• 센서학회지
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• 제25권2호
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• pp.110-115
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• 2016

This paper describes the design and fabrication of a three-axis force sensor with three parallel plate structures(PPSs) for measuring force in a finger force measuring system for a spherical object catch. The three-axis force sensor is composed of a Fx force sensor, Fy force sensor and a Fz force sensor, and the elements of Fx force sensor and Fy force sensor are a parallel plate structure(PPS) respectively and Fz force sensor is two PPS. The three-axis force sensor was designed using FEM(Finite Element Method), and manufactured using strain-gages. The characteristics test of the three-axis force sensor was carried out. As a test results, the interference error of the three-axis force sensor was less than 1.32%, the repeatability error of each sensor was less than 0.04%, and the non-linearity was less than 0.04%.

• 한국정밀공학회지
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• 제24권10호
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• 한국멀티미디어학회논문지
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• 제25권9호
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• pp.1307-1315
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• 2022

In this paper, we proposed and developed a new portable skin elasticity measuring device based on the indentation method using piezoelectric effect. The proposed device is designed to minimize the uncertainty caused by the layer structure of the skin when measuring the elasticity of the skin. And, we developed a piezoelectric-based thin-film pressure sensor that can measure quantitatively and quickly during repeated measurement as a device sensor. To confirm the effectiveness of the proposed measuring device, it was compared with the experimental results of the conventional measuring devices under the same experimental conditions, and statistical correlation analysis was performed between the experimental data of the proposed measuring device and the experimental data of the conventional measuring devices. As a result of the correlation analysis, it was confirmed that the proposed measuring device had a high correlation with the conventional measuring devices. Therefore, it was confirmed that the proposed skin elasticity measuring device was effective.

• 전기학회논문지
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• 제63권5호
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• pp.713-718
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• 2014

DC urban railway power system consists of DC power network and AC power network. The DC power network supplies electric power to railway vehicles and the AC power network supplies electric power to station electric equipment. Recently, because of power consumption reduction and peak load shaving, intelligent measurement of regenerative energy and renewable energy adapted on DC urban railway is required. For this reason, DC smart metering system for DC power network shall be developed. Therefore, in this paper, DC voltage sensor, current sensor, and DC smart meter were developed and evaluated by performance test. DC voltage sensor was developed for measuring standard voltage range of DC urban railway, and DC current sensor was developed as hall effect split core type in order to install in existing system. DC smart meter possesses function of general intelligent electric power meter, such as measuring electricity and wireless communication etc. And, DC voltage sensor showed average 0.17% of measuring error for 2,000V/50mA, and current sensor showed average 0.21% of measuring error for ${\pm}2,000V/{\pm}4V$ in performance test. Also DC smart meter showed maximum 0.92% of measuring error for output of voltage sensor and current sensor. In similar environment for real DC power network, measuring error rate was under 0.5%. In conclusion, accuracy of DC smart metering system was confirmed by performance test, and more detailed performance will be verified by further real operation DC urban railway line test.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.318-321
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• 1991

For measuring the transient electromagnetic fields and related quantities created by disconnector operations in GIS, one needs the wide bandwidth sensors with simple transfer functions. This paper describes a new developed electric field sensor to measure the very fast transient electric fields and voltages, and the measuring principle, design and construction of planar electric field sensor are described. A calibration and/or correction technique of the sensor is investigated which enables an accurate determination of the sensor response to the time-changing electric fields. As a consequence, the low voltage calibrations certify that a rise time of 1.7 [ns] is achieved for the planar electric field sensor and a total bandwidth extending from several Hz to 200 MHz for the measuring system which presents the constant division ratio as a function of frequency.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 C
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• pp.764-766
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• 1998

An evaluation method for oxygen permeable characteristics of the membrane covering to each cathode of multiple cathode - single anode type dissolved oxygen sensor, which has high reproducibility and is capable of measuring multiple components in solutions. For this purpose, a measuring circuit for the multiple cathode type DO sensor was designed to lower the noise signal by adapting a digital LPF to readout the sensor output accurately. Digital LPF is designed by setting up the transfer function to set the cutoff frequency to 10Hz, and the transfer function is programmed by C language, and then the filtering characteristics are evaluated with the simulation and experiments. Using this LPF added measuring circuit for the multiple cathode type DO sensor, we have obtained the calibration factor for each cathode to calibrate the variation of the output signals. The calibration factor was obtained by measuring the sensor output signal followed by oxygen partial pressure, using the same oxygen permeable membrane at each cathode of the multiple cathode type DO sensor.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.876-882
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• 2010

Stroke patients can't use their hands because of the paralysis their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by measuring the pressing force to be contacted with two fingers (thumb and first finger, thumb and middle finger, thumb and ring finger, thumb and little finger). But, at present, the grasping finger force of two-finger can't be accurately measured, because there is not a proper finger-force measuring system. Therefore, doctors can't correctly judge the rehabilitating extent. So, the finger-force measuring system which can measure the grasping force of two-finger must be developed. In this paper, the finger-force measuring system with a three-axis force sensor which can measure the pressing force was developed. The three-axis force sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (Digital Signal Processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the grasping forces of men were different according to grasping methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.700-704
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• 1989

A robotic system with a 3-dimensional profile measuring sensor is developed in order to measure the complicated shape of the target body. Due to this 3-dimensional profile measuring sensor, a computer is able to adjust the posture of the robot hand so that complicated global profile of the target body can be recognized after several measurements from the variant directions. In order to enable fast data processing, a digital signal processor and a look-up table is introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.586-590
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• 1990

In this paper we describe the shape measuring technique and system with a non-contractive sensor, composed of slit-ray projector and solid-state camera. For improving the accuracy and preventing measuring dead point, this sensor part is attached to the end of robot, and each sensing is executed after one step moving. By patching these sensing data, whole measuring data is constructed. The calibration between sensor and world coordinate is implemented through the specific calibration block by transformation matrix method. The result of experiment was satisfactory.