• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.682-688
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• 2000

To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.

• Smart Structures and Systems
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• v.19 no.6
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• pp.625-631
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• 2017

In the fields of civil engineering and seismology, it is essential to detect and tracking the vibrations, and the fiber Bragg gratings (FBGs) are typically used as sensors to measure vibrations. Where, one of the most popular and detailed approaches to use FBGs as vibration sensors involves the use of cantilever beam designs, which adds a mass to measure low and moderate frequencies (from 20 Hz up to 1 kHz) with high sensitivities (greater than 10 pm/g). The design consists of a bending strain in the cantilever that is simultaneously transferred to the FBG, resulting in a shift in the wavelength that is proportional to the strain experienced by the cantilever. In this work, we present the experimental results of a vibration sensor design using a cantilever beam to generate an axial uniform strain in the FBG in-line with the vertical axis, which modifies the cantilever's natural frequency that allows the sensor to have a wide frequency broadband without losing sensitivity. This sensor achieved a sensitivity of about 339 pm/g and a natural frequency of 227.3 Hz. The presented design compared with the traditional cantilever beam-based FBG vibration sensors, has the advantages of a simple design for detection on vibration-sensitive structures and its physical parameters can be easily modified in order to satisfy the requirements of the desired vibration measurements.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.104-109
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• 2007

This paper is about a redundancy management system design for the Smart UAV(unmanned aerial vehicle) which utilizes the tilt..rotor mechanism. In order to meet the safety requirement on the PLOC(probability of loss of control) of $1.7{\times}10^{-5}$ per flight hour for FCS (flight control system) failures, a digital FCS is mechanized with a dual redundant structure. A fault detection system which is composed of a CCM(cross channel monitor) and analytic redundancy using the Kalman filtering is designed, and its effectiveness is evaluated through experiments. A threshold level and persistence count for managing redundant sensors are designed based on the statistical analysis of the FCS sensors. To increase the survivability of the UAV after the loss of critical sensors in the SAS(stability augmentation system) and to provide reference information for a tie-breaking condition at which an ILM(in-line monitor) cannot distinguish the faulty channel between two operating ones, the Kalman filter approach is investigated.

• Journal of Korea Multimedia Society
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• v.18 no.3
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• pp.401-407
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• 2015

In this paper, we propose the method to eliminate EMI (Electro-Magnetic Interference) in ELF (Extremely Low Frequency) band below 2 KHz for extending the gesture-recognition distance of smart TVs to more than 3m using electric potential sensor. First, we measure the electric field generated from the back panel of a TV and propose the effective arrangement of two sets of differential sensors as well as the shielding method using metal fiber. Also, we eliminate the PLN (Power Line Noise) and other noise generated from the TV and sensors as well as surrounding environments using filters. Using the proposed EMI eliminating methods, we evaluate displacement ratio on measured signals according to distance between sensors and a moving hand. Experiment results show that our proposed method can extend the hand-gesture sensing distance using EPS (Electric Potential Sensor) up to more than 3m, which is enough to satisfy applicability of EPS based remote control to Smart TVs.

• Journal of Sensor Science and Technology
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• v.8 no.2
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• pp.108-114
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• 1999

Surface acoustic wave (SAW) device is very attractive for gas sensor applications because of their small size, low cost, high sensitivity, and good reliability. A dual delay line surface acoustic wave $NO_2$ gas sensors have been designed and fabricated on the $LiTaO_3$ piezoelectric single crystal substrate. The capacitance of the fabricated IDTs was 326.34pF at the frequency of 79.3MHz. The maximum reflection loss of the impedence-matched IDTs was -16.74dB at the frequency of 79.3MHz. The SAW oscillator was constructed and the stable oscillation was obtained by controlling the gain of rf amplifier properly. The oscillation frequency shift of the SAW oscillator to the $NO_2$ gas was 28Hz/ppm.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.633-642
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• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• Journal of Sensor Science and Technology
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• v.32 no.4
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• pp.232-237
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• 2023

This paper presents a system for estimating the position of a magnet using a magnetic sensor. An algorithm is presented to analyze the waveform and output voltage values of the magnetic field generated at each position when the magnet moves and to estimate the position of the magnet based on the analyzed data. Here, the magnet is sufficiently small to be inserted into a blood vessel and has a micro-magnetic field of hundreds of nanoteslas owing to the small size and shape of the guide wire. In this study, a highly sensitive magneto-impedance (MI) sensor was used to detect these micro-magnetic fields. Nine MI sensors were arranged in a 3×3 configuration to detect a magnetic field that changes according to the position of the magnet through the MI sensor, and the voltage value output was polynomially regressed to specify a position value for each voltage value. The accuracy was confirmed by comparing the actual position value with the estimated position value by expanding it from a 1D straight line to a 3D space. Additionally, we could estimate the position of the magnet within a 3% error.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.321-325
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• 2001

Servo drives with microcomputer control provide the possibility of using modem and sophisticated control algorithms. As an additional feature it is possible to implement parallel and/or redundant software and hardware structures to realise safe motion or similar security functions. Unfortunately microcomputer control also has some impact on the behaviour of servo drives. Control algorithm, cycle time, sensors and interface have to be perfectly synchronised. Special control schemes are necessary on the line side (power supply) to meet the actual requirements concerning EMC. This contribution presents experiences and results obtained from a modem digital drive system pointing out the influences of low and high accuracy position sensors and the interdependencies mentioned above.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.696-699
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• 2004

A side scan sonar system uses the towfish installed sonars, It is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. It used to fined objects and investigate on the seabed surface. But, recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. So, it needs various filtering technique and image processing techniques development to acquire high resolution image. therefore, this research develops a side scan sonar using multi-beam sensors that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.3
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• pp.62-76
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• 2002

This paper describes the design of a Coordinates Tracking algorithm for EOTS and its error analysis. EOTS stabilizes the image sensors such as FLIR, CCD TV camera, LRF/LD, and so on, tracks targets automatically, and provides navigation capability for vehicles. The Coordinates Tracking algorithm calculates the azimuth and the elevation angle of EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which is generated by a Radar or an operator. In the error analysis in this paper, the unexpected behaviors of EOTS that is due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. This algorithm is verified and the error analysis is confirmed through simulations. The application of this algorithm to EOTS will improve the operational capability by reducing the time which is required to find the target and support especially the flight in a night time flight and the poor weather condition.