• 한국정밀공학회지
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• 제30권7호
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• pp.709-716
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• 2013

Rehabilitation of finger patients requires that the patients exercise their hands and fingers for proper functioning to return. A thumb rehabilitation robot, equipped with a two-axis force sensor, can prevent injury to the thumb by monitoring the applied pulling force. In this paper, we describe a link-type thumb rehabilitation robot designed for patients' thumb rehabilitation exercise. Tests of the manufactured link-type thumb rehabilitation robot were performed on normal male patients. Our results show that the robot can be used for flexibility and muscle-strength rehabilitation exercises for a patient's thumb.

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.177-180
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• 2002

In this paper, we has been studied self controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor, RF module and CCD camera. 2-axis compass and magnetic sensor, we used wireless RF module for movable command transmiting between robot and host PC. This robot go straight until 95 percent filled screen with white color both side from input image. And the robot recognizes obstacle about 95 percent filled something, so it could turn for avoid the obstacle and conclude new path plan. it could get turning angle from 2-axis compass and magnetic sensor.

• 정보저장시스템학회논문집
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• 제5권1호
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• pp.8-13
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• 2009

In this study, to compensate trembling of camera caused by vibration of user's hand, 2-axis voice coil actuator of optical image stabilizer (OIS) is suggested. In consideration of actuating performance, volume of OIS and application of hall sensor, one of concept models is selected and it is optimized to maximize the actuating performance. Two types of mechanisms that have the feasibility of moving in 2-axis and the capability of including the optimized EM circuit are proposed. Finally both types are fabricated and then actuating performance of OIS actuator and behavior of hall sensor are verified through the experiment.

• 한국결정학회:학술대회논문집
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• 한국결정학회 2002년도 정기총회 및 추계학술연구발표회
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• pp.36-36
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• 2002

To Establish of standard technique of length measurent in 2D plane, we develope AFM system. The XY scanner scans the sample only in XY plane, while the Z scanner scans the specimen only in Z-direction. Cantilever tip is controlled to has constant height relative to speciman surface by feedback of PSPD signal. To acquire high accuracy, Z-axis measuring sensor will be added.(COXI or others). In this paper we design XYZ stage suitable for this AEM system. For XY stage, single module parallel-kinnematic flexure stage is used which has high orthogonality and minimum out-of-plane motion. To obtain best performance optimal design is performed. For XY stage, to be robust about parasitic motion optimal design of maximizing Z and tilt stiffness is performed under the constraint of motion range and stage size. And for Z stage, optimal design of maximizing 1st resonant frequency is performed. Because if resonant frequency is get higher, scan speed is improved. So it makes reduce the error by sensor drift. Resultly XYZ stage each have 1st natural frequency of 115㎐, 201㎐, 2.66㎑ and range 109㎛, 110㎛, 12㎛.

• Journal of Astronomy and Space Sciences
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• 제12권2호
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• pp.256-264
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• 1995

This report presents the development procedure and the results of a prototype star sensor which can be used as one of the attitude sensors of the KITSAT-3. The star sensor is a major attitude sensor that can determine the 3-axis attitude information, by comparing between star corrdinates in the star catalog and the measured corrdinates. The 2 dimensional CCD camera is used for measuring the star corrdinates and the DSP(Digital Signal Processor) technology is applied to the image and signal processing. Using the prototype star sensor with thermoelectri cooling technique, we have succesfully obtained the star images around 4th magnitude at Sobaeksan Astronomy Observatory minimizing night sky effect.

• 태양에너지
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• 제19권4호
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• pp.81-91
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• 1999

The work presented here is a design and development of sun tracking system for the parabolic dish concentrator. Parabolic dish concentrator is mounted on azimuth and elevation tracking mechanism, and controlled to track the sun with computed and measured sun positions. Sun tracking mechanism is composed of 1/30000 speed reducer(3 stages) and 400W AC servomotor for each axis. The nominal tracking speed of each axis is ${\pm}0.6^{\circ}/sec$ and the system has a driving range of $340^{\circ}$ in azimuth and of $135^{\circ}$ in elevation. Sun tracking control system consists of sun sensor, wind speed and direction measurement system, AC servomotor position control system and personal computer as a master controller. Sun sensor detects the sun located within ${\pm}50^{\circ}$ measured from the sun sensor normal direction. Computer computes the sun position, sunrise and sunset times and controls the orientation of parabolic dish concentrator through the AC servomotor position control system. It also makes a decision of whether the system should follow the sun or not based on the information collected from sun sensor and wind speed and direction measurement system. The sun tracking system developed in this work is implemented for the experimental work and shows a good sun tracking performance.

