• 센서학회지
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• 제22권6호
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• pp.428-432
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• 2013

This paper described the development of electrostatically driven peristaltic micropump. The proposed micropump consists of a flexible membrane and a single chamber which electrodes are inserted. The single chamber is divided into smaller cells by the electrodes. The fabricated micropump was operated with four electrodes in the membrane and a various phase sequencing actuation. We studied the changes in the flow rate corresponding to the actuating signal applied to the micropump under the zero hydraulic pressure difference between lnlet port and outlet port. The pump was operated from 60 to 130 V. Whereas the maximum flow rate in basic actuating signal is about 83 ${\mu}1/min$ at 15 Hz, the maximum flow rate in optimized actuating signal is about 114 ${\mu}l/min$ at 10 Hz.

• 한국해양공학회지
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• 제32권6호
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• pp.511-517
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• 2018

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

• 한국기계가공학회지
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• 제17권6호
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• pp.16-23
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• 2018

A polymer porous sheet, which can be applied to diverse wearable devices, has some advantages such as light-weight, high flexibility, high elongation, and so many others. In order to fabricate a porous sheet, water-soluble particles like sugar were utilized frequently, and there has been great advances. However, with our best knowledge, there are not enough reports on the mechanical behavior of porous sheets having different porosity. So, in this work, we tried to find out the relationship between porosity and mechanical deformation of a porous sheet. The process parameters such as a particle size, sheet thickness and PDMS mixing ratio with curing agent were analyzed on the effect of increasing the porosity of a sheet. Also, mechanical deformation of a sheet was tested using a tensile experiment. Through the experimental results, we make a conclusion that a highly porous sheet with thin thickness has high flexibility, and it deformed nearly double elongation comparing to worst one among nine cases.

• 센서학회지
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• 제28권4호
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• pp.251-255
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• 2019

We propose a two-step lithography process to minimize edge-bead issues caused by thick photoresist (PR) coating. In the conventional PR process, the edge bead can be efficiently removed by applying an edge-bead removal (EBR) process while rotating the silicon wafer at a high speed. However, applying conventional EBR to the production of desired PR mold with unique negative patterns cannot be used because a lower rpm of spin coating and a lower temperature in the soft bake process are required. To overcome this problem, a two-step lithography process was developed in this study and applied to the fabrication of a polydimethylsiloxane (PDMS) film having super-hydrophobic characteristics. Following UV exposure with a first photomask, the exposed part of the silicon wafer was selectively removed by applying a PR developer while rotating at a low rpm. Then, unique PR mold structures were prepared by employing an additional under-exposure process with a second mask, and the mold patterns were transferred to the PDMS. Results showed that the fabricated PDMS film based on the two-step lithography process reduced the height difference from 23% to 5%. In addition, the water contact angle was greatly improved by spraying of hydrophobic nanosilica on the dual-scaled PDMS surface.

• 한국인터넷방송통신학회논문지
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• 제19권2호
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• pp.91-96
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• 2019

일반적인 무선 센서 네트워크는 연결이 안정적이지 않고 외부 간섭에 민감하며 토폴로지가 유동적이므로 상황에 맞는 효율적인 전송 경로 설정이 중요하다. IETF (Internet Engineering Task Force)의 RPL(IPv6 Routing Protocol for Low-power Lossy Networks) 표준 라우팅 프로토콜은 다양한 환경 변화에 유연하게 대응하기 어려우며 네트워크 토폴로지의 불균형으로 인한 패킷 손실 문제가 상존한다. 다중경로로 여러 부모 노드를 통해 패킷을 전송할 경우 이러한 문제를 부분적으로 해결할 수 있지만 경우에 따라 필요 이상의 timeslot 할당으로 지연시간 증가를 초래할 수 있다. 본 논문에서는 상황에 따라 적절하게 다중경로를 사용하는 적응형 다중경로 RPL 알고리즘을 제안하고, 시뮬레이션을 통해 이의 효율성이 기존 RPL이나 다중경로 RPL에 비해 높음을 보였다.

