• The Journal of Korea Robotics Society
• /
• v.16 no.2
• /
• pp.79-85
• /
• 2021

Soft fluidic actuators (SFAs) are widely utilized in various areas such as wearable systems due to the inherent compliance which allows safe and flexible interaction. However, SFA-driven systems generally require a large pump, multiple valves and tubes, which hinders to develop a miniaturized system with small range of motion. Thus, a highly integrated soft actuator needs to be developed for implementing a compact SFA-driven system. In this study, we propose an electro-hydraulic soft zipping actuator that can be used as a miniature pump. This actuator exerts tactile force as a dielectric liquid contained inside the actuator pressurized its deformable part. In addition, the proposed actuator can estimate the internal dielectric liquid thickness by using its self-sensing function. Besides, the electrical characteristics and driving performance of the proposed system were verified through experiments.

• Journal of Mechanical Science and Technology
• /
• v.18 no.5
• /
• pp.789-797
• /
• 2004

The nanoscale sensing and manipulation have become a challenging issue in micro/nano-robotic applications. In particular, a feedback sensor-based manipulation is necessary for realizing an efficient and reliable handling of particles under uncertain environment in a micro/nano scale. This paper presents a piezoresistive MEMS cantilever for nanoscale force measurement in micro robotics. A piezoresistive MEMS cantilever enables sensing of gripping and contact forces in nanonewton resolution by measuring changes in the stress-induced electrical resistances. The calibration of a piezoresistive MEMS cantilever is experimentally carried out. In addition, as part of the work on nanomanipulation with a piezoresistive MEMS cantilever, the analysis on the interaction forces between a tip and a material, and the associated manipulation strategies are investigated. Experiments and simulations show that a piezoresistive MEMS cantilever integrated into a micro robotic system can be effectively used in nanoscale force measurements and a sensor-based manipulation.

• Investigative Magnetic Resonance Imaging
• /
• v.25 no.4
• /
• pp.218-228
• /
• 2021

Due to their high degree of freedom to transfer and acquire light, fiber optics can be used in the presence of strong magnetic fields. Hence, optical sensing and imaging based on fiber optics can be integrated with magnetic resonance imaging (MRI) diagnostic systems to acquire valuable information on biological tissues and organs based on a magnetic field. In this article, we explored the combination of MRI and optical sensing/imaging techniques by classifying them into the following topics: 1) functional near-infrared spectroscopy with functional MRI for brain studies and brain disease diagnoses, 2) integration of fiber-optic molecular imaging and optogenetic stimulation with MRI, and 3) optical therapeutic applications with an MRI guidance system. Through these investigations, we believe that a combination of MRI and optical sensing/imaging techniques can be employed as both research methods for multidisciplinary studies and clinical diagnostic/therapeutic devices.

• Smart Structures and Systems
• /
• v.5 no.4
• /
• pp.457-468
• /
• 2009

A novel approach for integrating active sensing data interrogation algorithms for structural health monitoring (SHM) applications is presented. These algorithms cover Lamb wave propagation, impedance methods, and sensor diagnostics. Contrary to most active-sensing SHM techniques, which utilize only a single signal processing method for damage identification, a suite of signal processing algorithms are employed and grouped into one package to improve the damage detection capability. A MATLAB-based user interface, referred to as HOPS, was created, which allows the analyst to configure the data acquisition system and display the results from each damage identification algorithm for side-by-side comparison. By grouping a suite of algorithms into one package, this study contributes to and enhances the visibility and interpretation of the active-sensing methods related to damage identification. This paper will discuss the detailed descriptions of the damage identification techniques employed in this software and outline future issues to realize the full potential of this software.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.11
• /
• pp.1564-1570
• /
• 2015

This paper intends to suggest a sensing circuit of PWM voltage for a motor emulator operated in the inverter. In the emulation of the motor using a power converter, it is necessary to measure instantaneous voltage at the PWM voltage loaded from the inverter. Using a filter can generate instantaneous voltage, while it is difficult to follow the rapidly changing inverter voltage caused by the propagation delay and signal attenuation. The method of measuring the duty of PWM using FPGA can generate output voltage from the one-cycle delay of PWM, while the cost of hardware is increasing in order to acquire high precision. This paper suggests a PWM voltage sensing circuit using the analogue system that shows high precision, one-cycle delay of PWM and low-cost hardware. The PWM voltage sensing circuit works in the process of integrating input voltage for valid time by comparing levels of three-phase PWM input voltage, and produce the output value integrated at zero vector. As a result of PSIM simulation and the experiment with the produced hardware, it was verified that the suggested circuit in this paper is valid.

