• International Journal of Korean Welding Society
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• 제2권2호
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• pp.57-60
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• 2002

Generally, the laser vision sensor makes it possible design a highly reliable and precise range sensor at a low cost. When the laser vision sensor is applied to lap joint welding, however. there are many limitations. Therefore, a specially-designed hardware system has to be used. However, if the multi-lines are used instead of a single line, multi-range data .:an be generated from one image. Even under a set condition of 30fps, the generated 2D range data increases depending on the number of lines used. In this study, a laser vision sensor with a multi-line pattern is developed with conventional CCD camera to carry out high speed seam tracking in lap joint welding.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 학술대회지
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• pp.876-879
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• 2004

The buried fiber optic cable as a distributed intrusion sensor for detecting and locating intruders along the long perimeters is proposed. Phase changes resulting from either the pressure of the intruder on the ground immediately above the buried fiber or from seismic disturbances in the vicinity are sensed by a phase-sensitive optical time-domain reflectometer. Light pulses from a Er:fiber cw laser with a narrow, <3kHz-range, spectral width and a frequency drift of < 1 MHz/min are injected into one end of the fiber, and the backscattered light from the fiber is monitored with a photodetector. Results of preliminary studies, measurement of phase changes produced by pressure and seismic disturbances in buried fiber optic cables and simulation of ${\varphi}-OTDR$ response over long fiber paths, to establish the feasibility of the concept are described. The field experiments indicate adequate phase changes, more than 1t-rad, are produced by intruders on foot and vehicle for burial depths in the 0.2 m to 1 m range in sand, clay and fine gravel soils. The simulations predict a range of 10 km with 35 m range resolution and 30 km with 90 m range resolution. This technology could in a cost-effective manner provide enhanced perimeter security.

• 한국전기전자재료학회논문지
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• 제13권8호
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• pp.688-693
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• 2000

In this paper an optical voltage sensor and an optical current sensor which can be used for the measurement of impulse voltage and current are implemented. BSO single crystal is utilized as a voltage sensor(Pockels effect cell). An rare earth doped YIG is used as a current sensor(Faraday effect cell). A new signal processing technique is adopted not only to avoid the influences o external optical fiber pertubations of transmitting optical fiber but also to improves the frequency response characteristics of the fiber-optic voltage and current sensors. Experimental results show that optical voltage sensor has maximum 2.5% error within the voltage range from 0V to 500V. and optical current sensor has maximum 2.5% error within the current range and that of optical current sensor is about 1.5% within temperature range from -2$0^{\circ}C$ to 6$0^{\circ}C$. The proposed optical sensors have good frequency response characteristics within the frequency range from DC to 10MHz.

• Journal of Power Electronics
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• 제18권3호
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• pp.714-722
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• 2018

This paper presents a wide-range speed control scheme of brushless DC (BLDC) motors based on a hall sensor with separated low- and normal-speed controllers. However, the use of the hall sensor signal is insufficient to detect motor speed in the low-speed region because of low sensor resolution and time delay. In the proposed method, a micro-stepping current control method according to the torque angle variation is presented. In this mode, the motor current frequency and rotating angle are determined by the reference speed without the actual speed fed by the hall sensor. The detected torque angle is used to adjust the current value in a limited band to control the current value in accordance with the load. The torque angle is detected exactly at the changing point of the hall sensor signal. The rotor can follow the rotating flux with the variable torque angle. In a normal speed range, the conventional vector control scheme is used to control the motor current with a PI speed controller using the hall sensor. The torque characteristics are analyzed on the basis of the back EMF and current shape. To adopt the vector control scheme, the continuous rotor position is estimated by the measured speed and hall sensor position. At the mode changing point between low and normal speed range, the proper initial current command and reference rotor position are calculated. The calculated current command can reduce the torque ripple during transient mode. The proposed method is simple but effective in extending the speed control range of a conventional BLDC motor with hall sensor without the need for a high-resolution encoder. The effectiveness of the proposed method is verified by various experiments on a practical BLDC motor.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.169-172
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which feeds foster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1427-1430
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• 2005

In this paper, the range finder system using a PSD sensor suitable for low-cost localization sensor of a mobile robot. Because the distance-voltage output of a PSD sensor has a non-linear property, the linearizing function is proposed through the experimental characteristics of the sensor. And the characteristics are tested and the distance-voltage data are measured in various colors and materials of object. For a known environment, a mobile robot scans the surroundings using a PSD sensor that can rotate $360^{\circ}$. Finally, the performance and accuracy of the developed system are verified according to the comparison the distance by proposed function with real distance

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.584-587
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which needs laster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.1-14
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• 2005

This paper presents an obstacle detection algorithm based on the consecutive and the cooperative range sensor scanning schemes. For a known environment, a mobile robot scans the surroundings using a range sensor that can rotate 3600°. The environment is rebuilt using nodes of two adjacent walls. The robot configuration is then estimated and an obstacle is detected by comparing characteristic points of the sensor readings. In order to extract edges from noisy and inaccurate sensor readings, a filtering algorithm is developed. For multiple robot localization, a cooperative scanning method with sensor range limit is developed. Both are verified with simulation and experiments.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.310-316
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• 2017

The robot proximity and tactile sensors can be categorized into two groups: grip sensors and safety sensors. They have different performance requirements. The safety sensor should have long proximity range and fast response in order to secure enough response time before colliding with ambient objects. As for the tactile sensing function, the safety sensor need to be fast and compliant to mitigate the impact from a collision. In order to meet these requirements, we proposed and demonstrated a compliant integrated safety sensor suitable to human-friendly robots. An ultrasonic proximity sensor and a piezoelectric tactile sensor made of PVDF films have been integrated in a compliant PDMS structure. The implemented sensor demonstrated the maximum proximity range of 35 cm. The directional tolerance for 30 cm detection range was about ${\pm}15^{\circ}$ from the normal axis. The integrated PVDF tactile sensor was able to detect various impacts of up to 20 N in a controlled experimental setup.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1524-1525
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• 2007

A flexible tactile sensor module based on polyimide matrix integrated with sensing elements and pluggable terminals connector was fabricated by polymer micromachining technology for robotic applications. The tactile sensor arrays are composed of $4{\times}4$, $8{\times}8$ and $16{\times}16$ sensing elements connected with pluggable terminals connector, respectively. Especially, both the tactile sensor array and the pluggable terminals are formed in the sensor module during the fabrication process. The fabricated tactile sensor module is measured continuously in the normal force range of $0{\sim}1N$ with tactile sensor auto-evaluation system. The value of resistance is relatively increased linearly with normal force in the overall range. The variation rate of resistance is about 2.0%/N in the range of $0{\sim}0.6N$ and 1.5%/N in the range of $0.6{\sim}1N$. Also, the flexibility of the sensing module is adequate to be placed on any curved surface as cylinder because the matrix consists of polymer and metal thin film.