• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.III
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• pp.607-612
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• 2000

Microprecision agriculture for a fully controlled plant factory is proposed in this paper. Microprecision agriculture can be attained by using plant factories to realize profitable alternative agriculture. A closed, fully controlled, plant-growing factory is far better in terms of minimizing all sorts of waste. The limit and optimum design concept has to be applied to establish an economically feasible, fully controlled, plant-growing factory. To achieve this objective, microprecision technologies have to be developed. Microprecision technologies should be involved in sensing, modeling, controlling, and collecting information for the mechatronics for plant production. Basic technologies for microprecision are already available; they are SPA (speaking plant approach to environmental control), AI (artificial intelligence: expert systems, neural networks, genetic algorithms, photosynthetic algorithms etc.), bioinstrumentation, non-invasive measurement, biomechatronics, and biorobotics. A microprecision irrigation system for plug production is an example of a microprecision technology that has actually been implemented in a plug seedling production factory.

• 로봇학회논문지
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• 제4권1호
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• pp.34-42
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• 2009

Rodents, specially rats, can recognize distance and shape of an object and also pattern of the textures by using their whiskers. Mechanoreceptors surrounding the root of whisker in their follicle measure deflection of the whisker. Rats can move their whisker back and forth freely. This ability, called active whisking or active sensing, is one of characteristics of rat behaviours. Many researches based on the mechanism have been progressed. In this paper, we test a simple and accurate method based on deflection of the whisker: we designed biomimetic whiskers modeling after a structure of follicle using the microphone. The microphone sensor measures a mechanical vibration. Attaching an artificial whisker beam to the microphone membrane, we can detect a vibration of whisker and this can show the deflection amount of whisker indirectly.

• Journal of Mechanical Science and Technology
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• 제15권1호
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• pp.1-9
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• 2001

The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyns unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase.

• 전자공학회논문지SC
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• 제47권4호
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• pp.55-60
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• 2010

설치류는 수염을 통해서 물체를 인식하는 능력을 갖추고 있다. 단연 설치류뿐만 아니라 많은 수의 포유류가 사물을 인식하는데 수염을 이용하지만 특히 설치류는 수염을 통해서 마이크로미터 단위의 표면의 거칠기 차이도 구별 할 수 있다. 설치류는 수염을 앞, 뒤로 능동적으로 움직이며 물체의 모양이나 표면의 거칠기, 패턴 따위를 판별한다. 실제 쥐 수염에는 수염뿌리 가까운 모낭 안에 수많은 신경이 모여 있어서 수염이 떨리거나 구부러질 때의 신호를 받아들인다. 쥐의 이러한 능력을 모방하여, 본 논문에서는 마이크로폰을 이용하여 쥐 수염 센서를 제작하고 제작한 수염 센서를 통해 물체 표면의 거칠기에 대한 정보를 얻고자 한다.