• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1130-1132
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• 2000

In this paper, For Control of the speed sensorless induction motor propose the method which is controled the motor by operating two axis current in input current of the inverter. This method determines frequency of inverter in order to stator electromotive force and E/F ratio for the setting magnetic flux, drives for speed control using a voltage power converter of the induction motor by means of voltage fed converter with current control ability.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• Current Optics and Photonics
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• v.5 no.3
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• pp.213-219
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• 2021

We describe a single-channel rubidium (Rb) radio-frequency atomic magnetometer (RFAM) as a receiver that takes magnetic signal resonating with Zeeman splitting of the ground state of Rb. We optimize the performance of the RFAM by recording the response signal and signal-to-noise ratio (SNR) in various parameters and obtain a noise level of 159 $fT{\sqrt{Hz}}$ around 30 kHz. When a resonant radiofrequency magnetic field with a peak amplitude of 8.0 nT is applied, the bandwidth and signal-to-noise ratio are about 650 Hz and 88 dB, respectively. It is a good agreement that RFAM using alkali atoms is suitable for receiving signals in the very low frequency (VLF) carrier band, ranging from 3 kHz to 30 kHz. This study shows the new capabilities of the RFAM in communications applications based on magnetic signals with the VLF carrier band. Such communication can be expected to expand the communication space by overcoming obstacles through the high magnetic sensitive RFAM.

• Journal of Biomedical Engineering Research
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• v.31 no.3
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• pp.187-193
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• 2010

In this study we have designed and fabricated an inexpensive micro electronic system that we call Alvitek. It can indirectly but accurately predict and display the partial pressures of alveolar oxygen and carbon dioxide for the patients in the ICU of a hospital. Alvitek consists of both hardware part and software part. Performance of the system is tested by animal experiment with pigs for various $F_{t}e_{2}$ and RR(Respiratory Rate) values under the mechanical ventilation. The predicted alveolar gas partial pressures are cprpared with the approximate alveolar oxygen partial pressures easily calculated by the physician’s bedside formula. As a result, we have concluded that the relative error of A-$aDe_2$ calculated by the bedside formula grows seriously for lower $F_{t}e_{2}$ values. The present prediction method of Alvitek is henceforth believed very meaningful to the physicians. The system hardware and software are described in the text.

• Journal of Wetlands Research
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• v.22 no.4
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• pp.312-320
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• 2020

Various LIDs with natural water circulation function are applied to reduce urban environmental problems and environmental impact of development projects. However, excessive Infiltration and evaporation of LID facilities dry the LID internal soil, thus reducing plant and microbial activity and reducing environmental re duction ability. The purpose of this study was to develop a real-time measurement system with complex sensors to derive the management plan of LID facilities. The test of measurable sensors and Internet of Things (IoT) application was conducted in artificial wetlands shaped in acrylic boxes. The applied sensors were intended to be built at a low cost considering the distributed LID and were based on Arduino and Raspberry Pi, which are relatively inexpensive and commercialized. In addition, the goal was to develop complex sensor measurements to analyze the current state o f LID facilities and the effects of maintenance and abnormal weather conditions. Sensors are required to measure wind direction, wind speed, rainfall, carbon dioxide, Micro-dust, temperature and humidity, acidity, and location information in real time. Data collection devices, storage server programs, and operation programs for PC and mobile devices were developed to collect, transmit and check the results of measured data from applied sensors. The measurements obtained through each sensor are passed through the Wifi module to the management server and stored on the database server in real time. Analysis of the four-month measurement result values conducted in this study confirmed the stability and applicability of ICT technology application to LID facilities. Real-time measured values are found to be able to utilize big data to evaluate the functions of LID facilities and derive maintenance measures.

• Journal of Sensor Science and Technology
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• v.25 no.6
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• pp.440-446
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• 2016

This study introduces the characteristics of current-voltage (I-V) and impedance variance for $ZnO-Zn_2BiVO_6-Co_3O_4$ (ZZCo), which is sintered at $900^{\circ}C$, according to temperature changes. ZZCo varistor demonstrates dramatic improvement of non-linear coefficient, ${\alpha}=66$, with lower leakage current and higher insulating resistivity than those of ZZ ($ZnO-Zn_2BiVO_6$) from the aspect of I-V curves. While both systems are thermally stable up to $125^{\circ}C$, ZZCo represents a higher grain boundary activation energy with 1.05 eV and 0.94 eV of J-E-T and from IS & MS, respectively, than that of ZZ with 0.73 eV and 0.82 eV of J-E-T and from IS & MS, respectively, in the region above $180^{\circ}C$. It could be attributed to the formation of $V^*_o$(0.41~0.47 eV) as dominant defect in two systems, as well as the defect-induced capacitance increase from 781 pF to 1 nF in accordance with increasing temperature. On the other hand, both the grain boundary capacitances of ZZ and ZZCo are shown to decrease to 357 pF and 349 pF, respectively, while the resistances systems decreased exponentially, in accordance with increasing temperature. So, this paper suggests that the application of newly formed liquid phases as sintering additives in both $Zn_2BiVO_6$ and the ZZCo-based varistors would be helpful in developing commercialized devices such as chips, disk-type ZnO varistors in the future.

