• Journal of the Semiconductor & Display Technology
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• v.17 no.3
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• pp.65-69
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• 2018

In this paper, we have developed a multi-attitude monitoring system for running farm robots for field farming. There are many agricultural robots that can select work modules for various tasks. In order to control the stable attitude of agricultural robots connected to each other, we developed a system for monitoring the roll angle and pitch angle difference by fusing the information of the attitude monitoring system mounted on the robot mainframe and the work module. The developed attitude monitoring system showed resolution below 1 degree. In this paper, roll angle difference of 20 degrees and 60 degrees is measured with a multi - attitude monitoring system.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.4
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• pp.359-367
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• 2015

The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10b
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• pp.62-65
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• 2006

센서 네트워크는 라디오 통신으로 인해 생기는 예상치 못한 문제점을 비롯하여 제한적인 리소스 때문에 응용 개발에 어려움이 많다. 센서 네트워크가 구성된 후의 내부적인 데이터 흐름이나 네트워크에 참여하는 각 노드의 상태는 네트워크의 정보 수집을 통해 알 수 있다. 본 논문은 네트워크의 상태를 모니터링하고 실시간으로 네트워크 파라미터들을 효율적으로 설정할 수 있는 센서 네트워크 관리 시스템을 제안한다. Sensor Network Manager는 Multi-thread와 동적으로 할당 가능한 Kernel Module 기법을 지원하는 RETOS 운영체제를 기반으로 개발 되었다. 간단한 플러딩 기법을 적용하여 센서 네트워크의 상태를 모니터링 한 결과 Sensor Network Manager가 개발자에게 전반적인 네트워크에 대한 통제와 모니터링이 가능하다는 것을 검증하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.289-290
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• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.5
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• pp.423-443
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• 2009

We present the design and implementation of a unique sensing and actuation application -- the Illuminator: a sensor network-based intelligent light control system for entertainment and media production. Unlike most sensor network applications, which focus on sensing alone, a distinctive aspect of the Illuminator is that it closes the loop from light sensing to lighting control. We describe the Illuminator's design requirements, system architecture, algorithms, implementation and experimental results. The system uses the Illumimote, a multi-modal and high fidelity light sensor module well-suited for wireless sensor networks, to satisfy the high-performance light sensing requirements of entertainment and media production applications. The Illuminator system is a toolset to characterize the illumination profile of a deployed set of fixed position lights, generate desired lighting effects for moving targets (actors, scenic elements, etc.) based on user constraints expressed in a formal language, and to assist in the set up of lights to achieve the same illumination profile in multiple venues. After characterizing deployed lights, the Illuminator computes optimal light settings at run-time to achieve a user-specified actuation profile, using an optimization framework based on a genetic algorithm. Uniquely, it can use deployed sensors to incorporate changing ambient lighting conditions and moving targets into actuation. Experimental results demonstrate that the Illuminator handles various high-level user requirements and generates an optimal light actuation profile. These results suggest that the Illuminator system supports entertainment and media production applications.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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• pp.284-288
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• 2015

The color temperature flexibility-typed Lighting Emitting Diode(LED) lighting control system proposed in this thesis employs Pulse Width Modulation(PWM) technique to control the brightness of LED lighting. The LED lighting used as a light source has 20W downlight composed of two types of LED chips: one is Warm White and the other is Cool white. One multi-sensor module consisting an infrared sensor, an illumination sensor, and a temperature sensor was made, to which Bluetooth wireless communication technique was applied to enable a smartphone application to control lighting brightness and identify the information collected from the sensor. CS-1000, a spectroradiometer, was used to measure LED dimming control and the changing values of a color temperature in eight steps. According to a test, it was found that it was possible to change a color temperature from 3187K of Warm White LED to 5600K of Cool White LED.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.400-400
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• 2000

This paper purposed that verify the validity of Petri Net method for control progressive increase of system complexity, before extend the realized single robot system to multi-robot system. An autonomous mobile robot(AMR) needs decision making, motion control, path planning, tracking a path, obstacle avoidance, and sensor fusion, to complete its task. An AMR integrates and operates these technics through a consistent command system. An error in a command hierarchy which is like duplication or omission of a control command hierarchy for each module results in serious problems. This paper minimizes the error by modeling each module and whole system using Petri Net graphical representation and applies it to the exploration task of an AMR

• Journal of Sensor Science and Technology
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• v.23 no.3
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• pp.149-157
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• 2014

This paper considers the ability of counting and positioning multi-targets by using a mobile UWB radar device. After a background subtraction process, distinguishing between clutters and human body signals, the position of targets will be computed using weighted Gaussian mixture methods. While computer vision offers many advantages, it has limited performance in poor visibility conditions (e.g., at night, haze, fog or smoke). UWB radar can provide a complementary technology for detecting and tracking humans, particularly in poor visibility or through-wall conditions. As we know, for 2D measurement, one method is the use of at least two receiver antennas. Another method is the use of one mobile radar receiver. This paper tried to investigate the position detection of the stationary human body using the movement of one UWB radar module.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.8
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• pp.1503-1510
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• 2007

To implement a high-precision lightning tracking system utilizing TDOA measurements, high-speed data acquisition and precise timing synchronization between ground sensors should be achieved. At the same time, considering the size of digitizer's memory, the data memory needs to be managed so that only the sampled data around the occurrence of stepped leader pulse is stored. This paper presents a detection-and-acquisition system for lightning signals that is the main equipment of ground sensor in lightning tracking system. GPS clock module is used to get precise timing synchronization and the 500MHz high speed digitizer is employed. In order to detect the leading edge of the lightning pulse and save the sampled data and its timing, lightning detection module is implemented and multi-record method is employed in the proposed system. Field experiment results show that the proposed system can detect and save the lightning signal efficiently.

• Proceedings of the IEEK Conference
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• 2004.06b
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• pp.411-414
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• 2004

This paper introduces a modulation method for digital wireless communication based on general DS-QPSK. The design and fabrication is for home networking application to a typical RF transmitter with DS-QPSK modulator. This modulator implemented using VHDL hardware programming language, the fabrication of IC chip $5{\times}5 mm^2$ was carried by 27th IDEC MPW(Multi Project Wafer) process in 0.35${\mu}m$ rule at Samsung Inc. This paper presented the important of this technology for the future application in wireless sensor. This module can be efficient usage for home network to transmit the RF wireless sensor system.