a
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    • pp.161-166
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    • 2006
  • A new fiber orientation sensor has been developed and tested on an actual paper machine to demonstrate its capability to function as a real-time monitoring system. First, we demonstrate the ability of the sensor system to detect the change in the fiber orientation angle while the sensor head, and not the paper, was intentionally rotated from $-90^{\circ}\;to\;+70^{\circ}$ with respect to the paper-traveling direction. Next, we demonstrate that this system can successfully detect the change in the magnitude and angle of fiber orientation in running paper when the direction of material flow on the wire was changed on the paper machine. The angle and magnitude of fiber orientation were independently confirmed by SST and MOA measurements. Furthermore, we found that the system was capable of measuring the basis weight and the moisture content of running paper while detecting the angle and magnitude of fiber orientation.

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Local Obstacle Avoidance of an Indoor Mobile Robot Using Lane Method and Velocity Space Command Approach (차선방법과 속도공간 명령 방식을 이용한 실내 주행 로봇의 지역 장애물 회피)

  • 김성철
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 1999.10a
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    • pp.105-110
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    • 1999
  • This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

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Development of a New On-line fiber Orientation Sensor Based on Dielectric Anisotropy

  • Nagata, Shinichi
    • Journal of Korea Technical Association of The Pulp and Paper Industry
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    • v.34 no.5
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    • pp.49-55
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    • 2002
  • A new method is proposed for the on-line measurement of the fiber orientation of sheet materials. The measurement of fiber orientation is very important in manufacturing paper sheets, non-woven fabrics, and glass sheets, because fiber orientation strongly affects product properties represented by, for example, dimensional stability of paper. A method developed in this research utilizes anisotropy of dielectric constants of sheet materials as a key characteristic to determine the fiber orientation. The new on-line sensor, consisting of 5 microwave dielectric resonators set in different directions, was designed to detect the fiber orientation while paper is running with high speed on a paper machine. This sensor can determine the direction and the degree of fiber orientation from the measured direction of the maximal dielectric constant and its variation, respectively. The fundamental performance of this system was examined by the static measurement of printing grade paper, which gave a satisfactory result. Then, the dynamic measurements were done at a speed of 1,000 m/min by using a high-speed test-coating machine.