• Journal of Sensor Science and Technology
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• v.26 no.2
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• pp.114-121
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• 2017

This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can't measure the weight of the patient's leg and the robot's leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient's calf force in the walking assist robot.

• Journal of IKEEE
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• v.20 no.4
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• pp.367-372
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• 2016

We Designed and Conduct a study on the basic intrusion detection research for outside intruder, which can determine the location and the weight of an intruder into infrastructure, by using Fiber-Optic ROTDR( Rayleigh Optical Time Domain Reflectometer) sensor, which are buried in the sand, were prepared to respond the intruder effects. The signal of ROTDR was analyzed to confirm the detection performance. The weight could be detected as 4 grades, such as 20kg, 40kg, 60kg, and 80kg. which used long distance fiber for intruder detection on wide area. This sensor was possible for application of real-time monitoring of infrastructures.

• Journal of the Korean Society for Nondestructive Testing
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• v.23 no.2
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• pp.140-147
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• 2003

A detection technique is studied to determine the location and the weight of an intruder into infrastructure using fiber optic ROTDR (Rayleigh optical time domain reflectometry) sensor. Fiber optic sensing plates buried in sand are prepared to measure the intruder effects. The signal of ROTDR was analyzed to confirm the detection performance. The constructed ROTDR system could be used up to 12km at the pulse width of 30ns. The location error was less than 3m and the weight could be detected into three levels of grade, such as 20kgf, 40kgf and 60kgf.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 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 theoretical analysis agree well with the results from the experiments.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.10a
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• pp.174-178
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• 2001

The piezoelectric thin film sensor can be used to interpret variations in structural and material properties, e.g. for structural integrity monitoring and assessment. To illustrate one of this potential benefit, PVDF film sensors are used for monitoring impact damage initiation in Gr/Ep composite panel. Both PVDF film sensors and strain gages are surface mounted to the Gr/Ep specimens. A series of impact test at various impact energy by changing impact mass and height is performed on the instrumented drop weight impact tester. The sensor responses are carefully examined to predict the onset of impact damage such as matrix cracking, delamination, and fiber breakage, etc. Test results show that the particular waveforms of sensor signals implying the damage initiation and development are detected above the damage initiation impact energy. As expected, the PVDF film sensor is found to be more sensitive to impact damage initiation event than the strain gage.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.342-345
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• 2005

To detect external acoustic signal, fiber optic sensor array using Fabry-Perot interferometer which had benefit of minimize and light-weight was used. The sensor head has 1cm in length, total length of fiber is 9.5cm, and the sensor supported at both ends, simply. External sound applied in lateral direction and detected two signals were compared each other. It was confirmed that the Fabry-Perot interferometric sensor array detected acoustic signal, effectively.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.263-266
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• 2004

This paper describes an intelligent piezoelectric traffic sensor which can be detected the over-weighted vehicles In motion. Based on finite element analysis for the sensor, the sensitivity was analyzed and the design was optimized. Studied parameters are the material properties of constitutional parts, the geometry of the sensor, the weight of the vehicle, and the speed of the vehicle. To verify the simulated results, we manufactured the sensor having the optimized geometry and the sensitivity was measured in the range from 0.5 to 3 ton of tensile and compressive stress. The measured results shows that the sensitivity and linearity of the sensor are closely agree with the designed values.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.237-247
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• 2018

In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.585-591
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• 2003

In this paper, fiber optic sensor using Fabry-Perot interferometer which had benefit of minimize and light-weight was used. The sensor head has 1cm in length, total length of fiber is 9.5 chi and the sensor supported at both ends, simply. To analyze the acoustic characteristic non-directional speaker is used as a sound source. Acoustic applied in lateral direction and detected two signals were compared each other. Below 1㎑ fiber optic sensor has more sensitive than microphone, but in 2㎑ fiber optic sensor has less sensitive than microphone. This characteristic varies to the supporting system of fiber optic sensor. It was confirmed that the Fabry-Perot interferometric sensor detected acoustic signal, effectively. This kind of sensor can be applied to the structural health monitoring field of intellectual structure.