• Journal of Sensor Science and Technology
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• v.16 no.2
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• pp.150-158
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• 2007

The IEEE 1451 publication are available, this standard defines interface between sensor and processor, and plug and play in processor is possible. Also, Intelligence of sensor was possible because sensor includes transducer electronic data sheet (TEDS). In IEEE 1451 standards, IEEE 1451.4 is suitable standard in single sensor, and IEEE 1451.2 is suitable standard in multi-sensors (array sensor). In this paper, apply IEEE 1451 to electronic tongue system. In the case of electronic tongue system, because array sensor is used, it is that complex and difficult to apply IEEE 1451.4 that is standard for single sensor. In this paper, apply IEEE 1451.2 for array sensor to design of electronic tongue system. Communication interface method of IEEE 1451.2 for electronic tongue system is presented, and implemented TEDS of electronic tongue system.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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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.

• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• Journal of Sensor Science and Technology
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• v.15 no.6
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• pp.411-416
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• 2006

This paper describes the development of a 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand. In order to safely grasp an unknown object, robot's hand should measure the weight of an object and the force of grasping direction simultaneous. But, in the published papers, the grippers and hands equippd with the force sensor that could only measure the force of grasping direction, and grasped objects using their sensors. These grippers and hands can't safely grasp unknown objects, because they can't measure the weight of it. Thus, it is necessary to develop 3-axis force sensor that can measure the weight of an object and the force of grasping direction for an intelligent gripper. In this paper, 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand was developed. In order to fabricate a 3-axis finger force sensor, the sensing elements were modeled using parallel plate beams, and the theoretical analysis was performed to determine the size of sensing elements, then the 3-axis finger force sensor was fabricated. Also, the characteristic test of the developed 3-axis finger force sensor was performed.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.112-116
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• 2008

This paper presents URS (Ubiquitous Robotic Space) Modeling and service technique for the robotic security service while bridging between virtual space and physical space. First, this paper introduces a concept of virtual URS and responsive virtual URS. Second, this paper addresses modeling of URS which covers modeling of indoor geometry and environment sensor. Third, this paper describes virtual URS services including interactive virual-physical bridging service.

• Journal of Digital Convergence
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• v.11 no.8
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• pp.191-197
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• 2013

In this paper, we implemented a paper currency recognition system using IR(infrared) sensor. The system has 32 channel IR sensor to measure the reflection and penetration quantity of light. The IR image of paper currency of 10-bit gray scale is used to differentiate the real and counterfeit paper currency with image information from 0 to 4095. The characteristics of IR image are recognized by brightness and darkness and the positions of bright and dark portions are different between real and counterfeit paper currency. The price of IR sensors were relatively high, however, it is good price in these days due to mass production to apply to counterfeit detection area. We used a software table having the IR characteristics of real paper currency to compare with the IR images of the input paper currency. The performance of the implemented system shows 1-2% error rates for Euro real paper currency and 0% error rates for various counterfeit paper currencies of several countries.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.954-956
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• 1999

In the case of using sensor in the industrial control systems, the location of sensor is not close to the system which utilizes the sensor data. Two main functions of intelligent sensor are data processing and communication. In this paper, we will show that the developed result of intelligent sensor, which process the sensor data inside of the sensor module, except for the communication function. For this, we refered to the Profibus and Fieldbus Foundation standard.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1138-1143
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• 2006

Sensor deployment is an important issue in the mobile wireless sensor network. In this paper, we propose a deployment algorithm for mobile sensor network to spread out mobile sensor nodes widely as well as regularly. Since the proposed algorithm uses tree topology in deploying the sensor nodes, calculating power as well as spreading speed can be reduced compare to other deployment algorithms. The performance of the proposed algorithm is simulated using NS-2 simulator and demonstrated.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.149-150
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• 2007

By adding Gyro sensor to support the steering wheel angle sensor, an improved functional DR solution is proposed in this paper The proposed angle data algorism is developed based on the steering wheel with Gyro sensor for DR. The Gyro sensor support the error of steering wheel sensor to improve the angle data for the DR algorism.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.