• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.594-599
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• 2006

In this paper an anthropomorphic robot hand called SKKU Hand IIl is presented, which has a miniaturized fingertip tactile sensor. The thumb is designed as one part of the palm and multiplies the mobility of the palm. The fingertip tactile sensor, based on polyvinylidene fluoride (PVDF) and pressure variable resistor ink, is physically flexible enough to be deformed into any three-dimensional geometry. In order to detect incipient slip, a PVDF strip is arranged along the direction normal to the surface of the finger of the robot hand. Also, a thin flexible sensor to sense the static force as well as the contact location is fabricated into an arrayed type using pressure variable resistor ink. The driving circuits and the tactile sensing systems for the SKKU Hand II are embedded in the hand. Each driving circuit communicates with others using CAN protocol. SKKU Hand II is manufactured and its feasibility is validated through preliminary experiments.

• 한국의학물리학회지:의학물리
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• 제32권4호
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• pp.153-158
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• 2021

Purpose: This study evaluated the features of a pressure mapping system for patient motion monitoring in radiation therapy. Methods: The pressure mapping system includes an MS 9802 force sensing resistor (FSR) sensor with 2,304 force sensing nodes using 48 columns and 48 rows, controller, and control PC (personal computer). Radiation beam attenuation caused by pressure mapping sensor and signal perturbation by 6 and 10 mega voltage (MV) photon beam was evaluated. The maximum relative pressure value (mRPV), average relative pressure value (aRPV), the center of pressure (COP), and area of pressure distribution were obtained with/without radiation using the upper body of an anthropomorphic phantom for 30 minutes with 15 MV. Results: It was confirmed that the differences in attenuation induced by the FSR sensor for 6 and 10 MV photon beams were small. The differences in mRPV, aRPV, area of pressure distribution with/without radiation are about 0.6%, 1.2%, and 0.5%, respectively. The COP values with/without radiation were also similar. Conclusions: The characteristics of a pressure mapping system during radiation treatment were evaluated on the basis of attenuation and signal perturbation using radiation. The pressure distribution measured using the FSR sensor with little attenuation and signal perturbation by the MV photon beam would be helpful for patient motion monitoring.

• 한국통신학회논문지
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• 제33권12B호
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• pp.1083-1096
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• 2008

본 논문에서는 센서네트워크의 수명 연장을 위해 에너지 인지 기반의 경로 제어 방안인 TBP(Threshold based Back-Pressure) 알고리즘을 제안하였다. 센서네트워크 수명 연장을 위해서는 에너지의 고른 소비가 필수적이므로, 라우팅 영역 전체에 걸친 고른 트래픽 분배를 설계목표로 갖는다. TBP 알고리즘은 지역적 트래픽 분배와 라우팅 영역 전체에서의 트래픽 분배를 모두 수행한다. 임계값과 back-pressure 신호가 이 두 가지 스케일의 트래픽 분배 수행을 위해 정의되었다. TBP 알고리즘은 라우팅 영역에 속한 다중경로의 최적 활용을 목적으로 하지만 이를 위해 사용하는 임계값과 back-pressure 신호는 한 흡 범위의 지역적 정보로 정의함으로써 망 규모에 제한받지 않는 확장성을 확보하였다. TBP 알고리즘이 에너지 소비를 분산시키는 효과, 즉 네트워크 수명을 연장하는 효과를 가지고 있음을 다양한 실험을 통하여 확인하였다. 또한, TBP 알고리즘은 엄격한 경로 제어를 기반으로 설계되었음에도 지연 및 전송률 지표에서 개선된 결과를 보였다. 에너지 인지 기반의 경로 제어가 트래픽 혼잡 제어의 효과를 부분적으로 갖고 있음을 보여주는 결과이다.

• Physical Therapy Rehabilitation Science
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• 제12권3호
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• pp.251-258
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• 2023

Objective: The practice of breathing exercises involves altering the depth and frequency of respiration. Strengthening respiratory muscles plays a crucial role in maintaining overall health and well-being. The efficiency of the respiratory system affects not only physical activity but also various physiological processes including cardiovascular health, lung function, and cognitive abilities. The study evaluated the reliability of the developed device for inspiratory/expiratory training using pressure sensors and Bluetooth connectivity with a smartphone application. Design: Design & development research Methods: The research methodology involved connecting a custom-made respiratory sensor to an IMT-PEP BIC Breath device. Various pressure conditions were measured, and statistical analyses were performed to assess reliability and consistency. Results showed high Intraclass Coefficient Correlation (ICC) values for both inspiratory and expiratory pressures, indicating strong test-retest reliability. The device was designed for ease of use and wireless monitoring through a smartphone app. Results: This study conducted at expiratory pressure confirmed the proper operation of the IMT/PEP breathing trainer at the specified pressure setting in the product. The pressure sensor demonstrated high test-retest reliability with an ICC value of 0.999 for both expiratory and inspiratory pressure measurements. Conclusions: The developed respiratory training device measured and monitored inspiratory and expiratory pressures, demonstrating its reliability for respiratory training. The system could be utilized to record training frequency and intensity, providing potential benefits for patients requiring respiratory interventions. Further research is needed to assess the full potential of the device in diverse populations and applications.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.85-90
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• 1996

In order to detect and suppress chatter in turning processes a stability control methodology was studied through manipulation of spindle speeds regarding to chatter frequencies. The chatter frequency was identified by monitoring and signal processing of sound pressure during turning on a lathe. The stability control methodology can select stable spindle speeds without knowing a prior knowledge of machine compliances and cutting dynamics. Teliability of the developed stability control methodology was verified through turning experiments on an engine lathe. Experimental results show that a microphone is an excellent sensor for chatter detection and control

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.60-65
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• 2004

A flexible tactile sensor away with 8 H 8 tactile elements is designed and fabricated. The material of the sensor is PVDF(polyvinylidene fluoride) film and flexible circuitry is used in the fabrication fur the flexibility of the sensor The experimental results on static and dynamic properties of the sensor are obtained and examined. The signals of a contact pressure to the sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. The processed signals of the sensor outputs are visualized in a personal computer for illustrating the shape and force distribution of a contact object. The reasonable performance for the detection of contact state is verified through sensing examples.