• Journal of Korea Multimedia Society
• /
• v.24 no.3
• /
• pp.355-372
• /
• 2021

Recently, high-performance HMDs (Head-Mounted Display) are becoming wireless due to the growth of virtual reality technology. Accordingly, environmental constraints on the hardware usage are reduced, enabling multiple users to experience virtual reality within a single space simultaneously. Existing multi-user virtual reality platforms use the user's location tracking and motion sensing technology based on vision sensors and active markers. However, there is a decrease in immersion due to the problem of overlapping markers or frequent matching errors due to the reflected light. Goal of this study is to develop a multi-user virtual reality moving platform in a single space that can resolve sensing errors and user immersion decrease. In order to achieve this goal hybrid sensing technology was developed, which is the convergence of vision sensor technology for position tracking, IMU (Inertial Measurement Unit) sensor motion capture technology and gesture recognition technology based on smart gloves. In addition, integrated safety operation system was developed which does not decrease the immersion but ensures the safety of the users and supports multimodal feedback. A 6 m×6 m×2.4 m test bed was configured to verify the effectiveness of the multi-user virtual reality moving platform for four users.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1802-1807
• /
• 2005

Tangible interface can be understood as a newly defined concept, which can provide an effective and seamless interaction between the human as a subjective existence and the cyberspace as an objective existence. Tactile sensation is essential for many exploration and manipulation tasks in the tangible space. In this paper, we suggest the design of an integrated tactile sensor-display system that provides both of sensing and feedback with kinesthetic force, pressure distribution, vibration and slip/stretch. A new tactile sensor with PDVF strips and display system with bimorph actuators has been developed and integrated by developed signal processing algorithm. In the scenario of haptic navigation in the tangible space, tactile feedback system is successfully experimented.

• Nuclear Engineering and Technology
• /
• v.55 no.7
• /
• pp.2642-2649
• /
• 2023

A real-time unmeasured dynamic response prediction process for the nuclear power plant pressure pipeline is proposed and its performance is tested in the test-loop system (KAERI). The aim of the process is to predict unmeasurable or unreachable dynamic responses such as acceleration, velocity, and displacement by using a limited amount of directly measured physical responses. It is achieved by combining a well-constructed finite element model and robust inverse force identification algorithm. The pressure pipeline system is described by using the displacement-pressure vibro-acoustic formulation to consider fully filled liquid effect inside the pipeline structure. A robust multiphysics modal projection technique is employed for the real-time sensor synchronized prediction. The inverse force identification method is also derived and employed by using Bathe's time integration method to identify the full-field responses of the target system from the modal domain computation. To validate the performance of the proposed process, an experimental test is extensively performed on the nuclear power plant pressure pipeline test-loop under operation conditions. The results show that the proposed identification process could well estimate the unmeasured acceleration in both frequency and time domain faster than 32,768 samples per sec.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.04a
• /
• pp.747-752
• /
• 2008

Fiber-guided sensor system using a generator and a receiver can detect the amplitude of load or pressure. However, this type of sensor can show some difficulties in detecting the location of damages and pressure loadings. To overcome this weakness of this type, the ultrasonic active fiber sensor, which has an integrated ultrasonic generator and sensing part, was developed in this study. By using this sensor system, the location of mechanical loads can be exactly detected. Moreover, the ultrasonic active fiber sensor is more cost-effective than an ultrasonic fiber sensor using two piezoelectric transducers which are used as a generator and a receiver, respectively. Two applications of the ultrasonic active fiber sensor are demonstrated: cure monitoring of lead and measurement of liquid level. Present results showed that the active fiber sensor can be applied for various environmental sensing.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.6
• /
• pp.747-752
• /
• 1998

Ultrasonic sensors have been widely used to recognize the working environment for a mobile robot. However, their intrinsic problems, such as specular reflection, wide beam angle, and slow propagation velocity, require an excessive number of sensors to be integrated for achieving the sensing goal. This paper proposes a new measurement scheme which uses only two sets of ultrasonic sensors to determine the location and the type of a target surface. By measuring the time difference between the returned signals from the target surface, which are generated by two transmitters with 1 ㎳ difference, it classifies the type and determines the size of the target surface. Since the proposed sensor system uses only two sets of ultrasonic sensors to recognize and localize the target surface, it significantly simplifies the sensing system and reduces the signal processing time so that the working environment can be recognized in real time.