• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.51-55
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• 1997

This study is devote to developing navigation filter for detecting sensor failure in multi-sensor navigation system. In multi-sensor navigation system, Kalman filter is generally used to fuse data of each sensors. Sensor failure is fatal in case that the sensor is used as external measurement of Kalman filter therefore detection and recovery of sensor failure is one the important feature of navigation filter. Generally each sensors have its specific feature in measuring navigational information. Fuzzy theory is proposed to detect external sensor failure and provide valid external measurement to Kalman filter avoiding filter divergence and instability. This idea is applied to Autonomous Underwater Vehicle(AUV) which has two navigation sensor i. e self contained inertial sensor and acoustic external sensor. 2 dimensional simulation result shows acceptable failure detection and recovery

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.792-796
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• 2003

In this paper, to detect external sound frequency on the latticed structure, fiber optic sensor net using Sagnac interferometer was fabricated and tested. The latticed structure fabricated with dimension of 50cm in width and 50cm in height, the optical fiber, 50m in length, distributed and fixed on the latticed structure. Single mode fiber, a laser with 1,550nm in wavelength, 2${\times}$2 coupler were used. External sound signal applied to the fiber optic sensor net and the detected optical signals were compared and analyzed to the detected microphone signals against time and frequency domain. Based on the experimental results, fiber optic sensor net using Sagnac interferometer detected external sound frequency, effectively. This system can be expanded to the structural health monitoring system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.7
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• pp.569-576
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• 2004

In this paper, to detect external sound frequencies on the latticed structure, fiber optic sensor net using Sagnac interferometer was fabricated and tested. The latticed structure was fabricated with a dimension of 50 cm in width and 50 cm in height. The optical fiber of 50m in length was distributed and fixed on the surface of the latticed structure. Single mode fiber, a laser with 1,550 nm in wavelength, 2 ${\times}$ 2 coupler were used. External sound signal, 240 Hz, 495 Hz, 1.445 kHz, 2k Hz, applied to the fiber optic sensor net and the detected optical signals were compared to the detected microphone signals against time and frequency domains. Based on the experimental results, fiber optic sensor net using Sagnac interferometer detected external sound frequency, effectively. This system can be expanded to the structural health monitoring system.

• JSTS:Journal of Semiconductor Technology and Science
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• v.13 no.4
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• pp.355-360
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• 2013

A wireless intraocular (IOP) pressure sensor based on micro electro mechanical system (MEMS) technology is proposed. The proposed IOP sensor uses variable inductance according to the external pressure. The proposed sensor is composed of two flexible membranes: a ferrite bottom part, an inductor, and a capacitor. The inductance of the sensor varies according to the external pressure. The resonance frequency of the sensor is also varied, and this frequency is detected using an external coil. The external coil is designed with an FR-4 printed circuit board. The feasibility of the proposed sensor structure using variable inductance to detect the external pressure is successfully demonstrated.

• Journal of Sensor Science and Technology
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• v.19 no.6
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• pp.483-489
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• 2010

Display quality depends on panel temperatures. To compensate it, temperature sensor was integrated on the panel. The conventional temperature sensor integrated on the panel needs external reference resistor. Since the resistance of external resistor can vary according to the variation of the environment temperature, the conventional temperature sensor can make error in temperature sensing. The environmental temperatures can change by the back light unit, driving circuits or chips. In this paper, we proposed a integrated temperature sensor on display panel which does not need external reference resister. Instead of external reference resistor, we used two materials which have different temperature coefficient in resistivity. They are connected serially and the output voltage was measured at the point of connection with the applied voltage to both ends. The proposed sensor was fabricated with indium tin oxide(ITO), and Mo metal electrode temperature sensor which were connected serially. We verified the temperature senor by the measurements of sensitivity, lineality, hysteresis, repeatability, stability, and accuracy.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.6
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• pp.18-25
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• 2014

A implanted sensor's error probability is more likely to external sensor's error probability by biological characteristic in WBAN. In this paper, we present method that external sensor transmits frame instead of doing implanted sensor's retransmission for improving lifetime of implanted sensors in WBAN. The proposed method, LI(Lifetime Increment) protocol is to add external sensor's id in transmission data frame of a implanted sensor. When the retransmission is required, external sensor that have to registered id in data frame retransmits frame instead of implanted sensors' retransmission. The comparison result shows that the proposed protocol reduces power consumption and improves life time.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.5
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• pp.259-267
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• 2019

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.81-84
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• 2007

In this paper, fiber optic sound and vibration monitoring sensor which is latticed shape structure based on Sagnac interferometer is fabricated and tested in laboratory conditions. To detect external vibrations surface mounted fibers on the latticed steel wire fence with a dimension of 170cm by 180cm is used. To detect external sound frequency the tightened fiber optic itself wire netting fence with a dimension of 50cm by 50cm is used. Experiments for the detection of the excited vibration and sound signals were performed. A small vibrator induced external vibration signal and it is applied to the latticed structure in the range of 100Hz to several kHz. External sound signal applied to the fiber optic sensor net using non-directional sound speaker. The detected optical signals were compared and analyzed to the detected both accelerometer and microphone signals in the time and frequency domain. Based on the experimental results, distributed fiber optic sensor using Sagnac interferometer detected effectively external vibration and sound signal and had a good performance. This system can be expanded to the monitoring of a significant system and to the structural health monitoring system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.4
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• pp.728-732
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• 2010

GIS(Gas insulated switching gear) is power equipment with excellent dielectric strength and is economy merit in high confidence and stability. Recently, because equipment of GIS was occurring problem of confidence used for a long time, partial discharge on-line diagnosis systems have been importantly recognized. Partial discharge (PD) detection is an effective means for monitoring and evaluation of dielectric condition of gas insulated system (GIS). The ultra-high-frequency (UHF) PD detection technique can detect and locate the PD sources inside GIS by detecting electromagnetic wave emitted from PD source. Therefore, real-time diagnostic system using UHF detection method has been developed for this application is being expanded gradually. However, the signal of partial discharge occurring in SF6 gas is very weak and susceptible to external noises which mainly consist of PD in air. Thus, it is important to distinguish the PD in SF6 gas more sensitively from the external noises. Unfortunately, these external noise signals and the partial discharge signals have very similar characteristics. Therefore, to solve this problem, we need the signal processing method for distinguish partial discharge signals with external noise signals for improvement of SNR(signal to noise ratio) and sensitivity. In this paper, we proposed internal signal processing method for removing external noise signals with built-in pre.amplifier and frequency conversion circuit.