• Journal of Sensor Science and Technology
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• v.14 no.3
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• pp.160-168
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• 2005

ZnO epilayer were synthesized by the pulesd laser deposition(PLD) process on $Al_{2}O_{3}$ substrate after irradiating the surface of the ZnO sintered pellet by the ArF(193 nm) excimer laser. The epilayers of ZnO were achieved on sapphire ($Al_{2}O_{3}$) substrate at a temperature of $400^{\circ}C$. The crystalline structure of epilayer was investigated by the photoluminescence. The carrier density and mobility of ZnO epilayer measured with Hall effect by van der Pauw method are $8.27{\times}1016cm^{-3}$ and $299cm^{2}/V{\cdot}s$ at 293 K, respectively. The temperature dependence of the energy band gap of the ZnO obtained from the absorption spectra was well described by the Varshni's relation, $E_{g}(T)$=3.3973 eV-($2.69{\times}10^{-4}$ eV/K)$T^{2}$/(T+463K). The crystal field and the spin-orbit splitting energies for the valence band of the ZnO have been estimated to be 0.0041 eV and 0.0399 eV at 10 K, respectively, by means of the photocurrent spectra and the Hopfield quasicubic model. These results indicate that the splitting of the ${\Delta}so$ definitely exists in the ${\Gamma}_{6}$ states of the valence band of the ZnO. The three photocurrent peaks observed at 10 K are ascribed to the $A_{1}-$, $B_{1}-$, and $C_{1}-$exciton peaks for n = 1.

• Imaging Science in Dentistry
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• v.42 no.4
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• pp.243-247
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• 2012

Purpose: This study was performed to compare the inverted digital images and film-based images of dry pig mandibles to measure the periodontal bone defect depth. Materials and Methods: Forty 2-wall bone defects were made in the proximal region of the premolar in the dry pig mandibles. The digital and conventional radiographs were taken using a Schick sensor and Kodak F-speed intraoral film. Image manipulation (inversion) was performed using Adobe Photoshop 7.0 software. Four trained examiners made all of the radiographic measurements in millimeters a total of three times from the cementoenamel junction to the most apical extension of the bone loss with both types of images: inverted digital and film. The measurements were also made in dry mandibles using a periodontal probe and digital caliper. The Student's t-test was used to compare the depth measurements obtained from the two types of images and direct visual measurement in the dry mandibles. A significance level of 0.05 for a 95% confidence interval was used for each comparison. Results: There was a significant difference between depth measurements in the inverted digital images and direct visual measurements (p>|t|=0.0039), with means of 6.29 mm ($IC_{95%}$:6.04-6.54) and 6.79 mm ($IC_{95%}$:6.45-7.11), respectively. There was a non-significant difference between the film-based radiographs and direct visual measurements (p>|t|=0.4950), with means of 6.64mm($IC_{95%}$:6.40-6.89) and 6.79mm($IC_{95%}$:6.45-7.11), respectively. Conclusion: The periodontal bone defect measurements in the inverted digital images were inferior to film-based radiographs, underestimating the amount of bone loss.

• Progress in Superconductivity
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• v.7 no.1
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• pp.28-35
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• 2005

We propose a method to measure atrial arrhythmias (AA) such as atrial fibrillation (Afb) and atrial flutter (Afl) with a SQUID magnetocardiograph (MCG) system. To detect AA is one of challenging topics in MCG. As the AA generally have irregular rhythm and atrio-ventricular conduction, the MCG signal cannot be improved by QRS averaging; therefore a SQUID MCG system having a high SNR is required to measure informative atrial excitation with a single scan. In the case of Afb, diminished f waves are much smaller than normal P waves because the sources are usually located on the posterior wall of the heart. In this study, we utilize an MCG system measuring tangential field components, which is known to be more sensitive to a deeper current source. The average noise spectral density of the whole system in a magnetic shielded room was $10\;fT/{\surd}Hz(a)\;1\;Hz\;and\;5\;fT/{\surd}Hz\;(a)\;100\;Hz$. We measured the MCG signals of patients with chronic Afb and Afl. Before the AA measurement, the comparison between the measurements in supine and prone positions for P waves has been conducted and the experiment gave a result that the supine position is more suitable to measure the atrial excitation. Therefore, the AA was measured in subject's supine position. Clinical potential of AA measurement in MCG is to find an aspect of a reentry circuit and to localize the abnormal stimulation noninvasively. To give useful information about the abnormal excitation, we have developed a method, separative synthetic aperture magnetometry (sSAM). The basic idea of sSAM is to visualize current source distribution corresponding to the atrial excitation, which are separated from the ventricular excitation and the Gaussian sensor noises. By using sSAM, we localized the source of an Afl successfully.