• 대한기계학회논문집
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• 제17권9호
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• pp.2191-2204
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• 1993

A sensor system has been developed to measure the posture(position and orientation) of mobile robots working in industrial environments. The proposed sensor system consists of a CCD camera, retro-reflective landmarks, a strobe unit and an image processing board. The proposed hardware system can be built in economic price compared to commercial vision systems. The system has the capability of measuring the posture of mobile robots within 60 msec when a 386 personal computer is used as the host computer. The experimental results demonstrated a remarkable performance of the proposed sensor system in the posture measurement of mobile robots - the average error in position is less than 3 mm and the average error in orientation is less than 1.5.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.267-270
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• 2002

The accuracy and the dynamic bandwidth are the two most important indices that an inductive position sensor is evaluated with. Eddy currents and magnetic hysteresis affect both of these performance indices. As the modulation frequency of the sensor increases to improve the dynamic bandwidth, the effects of eddy currents and hysteresis also increases, which results in the loss of accuracy. In this paper, a magnetic circuit model of the differential inductive sensor is developed. This model includes the effects of hysteresis and eddy currents. Experimental results confirm the validity of the model. The model predicts that the eddy current effects are not significant below the modulation frequency of 50kHz, as long as the lamination thickness is adequate.

• 한국정밀공학회지
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• 제17권10호
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• pp.141-146
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• 2000

We introduce the algorithms of 3-D position estimation using a laser sensor for automatic die remodeling. First, a vision sensor based on the optical triangulation was used to collect the range data of die surface. Second, line vector equations were constructed by the measured range data, and an analytic algorithm was proposed for recognizing the die location with these vector equations. This algorithm could make the transformation matrix without any specific corresponding points. To ascertain this algorithm, folded SUS plate was measured by the laser vision sensor attached to a 3-axis cartesian manipulator and the transformation matrix was calculated.

• 한국공작기계학회논문집
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• 제12권1호
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• pp.65-71
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• 2003

In a high speed spindle system it is very important to monitor the state of rotating rotor. Particularly in active control spindle system the position sensor must provide feedback to the control system on the exact position of the rotor. In order to monitor the state of a high speed spindle exactly, high accuracy and wide frequency bandwidth of sensors are important. The focus in this paper is to make a fiber optic sensor for monitoring rotor of magnetic bearing, to design the circuit for detecting optical signal, and to evaluation static and dynamic characteristics of fiber optic sensor.

• 대한안전경영과학회지
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• 제20권2호
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• pp.37-44
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• 2018

The Location Based Service is growing rapidly nowadays due to the universalization of the use for smartphone, and therefore the location determination technology has been placed in a very important position. This study suggests an algorithm that can provide the estimate of users' location by using smartphone sensors. And in doing so we will propose a methodology for the creation and update of indoor map through the more accurate position estimation using smartphone sensors such as acceleration sensor, gyroscope sensor, geomagnetic sensor and rotation sensor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.540-542
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• 1999

We develop jumping ring system with sensor and control system using dynamic neural networks. Jumping ring, sensor and control system are controlled by 586 PC using Turbo C program. Sensor system is composed of 20 optical sensors and encoder. The control circuits are consisted of thyristor, FET and phase controller. A/D converter and optical sensor acquire real time motion data of the jumping ring system. The information of acquired jumping ring Position is estimated by using dynamic neural networks. Estimated control signals are sent to control circuits and D/A converter to track desired position of the jumping ring system. Experiment results are given to verify that proposed dynamic controller is useful in real jumping ring system.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.925-930
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• 2008

Many sensor network applications require that each node's sensor data stream be annotated with its physical location in some coordinate system. Equipping GPS on every sensor node is often expensive and does not work in indoor deployments. Recently, cricket-based localization system is often used for indoor localization system. It is very important to know the exact position of beacons in cricket-based localization system for identifying moving sensor node's position. In this paper, a new method, Mobile Listener Detect Algorithm (MLD) which can automatically calculate the unknown newly installed beacons is proposed. For the verification of the feasibility of the proposed scheme, we have conducted several experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.433-435
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• 2007

Geographic wireless sensor networks use position information for Greedy routing. Greedy routing works well in dense network where as in sparse network it may fail and require the use of recovery algorithms. Recovery algorithms help the packet to get out of the communication void. However, these algorithms are generally costlier for resource constrained position based wireless sensor type networks. In the present work, we propose a Void Avoidance Algorithm (VAA); a novel idea based on virtual distance upgrading that allows wireless sensor nodes to remove all stuck nodes by transforming the routing graph and forward packet using greedy routing only without recovery algorithm. In VAA, the stuck node upgrades distance unless it finds next hop node which is closer to the destination than itself. VAA guarantees the packet delivery if there is a topologically valid path exists. NS-2 is used to evaluate the performance and correctness of VAA and compared the performance with GPSR. Simulation results show that our proposed algorithm achieves higher delivery ratio, lower energy consumption and efficient path.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1995년도 춘계학술대회 논문집
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• pp.40-62
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• 1995

A micro positioning system using piezoelectric actuators have very wide application region such as ultra-precision machine tool optical device measurement system. In order to keep a high precision displacement resolution it to useful to take a position sensor and feedback of the error. From the practical point of view high-resolution displacement sensor systems are very expensive and it is difficult to make such a sensitive sensor work properly in a poor operational environment of industry. In this study a piezo-electric micro-depth control system which does not require position sensor but piezoelectric voltage feedback has been developed. It is driven by hysteresis-considering reference input voltage calculated in advance and actuator/sensor characteristics of piezoelectric materials. From the result of experiments a fast and stable response of micro-depth control system has been achieved and an efficient technique to control the piezoelectric actuator suggested.