• 한국산업융합학회 논문집
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• 제21권2호
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권2호
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• pp.960-973
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• 2018

This paper presents design for error correcting algorithm of the time of flight (ToF) detection value in the light detection and ranging (LIDAR) system sensor. The walk error of ToF value is generated by change of the received signal power depending on distance between the LIDAR sensor and object. The proposed method efficiently compensates the ToF value error by the independent ToF value calculation from the received signal using both rising point and falling point. A constant error of ~0.05 m is obtained after the walk error correction while an increasing error up to ~1 m is obtained with conventional method.

• 센서학회지
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• 제6권3호
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• pp.194-199
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• 1997

자기센서가 전압이나 전류의 형태 그대로 출력되는 경우에 발생되는 잡음 유입 및 전압 손실 문제를 개선하기 위하여 소자부는 CMOS공정을 이용하여, 포화영역에서 동작하는 2 drain의 MAGFET을 설계 제작하고, 연산증폭기를 이용한 I-V변환회로, VCO(Voltage Controlled Oscillator)를 만들고 Schmitt trigger에 의한 주파수(Pulse) 변환회로의 시스템부를 하이브릿드 IC로 구성하여 packaging했다. 이 때 자기센서 절대감도는 1.9 V/T, 적감도는 $3.2{\times}10^{4}\;V/A{\cdot}T$ 이었으며 190 kHz/T의 안정된 출력 주파수 특성을 얻을 수 있었다.

• 전자공학회논문지B
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• 제33B권2호
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• pp.10-19
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• 1996

This paper presents a finger-shaped multisensor system which can measure the tyep and position of a target surface by contactl. The multi-sensor system consists of a sphere-shpaed optical tactile sensor located at the finger tip and a force/torque sensor located at the joint of a finger. The optial tactile sensor determines the type and position of the target surface using the shape and position of the CCD image of the touching area generated by a contact between the sensor and the taget surface. The force/torque sensor also determines the position and surface normal vector by applying the distributionof forces and torques t the contact point to the equations of finger shape. The measurements on the position and surface normal vector at a contact point obtined by two individual sensors are fused using a statistical method. The integrated sensor system has 0.8mm error in position measurement and 1.31$^{\circ}$ error in normal vector measurement. The developed sensor system has many applications, such as autonomous compliance control, automatic grasping and recognition, etc.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• 한국전기전자재료학회논문지
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• 제18권9호
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• pp.840-845
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• 2005

A three branches vortical Hall sensor for detecting rotation angle of brushless motor has fabricated. The sensor is constructed three branches of $150{\mu}m$ width and $300{\mu}m$ distance from central electrode to Hall electrode. Each branch has one Hall output and one Hall input. The central electrode acts as common driving input. According to rotation angle change of brushless motor, sensor gives three position signals phase shifted by $120^{\circ}$. The sensitivity of sensor is 200V/A$\cdot$T at magnetic field of 0.1 T and constant driving current of 1mA. It has also showed three sine waves of Hall output voltages with $120^{\circ}$ phase over one motor rotation. The noise can limit sensor's resolution. We have measured sensor's noise characteristics. The detectable minimum magnetic field is $20{\mu}T$ at driving current 1mA, measured frequency 1 kHz and bandwidth$({\Delta}f)$ of 1Hz.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2002년도 International Meeting on Information Display
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• pp.351-354
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• 2002

The F!T tube is a new type of CRT without a shadow mask. Correct color reproduction is performed by an electronic system that measures the landing positions of the electron beams and corrects through a dedicated deflection system. This paper describes in detail the position sensor and some of the electronics needed to build a functional control system. The principle has been shown in single- and triple-beam 17" and 32" tubes, of which results are included.

• 센서학회지
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• 제29권5호
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• pp.324-327
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• 2020

The impact of output conductance (g_o) on the short-circuit current-gain cut-off frequency (f_T) in In_0.8Ga_0.2As high-electron-mobility transistors (HEMTs) on an InP substrate was investigated. An attempted was made to extract the values of f_T in a simplified small-signal model (SSM) of the HEMTs, derive an analytical formula for f_T in terms of the extrinsic model parameters of the simplified SSM, which are related to the intrinsic model parameters of a general SSM, and verify its validity for devices with L_g from 260 to 25 nm. In long-channel devices, the effect of the intrinsic output conductance (g_oi) on f_T was negligible. This was because, from the simplified SSM perspective, three model parameters, such as g_{m_ext}, C_{gs_ext} and C_{gd_ext}, were weakly dependent on g_oi. However, in short-channel devices, g_oi was found to play a significant role in degrading f_T as L_g was scaled down. The increase in g_oi in short-channel devices caused a considerable reduction in g_{m_ext} and an overall increase in the total extrinsic gate capacitance, yielding a decrease in f_T with g_oi. Finally, the results were used to infer how f_T is influenced by g_oi in HEMTs, emphasizing that improving electrostatic integrity is also critical importance to benefit fully from scaling down L_g.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1812-1815
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• 1997

This paper treats the estimation of human impedance and their application to collaboration work robot. Initially, we performa an experiment at whcich teh human becomes a slave and the robot behaves like a master having F/T sensor on its end. the human impedance expressed interms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the positiion data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.628-631
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• 1996

This paper proposes a surface recognition algorithm which determines the types of contact surfaces by fusing the information collected by the multisensor system, consisted of the optical tactile and force/torque sensors. Since the image shape measured by the optical tactile sensor system, which is used for determining the surface type, varies depending on the forces provided at the measuring moment, the force information measured by the f/t sensor takes an important role. In this paper, an image contour is represented by the long and short axes and they are fuzzified individually by the membership function formulated by observing the variation of the lengths of the long and short axes depending on the provided force. The fuzzified values of the long and short axes are fused using the average Minkowski's distance. Compared to the case where only the contour information is used, the proposed algorithm has shown about 14% of enhancement in the recognition ratio. Especially, when imposing the optimal force determined by the experiments, the recognition ratio has been measured over 91%.