• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.282-287
• /
• 2022

High shear adhesion on wet and rough surfaces and tactile feedback of gripping forces are highly important for realizing robotic gripper systems. Here, we propose a bioinspired robotic gripper with highly shear adhesion and sensitive pressure sensor for tactile feedback systems. To achieve them, we fabricated multi-walled carbon nanotube sensing layer on a thin polymeric adhesive layer of polydimethylsiloxane. With densely hexagonal-packed microstructures, the pressure sensor achieved 9 times the sensing property of a sensor without microstructures. We then assembled hexagonal microstructures inspired by the toe pads of a tree frog, giving strong shear adhesion under both dry and wet surfaces such as silicon (42 kPa for dry and ~30 kPa for underwater conditions) without chemical-residues after detachment. Our robotic gripper can prevent damage to weak or smooth surfaces that can be damaged at low pressure through pressure signal feedback suggesting a variety of robotic applications.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2004.11a
• /
• pp.143-152
• /
• 2004

Researchers seeking geological and environmental information, depend on remote sensing and aerial photographic datum from various commercial satellites and aircraft. However, adverse weather conditions as well as equipment expense limit the ability to collect data anywhere and anytime. To allow for better flexibility in geological and environmental data collection, we have developed a compact, multi-spectral automatic Aerial Photographic system (PKNU2). This system's Multi-spectral camera can record visible (RGB) and infrared (NIR) band (3032＊2008 Pixels) images Visible and infrared band images were obtained from each camera respectively and produced color-infrared composite images to be analyzed for the purpose of the environmental monitoring. However this did not provide quality data. Furthermore, it has the disadvantage of having the stereoscopic overlap area being 60% unsatisfied due to the 12 seconds of storage time of each data The PKNU2 system in contrast, photographed photos of great capacity Thus, with such results, we have been proceeding to develop the advanced PKNU2 (PKNU3) system that consists of a color-infrared spectral camera that can photograph in the visible and near-infrared bands simultaneously using a single sensor, a thermal infrared camera, two 40G computers to store images, and an MPEG board that can compress and transfer data to the computer in real time as well as be able to be mounted onto a helicopter platform.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1993.10a
• /
• pp.70-75
• /
• 1993

Chatter vibration is an unwanted phenomenon in metal cutting and it always affects surface finish, tool life machine life and the productivity of machining process. The In-process monitoring & control of chatter vibration is necessarily required to automation system. In this study, we constructed the multi-sensing system using Tool Dynamometer,Accelerometer and AE(Acoustic Emission) sensor for the credible detection of chatter vibration. And a new approach using a neural network to process the features of multi-sensor for the recognition of chatter vibration in turning operation is proposed. With the back propagation training process, the neural network memorize and classify the feature difference of multi-sensor signals.

• Proceedings of the KSRS Conference
• /
• 2002.10a
• /
• pp.330-330
• /
• 2002

The combination of Multi-Beam Echo Sounder swath bathymetry and high-resolution towed Sidescan sonar provides a powerful method of examination about hydrographic survey results. In this paper, we investigate the fast method of 3D bathymetric reconstruction with the Digital Sidescan sonar(Benthos SIS 1500) and Shallow Multi-Beam Echo Sounder(Reson Seabat 8125). The Seabat 8125 is a 455KHz high resolution focused Multibeam echo sounder(MBES) system which measures the relative water depth across a wide swath perpendicular to a vessel's track. The Benthos SIS1500 is a chirp(nominal fq. 200KHz) sonar which map the topographical features & sediment texture of ocean bottom using backscattered amplitude. We generates the very large 3D bathymetric texture mapping model with the Helical System's HHViewer and describes additional benefits of combining MBES and Sidescan Sonar imagery, the removal of geometric distortions in the model and a deterministic sounding noise.

