• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1147-1152
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• 2014

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.490-493
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• 2003

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures forces Fx. Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction. and perform the control using the measured forces and moments. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My. Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed, and the result shows that interference errors or the developed sensor are less than 3%. Thus, the developed small 6-axis force/moment sensor may be used for robot's gripper.

• 한국기계가공학회지
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• 제13권2호
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• pp.117-123
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• 2014

In order to provide a mobile robot with omnidirectionality, various types of omnidirectional wheels have been developed. This paper deals with an improved design and structural analysis of a Mecanum wheel, which is the type of omnidirectional wheels most commonly used in industrial fields. A geometric formulation for manufacturingthe Mecanum wheel is presented and two types of Mecanum wheels are designed and fabricated in this research. While conventional assembled-type Mecanum wheels have a complicated structure and the high possibility of mutual interference between sub-components, a unified type of Mecanum wheel reduces the number of sub-components and increases the degree of structural rigidity. The stress and strain properties of the two designs are compared to confirm the quantitative improvement of the new design by a commercial structural analysis tool. The analysis results show that the unified type of Mecanum wheel has properties superior to the assembled type of Mecanum wheel in terms of its ability to reduce interference.

• 센서학회지
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• 제25권2호
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• pp.148-154
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• 2016

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

• 센서학회지
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• 제24권2호
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• pp.137-143
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• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

• 대한조선학회논문집
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• 제61권3호
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• pp.200-207
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• 2024

A multi-component force sensor has been developed to measure force and moment components in high-speed flow media for submerged models. The size of the test model is determined based on the Reynolds number of the model at the test speed and expected blockage effect. A two-component force sensor unit has been created by assembling pairs of column elements arranged symmetrically under an eccentric load. The six-component force sensor is constructed with symmetric arrangements of two-component force sensor units in a rectangular plane. The signals generated from the strain gauges attached to the surface of the elements can be converted into force signals. The performance of the waterproof six-component force sensor has been evaluated through calibration. A simplified interference decomposition procedure has been introduced to increase the accuracy of measurement.

• 미생물학회지
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• 제26권4호
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• pp.305-311
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• 1988

Slow growing R. japonicum R-l68 균주로부터 spectinomycin 내성 균주를 선발하고 이 Rhizobium내에 Tn-5를 도입시키기 위하여 Tn5가 함유된 E. coli WA 803/pGS9과의 conjugation을 통한 transposon mutagenesis를 실시하였다. 이때 C conjugation을 통한 Tn5 전이 빈도는 $1.0\times 10^{-5}-5.0\times 10^{-7}$ 범위 이였으며, 얻어진 transconjugant들은 spectinomycin (($100{\mu}$g/ml)과 kanamycin ($50{\mu}$g/ml)을 함유한 yeast extract-mannitol 배지에서 8-10일 배양후 colony를 형성하였다. 또한 transconjugant들은 genome상에 Tn-5를 함유하고 있음을 hybridization-을 통하여 확인하였다. 한편 nodule은 형성 하나 질소고정 활성이 없는 돌연변이주 R. japonicum RMa 75 $nod^{+}fix^{-}$ 균주를 선발하였는데 이 균주는 nodule내에 leghemoglobin이 결핍되어 있음이 확인되었다.

• 센서학회지
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• 제26권5호
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• pp.353-359
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• 2017

This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walking assist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensor is used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(Finite Element Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried out respectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability error and the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.

• Smart Structures and Systems
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• 제1권4호
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• pp.355-368
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• 2005

Large and complex structures are being built now-a-days and, they are required to be functional even under extreme loading and environmental conditions. In order to meet the safety and maintenance demands, there is a need to build sensors integrated structural system, which can sense and provide necessary information about the structural response to complex loading and environment. Sophisticated tools have been developed for the design and construction of civil engineering structures. However, very little has been accomplished in the area of monitoring and rehabilitation. The employment of appropriate sensor is therefore crucial, and efforts must be directed towards non-destructive testing techniques that remain functional throughout the life of the structure. Fiber optic sensors are emerging as a superior non-destructive tool for evaluating the health of civil engineering structures. Flexibility, small in size and corrosion resistance of optical fibers allow them to be directly embedded in concrete structures. The inherent advantages of fiber optic sensors over conventional sensors include high resolution, ability to work in difficult environment, immunity from electromagnetic interference, large band width of signal, low noise and high sensitivity. This paper brings out the potential and current status of technology of fiber optic sensors for civil engineering applications. The importance of employing fiber optic sensors for health monitoring of civil engineering structures has been highlighted. Details of laboratory studies carried out on fiber optic strain sensors to assess their suitability for civil engineering applications are also covered.