• 한국인터넷방송통신학회논문지
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• 제16권2호
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• pp.201-206
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• 2016

비상체가 자세를 유지하기 위한 자세기준에는 비상체의 무게중심을 지나 서로 직교하는 3축을 취하는데 그것을 각각 롤(roll)축, 피치(pitch)축, 요(yaw)축 이라 부른다. 자세측정 장치는 이 3축에 대한 변동을 검출하는 센서이다. 본 논문에서는 HMD에 자세측정 장치를 부착하고. 이동로봇플랫폼에 팬틸트를 장착하여 카메라를 제어한다. 가속도센서는 진동에 매우 취약하기 때문에 센서데이터에 노이즈가 심하게 발생하며, 센서데이터를 매핑(mapping)하는 과정에서 데이터들의 간격이 많이 벌어지는 문제도 발생한다. 이러한 문제점을 해결하기 위해 평균필터와 Cosine Interpolation을 적용하여 팬틸트 동작을 방해하는 요소를 제거하였다. 제안한 성능을 평가하기 위해 실외환경에서 HMD에 부착한 센서데이터를 원격으로 전송하여 이동로봇에 탑재된 팬틸트 카메라를 제어하였다. 실험결과 약간의 지연은 발생하였으나 비교적 안정하게 팬틸트 카메라가 제어됨을 확인할 수 있었다. 또한, 이동로봇은 평지나 경사면 등 어떠한 지형에서도 주행이 가능함을 확인할 수 있었다.

• 센서학회지
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• 제25권3호
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• pp.208-212
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• 2016

In this work, a loop sensor for Arc-Flash detections has been developed in order to trip a circuit breaker within 2.5 ms after an Arc-Flash event. For an efficient capturing of the flash light, plastic optical fibers, where light attenuations are larger than those in silica-based ones, with different diameters and surface conditions were utilized. The performance was comparatively analyzed with those of a point sensor and a commercialized product. The point sensor module was designed for hemisphere-like capturings of Arc-Flashes larger than 3 kA at 2 meters from the sensor. On the other hand, the loop sensor allowed 360-degree-detections around the fiber axis and the measurement range was dependent on the length of the fiber connected to the sensor module. The trip-level-dependent brightness measurement results showed that the fabricated point sensor and loop sensor satisfied a brightness condition, 10~40 klux, and the responses of the system to Arc-Flashes were completed within 2.5 ms.

• 전자공학회논문지D
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• 제35D권2호
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• pp.33-39
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• 1998

A six-beam accelerometer with self-compensated off-axis sensitivity was fabricated onthe selectively diffused (111)-oriented n/n$^{+}$/n silicon substrates by a unique porous silicon micromachining technique, which has self-stip characteristics and highly seletive formation of porous silicon layer during anodic reaction. Also, the characteristics of the fabricated accelerometer were investigated. The sensitivity of the acceleormeter added up outputs of three bridges through a summing circuit was 0.68 mV/g and the nonlinearity was less than 2% of the full scale output. The measured first resonant frequency was 4.236 kHz. When the outputs of three bridges were compared to summing output of bridges obtained through summing circuit, the normal output for Z-axis acceleration exhibited the same value s summing outputs of three bridges without reduction of sensitivity and thus the sensitivity decrease due to additional beam was compensated. Although a maximum off-axis sensitivity in one bridge of the accelerometer showed 17% of normal sensitivity, the off axis sensitivity obtained from summing output of three bridges decreased to 1.0%. Therefore, the self-elimination of off-axis sensitivity can be simply realized by obtaining the output of the sensor through summing circuit.t.