• Journal of Sensor Science and Technology
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• v.13 no.2
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• pp.101-109
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• 2004

This paper presents a novel z-axis accelerometer with perfectly aligned vertical combs fabricated using the extended sacrificial bulk micromachining (extended SBM) process. The z-axis accelerometer is fabricated using only one (111) SOI wafer and two photo masks without wafer bonding or CMP processes as used by other research efforts that involve vertical combs. In our process, there is no misalignment in lateral gap between the upper and lower comb electrodes, because all critical dimensions including lateral gaps are defined using only one mask. The fabricated accelerometer has the structure thickness of $30{\mu}m$, the vertical offset of $12{\mu}m$, and lateral gap between electrodes of $4{\mu}m$. Torsional springs and asymmetric proof mass produce a vertical displacement when an external z-axis acceleration is applied, and capacitance change due to the vertical displacement of the comb is detected by charge-to-voltage converter. The signal-to-noise ratio of the modulated and demodulated output signal is 80 dB and 76.5 dB, respectively. The noise equivalent input acceleration resolution of the modulated and demodulated output signal is calculated to be $500{\mu}g$ and $748{\mu}g$. The scale factor and linearity of the accelerometer are measured to be 1.1 mV/g and 1.18% FSO, respectively.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Journal of Microbiology and Biotechnology
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• v.18 no.1
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• pp.43-47
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• 2008

The nickel and cobalt resistance of Cupriavidus metallidurans CH34 is mediated by the CnrCBA efflux pump encoded by the cnrYHXCBAT metal resistance determinant. The products of the three genes cnrYXH transcriptionally regulate expression of cnr. CnrY and CnrX are membrane-bound proteins, probably functioning as anti-sigma factors, whereas CnrH is a cnr-specific extracytoplasmic functions (ECF) sigma factor. The periplasmic domain of CnrX (residues 29-148) was cloned as a N-terminal His-tagged protein, expressed in Escherichia coli, and purified using affinity chromatography and gel filtration. The molecular mass was estimated to be about 13.6kDa by size exclusion chromatography, corresponding to a monomer. The tetragonal bipyramid crystals were obtained by mixing an equal volume of protein in 50mM Tris-HCl, pH 7.5, 1% glycerol, 100mM NaCl, 1mM DTT, and the reservoir solution of 15% w/v PEG 2000, 100mM lithium chloride at 277K in 2-4 days using hanging drop vapor diffusion. The protein concentration was 24mg/ml. The crystal that diffracted to $2.42{\AA}$ resolution belongs to space group $P4_1\;or\;P4_3$ with unit cell parameters of $a=b=32.14{\AA},\;c=195.31{\AA},\;{\alpha}={\beta}={\gamma}=90^{\circ}$, with one molecule of CnrX in the asymmetric unit.

• Journal of Korean Society of Water and Wastewater
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• v.31 no.5
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• pp.373-381
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• 2017

$RuO_2$ is a common active component of Dimensionally Stable Anodes (DSAs) for chlorine evolution that can be used in wastewater treatment systems. The recent improvement of chlorine evolution using nanostructures of $RuO_2$ electrodes to increase the treatment efficiency and reduce the energy consumption of this process has received much attention. In this study, $RuO_2$ nanorod and nanosheet electrodes were simply fabricated using the sol-gel method with organic surfactants as the templates. The obtained $RuO_2$ nanorod and nanosheet electrodes exhibit enhanced electrocatalytic activities for chlorine evolution possibly due to the active surface areas, especially the outer active surface areas, which are attributed to the increase in mass transfers compared with a conventional nanograin electrode. The electrocatalytic activities for chlorine evolution were increased up to 20 % in the case of the nanorod electrode and 35% in the case of the nanosheet electrode compared with the nanograin electrode. The $RuO_2$ nanorod 80 nm in length and 20-30 nm in width and the $RuO_2$ nanosheet 40-60 nm in length and 40 nm in width are formed on the surface of Ti substrates. These results support that the templated $RuO_2$ nanorod and nanosheet electrodes are promising anode materials for chlorine evolution in future applications.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.29-37
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• 2011

