• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 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 FEM analysis agree well with that from the characteristic test.

• Nuclear Engineering and Technology
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• v.52 no.4
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• pp.776-783
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• 2020

As the refueling of a sodium-cooled fast reactor is conducted by rotating part of the reactor head without opening it, the monitoring of existing obstacles that can disturb the rotation of the reactor head is one of the most important issues. This paper deals with the ultrasonic ranging technique that directly monitors the existence of possible obstacles located in a lateral gap between the upper internal structure and the reactor core in a prototype generation IV sodium-cooled fast reactor (PGSFR). A 10 m long plate-type ultrasonic waveguide sensor, whose feasibility has been successfully demonstrated through preliminary tests, was employed for the ultrasonic ranging technique. The design of the sensor's wave radiating section was modified to improve the radiation performance, and the radiated field was investigated through beam profile measurements. A test facility simulating the lower part of the upper internal structure and the upper part of the reactor core with the same shapes and sizes as those in the PGSFR was newly constructed. Several under-water performance tests were then carried out at room temperature to investigate the applicability of the developed ranging technique using the plate-type ultrasonic waveguide sensor with the actual geometry of the PGSFR's internal structures.

• Journal of the Korean Society for Nondestructive Testing
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• v.32 no.6
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• pp.703-710
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• 2012

A structural health monitoring technique for locating impact position in a composite plate is presented in this paper. The method employs a single sensor and spatial focusing properties of time reversal(TR) and inverse filtering(IF). We first examine the spatial focusing efficiency of both approaches at the impact position and its surroundings through impact experiments. The imaging results of impact localization show that the impact location can be accurately estimated in any position of the plate. Compared to existing techniques for locating impact or acoustic emission source, the proposed method has the benefits of using a single sensor and not requiring knowledge of anisotropic material properties and geometry of structures. Furthermore, it does not depend on a particular mode of dispersive Lamb waves that is frequently used in other ultrasonic testing of plate-like structures.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.12
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• pp.950-955
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• 2002

The coupled finite/boundary element method is used in numerical analysis for acoustic radiation from the vibration of rectangular composite plate which is simply supported. This analysis is validated using the Wallace equation for an isotropic plate. Active control of sound fields has been tarried out using 3 pairs of piezoelectric sensor/actuator and a pair of viscoelastic material by Passive constrained layer damping treatment. The results show that the optimal placement of piezoelectric sensor/actuator and VE patch is required to control the sound fields from a vibrating composite plate.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.30 no.2
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• pp.78-84
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• 2016

This paper is focused on the measurement and analysis of an atmospheric electric field which is caused by thunderclouds. The electric field due to thunderclouds changes very slowly. For this reason, the extremely low frequency E-field sensor needs to be used for measuring the atmospheric electric field strength. The balloon-carried E-field sensor system with the time constant of 1sec was designed and fabricated. The electric field sensor consists of $100mm{\times}100mm$ copper plate, active integrator, high pass and low pass filters and batteries. The measurements of atmospheric electric fields were made by the balloon-carried E-field sensor and radiosonde, which sends the data back to ground in real time. From the calibration experiments, the response sensitivity of the E-field sensor was 0.154mV/kV/m in the frequency range of less than 1kHz. As a result from the actual experiment of the atmospheric electric field, the electric field signals were observed from the altitude of about 2.5km. Also, as the altitude was increased, the detected electric field wave oscillated with the fluctuation of sensing plate. The proposed method seems suitable for measurements of atmospheric electric fields, because it is inexpensive, simple to use and launch.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.16 no.1
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• pp.37-41
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• 2020

The Nuclear containment building is a main safety-related structure that performs shielding and conservation functions to prevent highly radioactive materials from leakage to the outside environment in the case of various environmental conditions and postulated accidents. The containment building contains a reactor, steam generator, pressurizer, tank, reactor coolant system, auxiliary system and engineering safety system, and is designed so that highly radioactive materials above the limits specified in 10 CFR 100 do not escape to the outside environment in the case of LOCA(Loss of Coolant Accident) for instance. The containment metal liner plate(CLP) is a carbon steel plate with a nominal plate thickness of 6 mm, which functions as a mold for the wall and dome of the containment building when concrete is filled, fulfills airtightness to prevent leakage of seriously radioactive materials. In recent years, backside corrosion was found on the liner plate in some domestic nuclear power plants. The main cause of backside corrosion was unfilled concrete. In this paper, an inspection technique of assessing filling suitability for CLP backside concrete is developed. Results show that the validity of inspection technique for CLP backside concrete using vibration sensor is successfully verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.566-569
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• 2001

Hot Plate is the major unit that it used to remove damp of wafer surface, to strength adhesion of photoresist(PR) and to bake coated PR in FAB process of semiconductor. It is necessary to guarantee the performance of Hot Plate(HP). Therefore, in this study designed and developed the reliability system of HP to measure and estimated thermal uniformity and flatness in temperature setting amplitude $0~250^{\circ}C$. We developed the techniques that measures and analyzes thermal uniformity using infrared thermal vision, and compensates measuring error of flatness using laser displacement sensor. For measuring flatness, we specially makes the measurement stage of 3 axes which adopts the precision encoder. The allowable error of measuring technique is less than thermal uniformity, $\pm 0.1^{\circ}C$ and flatness, $\pm 1mm$. It is expected that the developed system can measure from $\Phi$210(wafer 8") to $\Phi$356(wafer 12") and also can be used in performance test of the Cool Plate and industrial heater, etc.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 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 FEM analysis agree well with that from the characteristic test.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.131-134
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• 2011

In this study, we propose an optimal design and new fabrication method for a slim tactile sensor. Slim tactile sensor can detect 3-axial forces and has suitable flexibility for intelligent robot fingers. To amplify the contact signal, a unique table-shaped structure was attempted. A new layer-by-layer fabrication process for polymer micromachining that can make a 3D structure by using a sacrificial layer was proposed. A table-shaped epoxy sensing plate with four legs was built on top of a flexible polymer substrate. The plate can convert an applied force to a concentrated stress. Normal and shear forces can be detected by combining responses from metal strain gauges embedded in the polymer substrate. The optimal positions of the strain gauges are determined using the strain distribution obtained from finite element analysis.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.2
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• pp.47-53
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• 2010

In this research project, development of methodology to measure the thickness of pipes in the wide range using magnetic field. The magnetic field spreading in the sensor and the plate was modeled in the cases of the various thicknesses in plate. Based on the analysis, sensors were designed, manufactured and tested to optimize the specifications of the sensor. The sensor can be used in high temperature through calibration. And the uncertainty of the sensor was estimated.