• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.

• Journal of KIISE:Information Networking
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• v.34 no.5
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• pp.370-378
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• 2007

In wireless sensor networks (WSNs), thousands of sensors are often deployed in a hostile environment. In such an environment, WSNs can be applied to various applications by using the absolute or relative location information of the sensors. Until now, the time-of-arrival (TOA) based localization method has been considered most accurate. In the TOA method, however, inaccuracy in distance estimation is caused by clock drift and clock skew between sensor nodes. To solve this problem, several numbers of periodic time synchronization methods were suggested while these methods introduced overheads to the packet traffic. In this paper, we propose a new localization method based on multiple round-trip times (RTOA) of a signal which gives more accurate distance and location estimation even in the presence of clock skew between sensor nodes. Our experimental results show that the Proposed RTOA method gives up to 93% more accurate location estimation.

• Journal of Sensor Science and Technology
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• v.9 no.2
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• pp.113-119
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• 2000

In this work, Pd/Pt gate MISFET sensor using Pd membrane was fabricated to detect the hydrogen in DI water. A differential pair-type was used to minimize the intrinsic voltage drift of the MISFET. To avoid hydrogen induced drift of the sensor, the silicon dioxide/silicon nitride double layer was used as the gate insulator of the FET's. In order to eliminate the blister formation on the surface of the hydrogen sensing gate metal, Pd/Pt double metal layer was deposited on the gate insulator. For this type of application sensors need to be isolated from the DI water, and a Pd membrane was used to separate the sensor from the DI water. The output voltage change due to the variation of hydrogen concentration is linear from 100ppm to 500 ppm.

• JSTS:Journal of Semiconductor Technology and Science
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• v.4 no.2
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• pp.128-132
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• 2004

This paper presents the design, fabrication sequence and measurement results of a highly sensitive capacitive-type humidity sensor using a polyimide film without hydrophobic elements. The structure of the humidity sensor is MIM (metalinsulator-metal). For a high sensitivity, a modified aromatic polyimides as a moisture absorbing layer has been synthesized instead of using general polyimides containing hydrophobic elements. The polyimide film was obtained by synthesizing and thermally polymerizing polyamic acid composed of m-pyromellitic dianhydride, phenelenediamine and dimethylacetamide. Characteristics of fabricated sensors which include sensitivity, hysteresis and stability have been measured. The measurement result shows the percent normalized capacitance change of 0.37/%RH over a range from 10 to 90%RH, hysteresis of 0.77% over the same %RH range and maximum drift of 0.25% at 50%RH. The result shows that the developed humidity sensor can be applied to evaluate a hermeticity of various sensors and actuator systems as well as micro packages.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.8
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• pp.99-105
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• 2011

This paper is about the design of 3-axis magnetic sensor module which detects parking and moving vehicle. For the sensor module, MR Sensor from Honeywell of which maximum measurement range is ${\pm}2$[G] is used. It also consisted of amplifier and sensor filter and fabricated $30{\times}50$[mm] PCB. Fabricated sensor module produced helmholtz coil of which the length is 1.2[m] of 3-axis to know the performance. It installed sensor module at the center and measured the detected magnetic field. In result, 3-axis were detected as 0.2~0.3[mG] and the drift of the fluctuation of magnetic field was stabilized at 0.03[mG] unit. For the performance evaluation of the vehicle detection, after the entry and parking of the vehicle, variation of magnetic field was measured as 0.323~0.695[G] which the average 0.5[G] of the earth magnetic field was the center and the range of variation was confirmed as 0.37[G]. Therefore, the designed magnetic sensor can be used as the vehicle detection sensor module.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.322-327
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• 2012

Parallel-plate-type scanning sensors have been commercially used for X-ray imaging sensors. In this study, we manufactured the scan typed 1D X-ray image sensor that can be used to obtain scanning images, by using the plasma display panel (PDP) fabrication process. We fabricated drift and pixel electrodes in the glass chamber and injected Xe gas at atmospheric pressure. We evaluated the intensity of a pixel signal depending on the bias voltage on the drift electrode and investigated the characteristics of shielding effect on the single pixel using lead (Pb). The adsorption rate of X-ray photon is low (4%) on the soda lime glass (1.1mm) and the electrical signal detected on the X-ray sensor was increased in the high bias voltage. We acquired digital X-ray scanning image with our DAS (data acquisition system) and sensor scanning system.