The modal characteristics of a compressor wheel of an automotive turbocharger have been investigated using an experimental method based on an acoustic frequency response function, p/f(${\omega}$), where p is sound pressure radiated from a structure, and f is impact force. First, a well-defined annular disc with narrow radial slots was examined to check whether the vibro-acoustic test could precisely determine natural quencies and vibration modes of structures showing that the vibro-acoustic test proposed in this paper was comparable to the conventional modal test with an accelerometer and the numerical analysis. The conventional method has been found to be inappropriate for compressor wheel because of additional mass due to the accelerometer and additional damping from the accelerometer cable alter the dynamic responses of the wheel blades. odal characteristics of the wheel have been defined using vibro-acoustic test and verified with the results from another conventional method using a laser vibrometer. Natural quencies and mode shapes of a turbocharger wheel, which can't be precisely obtained with onventional method, could be defined accurately without the additional effects from sensor and cable. Proposed method can be applied to small structures where conventional sensors and cables could generate troubles.

• Journal of Sensor Science and Technology
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• v.6 no.6
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• pp.491-499
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• 1997

We fabricated the ceramic PLT tablet which was composed of 5, 10 and 15 mol% lanthanum concentration and thin film PLT to develope pyroelectric materials, and investigated their characteristics. Using TG/DTA, we determined calcination and sintering temperature to sinter the PLT completely and to prevent volatilization of the Pb components. The calcination and sintering temperature were $850^{\circ}C$, $1150^{\circ}C$ respectively, and there was a lot of mass loss at higher sintering temperature. By measuring temperature-dielectric constant characteristics of ceramic tablet we investigated dielectric constant characteristics depends on La concentration. The Curie point of PLT with 5, 10 and 15 mol% lanthanum concentration were $330^{\circ}C$, $269^{\circ}C$ and $210^{\circ}C$ respectively. Using PLT ceramic tablet we observed IR detection characteristics, and then deposited PLT thin film by rf magnetron sputtering. We verified that PLT thin film fabricated with completely sintered PLT target had the same structure to target by investigating lattice constant and optical transparency.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.55-64
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of Sensor Science and Technology
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• v.25 no.1
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• pp.20-26
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• 2016

The bioelectrical impedance (BI) for the young and the elderly was measured using bioelectrical impedance spectroscopy (BIS). First, while applying a current of $600{\mu}A$ to the foot and hand, BI was measured at 50 frequencies ranging from 5 to 1000 kHz. The BI for young subjects was considerably lower than that for old subjects since young subjects have more lean mass (hydration). The prediction marker was 0.74 for young subjects and 0.78 for old subjects. Second, a Cole-Cole diagram was obtained for young subjects and old subjects, indicating the different characteristic frequencies. At 50 kHz, the average phase angle was $7.8^{\circ}$ for young subjects whereas that was $6.1^{\circ}$ for old subjects. Third, BIVA was analyzed for young subjects and old subjects. The vector length was 210.89 [${\Omega}/m$] for young subjects and 326.12 [${\Omega}/m$] for old subjects. At 50 kHz, the resistance (R/H) and the reactance ($X_C/H$) divided by height were 208.94 [${\Omega}/m$] and 28.68 [${\Omega}/m$] for young subject, and 324.33 [${\Omega}/m$] and 34.09 [${\Omega}/m$] for old subjects.

• Journal of Sensor Science and Technology
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• v.22 no.6
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• pp.404-409
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• 2013

We devised calibration procedure for industrial thermometers by a comparison method at the boiling point of nitrogen (${\sim}-196^{\circ}C$). The uncertainty of the calibration was 4 mK (k = 2). As experimentally demonstrated in this work, the effect of the atmospheric pressure on the boiling point of nitrogen can be easily detected by the thermometer. Therefore, when the boiling point of nitrogen is used for calibration of thermometer by comparison, either a reference thermometer must be used to provide the reference temperature or the effect of atmospheric pressure should be carefully considered. The use of a copper block with a large thermal mass soaked into the liquid nitrogen was proven to be more reliable, and the stability of the temperature immersed into the copper block was 1.4 mK. The temperatures at the thermometer wells, evaluated by the crossed-measurement method to compensate for the inaccuracy of the thermometers and the linear drift of the temperature of the copper block, were equivalent within 0.23 mK of standard uncertainty.