• Journal of Sensor Science and Technology
• /
• v.19 no.6
• /
• pp.421-427
• /
• 2010

Alizarin Red S modified screen printed carbon electrodes were developed for the electrochemical detection of aluminum ion. The electrodes developed use screen-printed carbon electrodes(SPCEs) coupled with chemical modification with an organic chelator, Alizarin Red S(ARS), for aluminum ion detection in aqueous solution. For sensor fabrication ARS was directly immobilized on the surface of SPCEs using PVA-SbQ(The poly(vinyl alcohol) bearing stryrylpyridinium groups). Aluminum concentrations were indirectly estimated by amperometric determination of the non-complexed ARS immobilized on the electrodes, after its complexation with aluminum. The sensitivity of the sensor developed was $3.8\;nA{\mu}M^{-1}cm^{-2}$ and the detection limit for aluminum was $25\;{\mu}M$.

• Journal of the Korea Society of Computer and Information
• /
• v.16 no.7
• /
• pp.157-163
• /
• 2011

In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• v.10 no.1
• /
• pp.123-126
• /
• 2005

• Journal of the Institute of Convergence Signal Processing
• /
• v.21 no.1
• /
• pp.21-28
• /
• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.309-310
• /
• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.10a
• /
• pp.207-208
• /
• 2012

• Journal of Biosystems Engineering
• /
• v.23 no.6
• /
• pp.561-570
• /
• 1998

The MLR(Multiple Linear Regression) models to estimate soluble solids content non-destructively were presented to make a selection of optimal photosensor utilized to measure the soluble solids content of apples. Visible and NIR absorbance in the 400 to 2498 nanometer(nm) wavelength region, soluble solids content(sugar content), hardness, and weight were measured for 400 apples(gala). Spectrophotometer with fiber optic probe was utilized for spectrum measurement and digital refractometer was used for soluble solids content. Correlation between absorbance spectrum and soluble solids content was analyzed to pick out the optimal wavelengths and to develop corresponding prediction model by means of MLR. For the coefficient of determination($R^2$) to be over 0.92, the MLR models out of the original absorbance were built based on 7 wavelengths of 992, 904, 1096, 1032, 880, 824, 1048nm, and the ones of the second derivative absorbance based on 5 wavelengths of 784, 1056, 992, 808, 872nm. The best model of the second derivative absorbance spectrum had $R^2$=0.91, bias= -0.02bx, SEP=0.28bx for unknown samples.

• Journal of Biosystems Engineering
• /
• v.23 no.6
• /
• pp.571-582
• /
• 1998

The PLS(Partial Least Square) and ANN(Artificial Neural Network) were introduced to develop the soluble solids content prediction model of apples which is followed by making a subsequent selection of photosensor. For the optimal PLS model, number of factors needed for spectrum analysis were increased until the convergence of prediction residual error sum of squares. Analysis has shown that even part of the overall wavelength with no pretreatment may turn out better performing. The best PLS model was found in the 800 to 1,100nm wavelength region without pretreatment of second derivation, having $R^2$=0.9236, bias= -0.0198bx, SEP=0.2527bx for unknown samples. On the other hand, for the ANN model the second derivation led to higher performance. On partial range of 800 to 1,100nm wavelengh region, prediction model with second derivation for unknown samples reached $R^2$=0.9177, SEP=0.2903bx in contrast to $R^2$=0.7507, SEP =0.4622bx without pretreatment.

• Journal of Ocean Engineering and Technology
• /
• v.31 no.2
• /
• pp.164-169
• /
• 2017

Studies were performed on an ARS using SDINS's RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.4
• /
• pp.383-389
• /
• 2013

Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor's range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.