• Journal of Communications and Networks
• /
• v.15 no.5
• /
• pp.486-495
• /
• 2013

In this article, we suggest a two-dimensional genetic algorithm (GA) method that applies a cognitive radio (CR) decision engine which determines the optimal transmission parameters for multicarrier communication systems. Because a CR is capable of sensing the previous environmental communication information, CR decision engine plays the role of optimizing the individual transmission parameters. In order to obtain the allowable transmission power of multicarrier based CR system demands interference analysis a priori, for the sake of efficient optimization, a two-dimensionalGA structure is proposed in this paper which enhances the computational complexity. Combined with the fitness objective evaluation standard, we focus on two multi-objective optimization methods: The conventional GA applied with the multi-objective fitness approach and the non-dominated sorting GA with Pareto-optimal sorting fronts. After comparing the convergence performance of these algorithms, the transmission power of each subcarrier is proposed as non-interference emission with its optimal values in multicarrier based CR system.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38C no.3
• /
• pp.254-262
• /
• 2013

This paper proposes FMT(Filtered Multi-Tone)-based digital radio implementation algorithms and the results obtained by various field tests especially in terms of transmitter characteristics. In this study, we predefined frame structure and protocols used for the CSTDMA(Carrier Sensing Time Division Multiple Access) scheme, designed digital filters and RF front end to fulfill the system characteristics such as the spectral mask and processing delays given by the Recommendation ITU-R M.1842-1. The proposed system supports exchange of data for e-Navigation with the usage of wider channel of 50-100kHz bandwidth, Turbo coding and FMT modulation. Furthermore, the common Ethernet protocol makes connection to local WLAN(Wireless Local Area Network) on board the ship for other data services.

• Korean Journal of Remote Sensing
• /
• v.34 no.2_2
• /
• pp.307-311
• /
• 2018

It is necessary to establish wide integrated surveillance system of marine territory to reduce damage caused by maritime security threats, marine pollution and accidents for safe and clean marine use and efficient development of marine resources. For marine surveillance, the information characteristics of space-time specific, accuracy and operability are required, and real-time information about the wide area should be provided at all times. This special issue has been published to identify the characteristics of each platform, evaluate its usability for the establishment of a wide integrated surveillance system, and present the direction for future convergence studies between platforms. Since 2015, KIOST and cooperative research team have been performing the project, "Base research for building wide integrated surveillance system of marine territory using multi-platform" that detect vessels and red tide etc. near real time by using satellite, UAV and HF Ocean Radar. The objective of this special issue is to introduce the significance for an integrated system for maritime surveillance and to create a forum for discussion on recent advances in remote sensing technology and applications for marine disasters, pollution, and accident surveillance.

• Journal of Industrial Technology
• /
• v.17
• /
• pp.95-101
• /
• 1997

A smart pressure measurement system is described, which provides a precise A/D conversion and is highly suitable for communication with microprocessors. In order to avoid unstable problems of remote pressure sensing we have developed a new interface board which performs the A/D conversion and smart signal processing of the measured pressure data. Serial communication software which is based on ASCII code commands is also developed to process initial setup and calibration functions as well as multi-drop communication with PC. The test and evaluation of the proposed system has been shown as having the better performance compared to the other types of existing pressure measuring systems and will give good applications to the industrial use where a highly precision remote sensing is needed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.492-495
• /
• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.210-210
• /
• 2000

In this paper, we have investigated the properties of multi-layer perceptron (MLP) for odour patterns classification and concentration estimation simultaneously. When the MLP may be has a fast convergence speed with small error and excellent mapping ability for classification, it can be possible to use for classification and concentration prediction of volatile chemicals simultaneously. However, the conventional MLP, which is back-Propagation of error based on the steepest descent method, was difficult to use for odour classification and concentration estimation simultaneously, because it is slow to converge and may fall into the local minimum. We adapted the Levenberg-Marquardt(LM) algorithm [4,5] having advantages both the steepest descent method and Gauss-Newton method instead of the conventional steepest descent method for the simultaneous classification and concentration estimation of odours. And, We designed the artificial odour sensing system(Electronic Nose) and applied LM-BP algorithm for classification and concentration prediction of VOC gases.