• 로봇학회논문지
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• 제18권3호
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• 로봇학회논문지
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• 제18권3호
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• pp.293-298
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• 2023

The military is facing a continuous decrease in personnel, and in order to cope with potential accidents and challenges in operations, efforts are being made to reduce the direct involvement of personnel by utilizing the latest technologies. Recently, the use of various sensors related to Manned-Unmanned Teaming and artificial intelligence technologies has gained attention, emphasizing the need for flexible utilization methods. In this paper, we propose four dataset construction methods that can be used for effective training of robots that can be deployed in military operations, utilizing not only RGB image data but also data acquired from IR image sensors. Since there is no publicly available dataset that combines RGB and IR image data, we directly acquired the dataset within buildings. The input values were constructed by combining RGB and IR image sensor data, taking into account the field of view, resolution, and channel values of both sensors. We compared the proposed method with conventional RGB image data classification training using the same learning model. By employing the proposed image data fusion method, we observed improved stability in training loss and approximately 3% higher accuracy.

• Ocean and Polar Research
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• 제45권2호
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• pp.33-42
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• 2023

Dissolved oxygen (DO) is a crucial parameter for assessing environmental conditions in aquatic ecosystems. However, commercial in situ dataloggers for oxygen optodes can be relatively expensive and limited in their specifications. In this paper, we present a novel design for a DO datalogger system based on the control boards family with RP2040 MCU chipset. Our design includes two types of dataloggers: a simple logging system and a programmable system for sampling rates via magnetic switches underwater for divers. We provide detailed descriptions of the system, including the MicroPython source code and drawings to aid in construction. We also discuss the various applications of our DO datalogger system in monitoring dissolved oxygen concentration in coastal waters and assessing the benthic metabolism of aquatic ecosystems. Our DO datalogger system provides an affordable and flexible option for researchers to accurately monitor DO concentrations in aquatic environments, and thereby improve our understanding of these complex ecosystems.

• 센서학회지
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• 제32권2호
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• pp.124-130
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• 2023

Implementing flexible production systems in domestic and foreign automotive design parts assembly has increased demand for automation and power reduction. Consequently, transition to a hybrid production method is observed where multiple vehicles are assembled in a single assembly line. Multiple robots, 3D vision sensors, mounting positions, and correction software have complex configurations in the automotive glass mounting system. Hence, automation is required owing to significant difficulty in the assembly process of automobile parts. This study presents a primer lighting and inspection algorithm that is robust to the assembly environment of real automotive design parts using high power 'ㄷ'-shaped LED inclined lighting. Furthermore, a 2D camera was developed in the primer coating inspection system-the core technology of the glass mounting system. A primer application demo line applicable to the actual automobile production line was established using the proposed high power lighting and algorithm. Furthermore, application inspection performance was verified using this demo system. Experimental results verified that the performance of the proposed system exceeded the level required to satisfy the automobile requirements.

• 센서학회지
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• 제32권6호
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• pp.386-390
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• 2023

Stiffness-engineered stretchable substrate technology has been widely used to produce stretchable displays, transistors, and integrated circuits because it is compatible with various flexible electronics technologies. However, the stiffness-engineering technology has never been applied to transistor-based stretchable strain sensors. In this study, we developed thin-film transistor-based strain sensors on stiffness-engineered stretchable substrates. We designed and fabricated strain-sensitive stretchable resistors capable of inducing changes in drain currents of transistors when subjected to stretching forces. The resistors and source electrodes of the transistors were connected in series to integrate the developed stretchable resistors with thin-film transistors on stretchable substrates by printing the resistors after fabricating transistors. The thin-film transistor-based stretchable strain sensors demonstrate feasibility as strain sensors operating under strains of 0%-5%. This strain range can be extended with further investigations. The proposed stiffness-engineering approach will expand the potential for the advancement and manufacturing of innovative stretchable strain sensors.