• Journal of Sensor Science and Technology
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• v.5 no.5
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• pp.63-68
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• 1996

In order to implement the integrated capacitive pressure sensors, which contains integrated interface circuits to detect the electrical output signal, several main factors that have a bad effect on the characteristics of sensors must be improved, such as parasitic capacitance effects, temperature/thermal drift, and the leakage current of a readout circuitry. This paper describes the novel design of the dedicated CMOS readout circuitry that is consists of two capacitance to frequency converters and 4 bit digital logic compensating circuits. Dividing the oscillation frequency of a sensing sensor by that of reference sensor, this circuit is designed to eliminate the thermal/temperature drift and the effect of the leakage currents, and to access a digital signals to obtain a high signal-to-noise(S/N)ratio. Therefore, the resolution of this circuit can be increased by increasing the number of the digital bits. Digital compensated circuits of this circuits, except for the C-F converters, are fabricated on a FPGA chip, and fundamental performance of the circuits are evaluated.

• Transactions of the Korean hydrogen and new energy society
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• v.15 no.4
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• pp.317-323
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• 2004

We fabricated a MISFET using Pd/NiCr gate for the detecting of hydrogen gas in the air and investigated its electrical characteristics. To improve stability and high concenntration sensitivity and remove the blister generated by the penetration of hydrogen atoms Pd/NiCr catalyst gate metal are used as dual gate. To reduce the gate drift voltage caused by the inflow of hydrogen, the gate insulators of sensing and reference FFET were constructed with double insulation layers of silicon dioxide and silicon nitride. The hydrogen response of MISFET were amplified with the difference of gate voltages of both MISFET. To minimize the drift and the noise, we used a OP177 operational amplifier. The sensitivity of the Pd/NiCr gate MISFET was lower than that of Pd/Pt gate MISFET, but it showed good stability and ability to detect high concentration hydrogen up to 1000ppm.

• Journal of Sensor Science and Technology
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• v.28 no.1
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• pp.30-35
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• 2019

Inertial measurement units (IMUs) are widely used for wearable motion-capturing systems in the fields of biomechanics and robotics. When the IMUs are combined with optical motion sensors (hereafter, OPTs) for their complementary capabilities, it is necessary to align the coordinate system orientations between the IMU and OPT. In this study, we compare the application of two coordinate transformation-based orientation alignment methods between two coordinate systems. The first method (M1) applies angular velocity coordinate transformation, while the other method (M2) applies gyroscopic angle coordinate transformation. In M1 and M2, the angular velocities and angles, respectively, are acquired during random movement for a least-square algorithm to determine the alignment matrix between the two coordinate systems. The performance of each method is evaluated under various conditions according to the type of motion during measurement, number of data points, amount of noise, and the alignment matrix. The results show that M1 is free from drift errors, while drift errors are present in most cases where M2 is applied. Thus, this study indicates that M1 has a far superior performance than M2 for the alignment of IMU and OPT coordinate systems for motion analysis.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.35T no.1
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• pp.48-58
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• 1998

For the purpose of designing novel capacitance pressure sensor, several effects on sensitivity such as parasitic capacitance effects, temperature/thermal drift and leakage current have to be eleiminated. This paper proposed the experimental studies on frequency compensation method by electronic circuit technique, C-V converting method with switched capacitor and C-F converting method with schmitt trigger circuit. The third interface circuit by frequency compensation method is composed to eliminate the drift and leakage component by comparision sensing frequency with reference frequency. The signal transmission is realized by digital signal to minimize the influence of noise and high resolution is obtained by means of increasing the number of digital bits. In the fabricated high performance C-V interface, the offset voltage was not appeared, and in case of voltage source, 4.0V, feed back capacitance, 10㎊, the pressure, 0~10 ㎪, the sensitivity of C-V converter is 28 ㎷/㎪.V, the temperature drift characteristic, 0.051 %F.S./$^{\circ}C$ and C-F converter shows -6.6 Hz/pa, 0.078 %F.S./$^{\circ}C$ respectively, relatively good ones.