• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.51-54
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• 2000

We are concerned with processing methods of the measurement values of sensors in the control system. When some faults happen to sensor components, the measurement value of sensors cause the malfunction of the plant. So it is necessary to detect and reduce the influence of faults to control with reliability for the overall system. The sensor status must be always good for best demonstration of the controller performance. A self-validating sensor detects the sensor state from the measurement value, reconstruct a soft sensor and can improve reliability of the sensor. If sensor faults, the sensor is detected and reconstructed with the best estimate from its correlation to other sensors and historical data. It is applied to the control of a flexible link system with the sensor fault problems in the light sensor module for position to show the applicability. In this paper, we propose a digital controller which reduces deflection of the moving set-point by reconstructing output of a sensor when the sensor fault is detected.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.413-418
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• 2018

In this paper, we describe the development of a non-enzymatic glucose sensor based on copper nanocubes(Cu NCs) electroplated laser induced graphene(LIG) electrodes which can detect a certain range of glucose concentrations. $CO_2$ laser equipment was used to form LIG electrodes on the PI film. This fabrication method allows easy control of the LIG electrode size and shape. The Cu NCs were electrochemically deposited on the LIG electrodes to improve electron transfer rates and thus enhancing electrocatalytic reaction with glucose. The average sheet resistances before and after electroplating were $15.6{\Omega}/{\Box}$ and $19.6{\Omega}/{\Box}$, respectively, which confirmed that copper nanocubes were formed on the laser induced graphene electrodes. The prepared electrode was used to measure the current according to glucose concentration using an electrochemical method. The LIG electrodes with Cu NCs demonstrated a high degree of sensitivity ($1643.31{\mu}A/mM{\cdot}cm^2$), good stability with a linear response to glucose ranging from 0.05 mM to 1 mM concentration, and a limit of detection of 0.05 mM. In order to verify that these electrodes can be used as flexible devices, the electrodes were bent to $30^{\circ}$, $90^{\circ}$, and $180^{\circ}$ and cyclic voltammetry measurements were taken while the electrodes were bent. The measured data showed that the peak voltage was almost constant at 0.42 V and the signal was stable even in the flexed condition. Therefore, it is concluded that these electrodes can be used in flexible sensors for detecting glucose in the physiological sample like saliva, tear or sweat.

• Korean Chemical Engineering Research
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• v.61 no.1
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• pp.52-57
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• 2023

This study is a basic research for the development of high performance flexible electrode material. To enhance its electrochemical property, CuO nanoparticles (CuO NPs) were introduced and dispersed on surface of CNT fiber through electrochemical deposition method. The CNT fiber/CuO NPs electrode was fabricated and applied to electrochemical non-enzymatic glucose sensor. Surface morphology and elemental composition of the CNT fiber/CuO NPs electrode was characterized by scanning electron microscope (SEM) with energy dispersive X-ray spectrometry (EDS). And its electrochemical characteristics were investigated by cyclic voltammetry, electrochemical impedance spectroscopy and chronoamperometry. The CNT fiber/CuO NPs electrode exhibited the good sensing performance for glucose detection such as high sensitivity, wide linear range, low detection limit and good selectivity due to synergetic effect of CNT fiber and CuO NPs. Based on the unique property of CNT fiber, CuO NPs were provide large surface area, enhanced electrocatalytic activity, efficient electron transport property. Therefore, it is expected to develop high performance flexible electrode materials using various nanomaterials.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.877-878
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.547-548
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1700-1703
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• 1997

The flexibility of the manipulator inevitably inducess the vibration at the end effector. For the increase in speed and accuracy at the end tip, in this work, position and vibration control of a flexible manipuator with a separate voice coil type actrator for vibration suppression, is studied. The flexible manipulator with a tip mass is modeled an Euler-Bernoulli beam. An H.inf. controller is designed in order to make the controlled system robust against unmodeled higher-order mode vibration of the manipulator, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is valid and that robust vibration control of the flexible manipulator is efficiently achieved.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2002.05a
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• pp.74-78
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• 2002

MEMS공정을 이용하여 폴리실리콘의 piezoresistivity를 이용한 스트레인 센서어레이를 제작하였고, 이 센서 어레이를 flexible substrate에 패키징하는 공정을 개발하였다. 실리콘 웨이퍼에 표면 가공(surface micromachining)된 센서는 폴리이미드 코팅, release-etch 방법을 통해 웨이퍼로부터 분리되어 폴리이미드를 기판으로 하는 flexible sensor array module을 완성할 수 있었다. 공정은 희생층과 절연층을 증착하고 폴리실리콘 0.5 $\mu\textrm{m}$을 증착, 도핑 및 패터닝하여 센서 어레이를 구성하였다. 이 센서어레이를 flexible substrate에 패키징 하기 위해서 폴리이미드를 코팅하여 15 $\mu\textrm{m}$의 막을 구성하였고, 100% $O_2$RIE를 이용한 선택적 식각 방법으로 via hole을 구성하였다. 이후 전기도금을 통해 회로를 구성하여 1단계 패키징(die to chip carrier)과 2단계 패키징(chip to substrate)을 웨이퍼 레벨에서 완성하였다. 희생층을 제거함으로서 웨이퍼로부터 센서어레이 모듈을 분리하였다. 제작되어진 센서 모듈은 임의의 곡면에 실장이 가능하도록 충분한 flexibility를 얻을 수 있었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.13-13
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• 2003