• 한국기계가공학회지
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• 제13권2호
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• pp.8-14
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• 2014

Many kinds of robots and machines have been developed to replace human laborin industrial and medical fields, as well as domestic life. In these applications, the device sneed to obtain environmental data using diverse sensors. Among such sensors, the tactile sensor is important because of its ability to get information regarding surface texture and force through the use of mechanical contact. In this research, a simple tactile sensor was developed using the direct writing of pressure sensitive material and layered fabrication of photocurable material. The body of the sensor was fabricated using layered fabrication, and pressure sensitive materials were dispensed between the layers using direct writing. We examined the line fabrication characteristics of the pressure sensitive material according to nozzle dispensing conditions. A simple $4{\times}4$ array flexible tactile sensor was successfully fabricated using the proposed process.

• 한국항해항만학회지
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• 제36권10호
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• pp.865-871
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• 2012

수중 방파제 피복작업은 사석의 유실을 방지하기 위해 방파제 겉면에 2-3ton의 돌을 쌓는 작업으로 현재 잠수부에 의해 수작업으로 시공을 하고 있다. 수중에서의 사야문제와 작업의 특성상 잠수부의 육감에 의해 공사가 시행되며 작업 과정에서 산업재해가 빈번히 발생한다. 이러한 문제점을 해결하기 위해 본 논문에서는 수중 방파제 피복작업을 위한 수중항만공사 로봇을 개발하였다. 로봇의 유압 실린더 제어를 위해 위치 센서가 필요한데 기존 센서는 구동축에 부착되어 방수가 어렵고 건설현장에서 사용하기에는 내구성이 좋지 못하다. 하지만 압력센서는 유압라인상의 임의의 위치에 부착이 가능하므로 방수박스 내부에 설치할 수 있어 방수가 용이하고 내구성을 높일 수 있다. 따라서 본 논문에서는 압력센서를 이용하여 수중항만공사 로봇의 유압 실린더 변위를 간접적으로 측정하는 관측기를 설명한다.

• 대기
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• 제24권3호
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• pp.445-456
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• 2014

A real-time quality control system for meteorological data (air temperature, air pressure, relative humidity, wind speed, wind direction, and precipitation) measured by an integrated meteorological sensor has been developed based on comparison of quality control procedures for meteorological data that were developed by the World Meteorological Organization and the Korea Meteorological Administration (KMA), using time series and statistical analysis of a 12-year meteorological data set observed from 2000 to 2011 at the Incheon site in Korea. The quality control system includes missing value, physical limit, step, internal consistency, persistence, and climate range tests. Flags indicating good, doubtful, erroneous, not checked, or missing values were added to the raw data after the quality control procedure. The climate range test was applied to the monthly data for air temperature and pressure, and its threshold values were modified from ${\pm}2{\sigma}$ and ${\pm}3{\sigma}$ to ${\pm}3{\sigma}$ and ${\pm}6{\sigma}$, respectively, in order to consider extreme phenomena such as heat waves and typhoons. In addition, the threshold values of the step test for air temperature, air pressure, relative humidity, and wind speed were modified to $0.7^{\circ}C$, 0.4 hPa, 5.9%, and $4.6m\;s^{-1}$, respectively, through standard deviation analysis of step difference according to their averaging period. The modified quality control system was applied to the meteorological data observed by the Weather Information Service Engine in March 2014 and exhibited improved performance compared to the KMA procedures.

• Design & Manufacturing
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• 제10권2호
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• pp.18-23
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• 2016

Injection molded thermoplastic parts may need to be coated to facilitate paint adhesion, or to satisfy other surface property requirements, such as appearance, durability, and weather resistance. In this paper, a two-component polyurethane metering system was developed for the simultaneous injection and surface coating of a plastic substrate. The system was composed of storage tanks, feed pumps, axial piston pumps, mixing head. The tank was designed to be double-jacket structured and fabricated for polyol and isocyanate, respectively. A temperature chamber was used to maintain the material temperature to be $80^{\circ}C$ during flowing from storage tank to mixing head. Inside the chamber, feed pump, low pressure filter, high pressure pump, high pressure filter, pressure sensor, flow meter were installed. A mixing head of L-type was used for homogeneous mixing of polyol and isocyanate. Inside the mixing head, a cartridge heater and a temperature sensor were installed to control the temperature of the materials. The flow rate of axial-piston pump was controlled by using closed-loop feedback control algorithm. The input flow-rates were compared with the measured values. The output error was 6.7% for open-loop control, whereas the error was below 2.2% for closed-loop control. In addition, the pressure generated through mixing-head nozzle increased with increasing flow rate. It was found that the pressure drop between metering pump and mixing-head nozzle was almost 10 bar.