• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.655-662
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• 2007

This paper presents a disk-type capacitive sensor for simultaneous measurement of five-dimensional motions of a target. The sensor can be manufactured with a printed circuit board (PCB) such that the sensor can be integrated with its electronics in a single PCB board, whereby the manufacturing costs is considerably reduced. The sensor is optimally designed through an error analysis of possible mechanical errors. Furthermore, the sensor can correct the horizontal motion measurement errors due to the sensor installation tilting error. A proto-type PCB sensor, electronics and a test rig were built, and the effectiveness of the developed sensor was proved through experiments.

• 센서학회지
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• 제23권2호
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• pp.127-133
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• 2014

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

• 한국군사과학기술학회지
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• 제27권2호
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• pp.127-139
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• 2024

This paper discusses a gravity compensation technique designed to reduce wavefront error caused by gravity during the assembly and alignment of satellite multi-band optical sensor. For this study, the wavefront error caused by gravity was analyzed for the opto-mechanical structure of multi-band optical sensor. Wavefront error, an indicator of optical performance, was computed by using the displacements of optics calculated through structural analysis and optical sensitivity calculated through optical analysis. Since the calculated wavefront error caused by gravity exceeded the allocated budget, the gravity compensation technique was required. This compensation technique reduces wavefront error effectively by applying the compensation load to the appropriate position of the housing tube. This method successfully meets the wavefront error budget for all bands. In the future, a gravity compensation equipment applying this technique will be manufactured and used for assembly and alignment of multi-band optical sensor.

• 한국정밀공학회지
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• 제33권4호
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1147-1152
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• 2014

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

• 한국측량학회지
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• 제28권1호
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• pp.39-46
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• 2010

수심측량 자료는 선박의 항행안전을 위한 필수자료이며 해양의 합리적 이용과 보전을 위한 기초자료이다. 최근 IT기술과 측위장비(GPS와 INS), 수심관측 장비(Echo Sounder)의 발달로 멀티빔(Multi Beam Echo Sounder) 방식을 이용하여 정밀한 해저지형 자료DB를 구축하고 있다. MBES 자료에는 다양한 요인으로 인하여 오차를 포함하고 있으며, 일부 자료에서 지형이 지그재그한 물결현상을 발생하는 오차들이 발생한다. 물결무늬를 발생시키는 오차는 MBES 자료 처리결과의 정확도를 저해하는 요인이며, 발생 원인을 파악하여 이러한 오측자료 제거를 통하여 정확도를 향상시키고자 한다. 본 연구에서는 MBES 자료를 이용하여 물결 무늬 현상이 발생하는 자료에 대한 Motion sensor 값을 분석하여 오측자료의 원인을 파악하였다 분석결과, 물결무늬 현상은 Roll의 표준편차와 상관관계를 갖으며, 이러한 물결무늬 오측자료는 급격한 Roll 값의 변화로 인하여 Swath 자료와 Roll 값의 불일치 결과로 나타났다. 이를 근거로 Swath 자료의 기울기와 Roll 값의 비교하여 오측자료를 선별하여 제거하였다 오측자료를 제거한 결과. Motion sensor의 Roll 값의 표준연차 등을 이용하여 MBES 자료의 품질을 판단하고, 불일치 자료를 최소화하는 추가적인 오차 요인을 계산할 수 있을 것이라 예상된다 또한, 해황조건이 고르지 못한 상황 및 Sensor의 움직임이 크게 일어나는 소형 선박 등에 척용을 하면 수심측량 정확도 개선에 기여할 수 있을 것이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.597-599
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• 2005

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.600-602
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• 2005

Recently image display devices have become large and high quality. To control the qualities of the component, measurements of the shape and thickness of a plate glass has been required. In order to measure the shape of the specular objects, Non-Contact Optical Sensor using Hologram laser unit was proposed. The sensor has a optical system that is composed of a Hologram laser and objective lens used for CD Player, and the sensor showed high performance for measuring the shape and thickness of transparent plates. In the sensor, the temperature of the sensor body is controlled by TEC(Thermoelectric Cooler). In this paper, we proposed the measuring method to make better performance of sensor using focus error signal of a hologram laser unit. It can measure the shape and the thickness of transparent objects with the s-type focus error signal which is generated by the sensor while it goes to the object.

• 센서학회지
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• 제28권3호
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• pp.146-151
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• 2019

This paper reports a sliding window filtering approach for ground moving targets with cross-correlated sensor noise and uncertainty. In addition, the effect of uncertain parameters during a tracking error on the model performance is considered. A distributed fusion sliding window filter is also proposed. The distributed fusion filtering algorithm represents the optimal linear combination of local filters under the minimum mean-square error criterion. The derivation of the error cross-covariances between the local sliding window filters is the key to the proposed method. Simulation results of the motion of the ground moving target a demonstrate high accuracy and computational efficiency of the distributed fusion sliding window filter.

• 센서학회지
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• 제24권2호
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• pp.137-143
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• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.