• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• Journal of Multimedia Information System
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• v.4 no.2
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• pp.93-98
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• 2017

A new cultivation diary system based on environment sensor data and Web 2.0 with Flex is suggested, to improve the previous system using the subjective data of cultivators. The proposed system is designed by applying an object-oriented model called mini-architecture, in order to enhance the reliability of software as well as promote stability to overall system design. The environment sensor data such as temperature and humidity are used to develop the new reliable diary. Also, an active interface based on Web 2.0 and Android as the user GUI are implemented to maximize the convenience while recording the cultivation diary. The result of the performance evaluation shows that the data from sensors has 99.1% of correlation with that of analogue.

• Smart Structures and Systems
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• v.6 no.5_6
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• pp.689-709
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• 2010

In this paper, a low cost, low power but multifunctional wireless sensor node is presented for the impedance-based SHM using piezoelectric sensors. Firstly, a miniaturized impedance measuring chip device is utilized for low cost and low power structural excitation/sensing. Then, structural damage detection/sensor self-diagnosis algorithms are embedded on the on-board microcontroller. This sensor node uses the power harvested from the solar energy to measure and analyze the impedance data. Simultaneously it monitors temperature on the structure near the piezoelectric sensor and battery power consumption. The wireless sensor node is based on the TinyOS platform for operation, and users can take MATLAB$^{(R)}$ interface for the control of the sensor node through serial communication. In order to validate the performance of this multifunctional wireless impedance sensor node, a series of experimental studies have been carried out for detecting loose bolts and crack damages on lab-scale steel structural members as well as on real steel bridge and building structures. It has been found that the proposed sensor nodes can be effectively used for local wireless health monitoring of structural components and for constructing a low-cost and multifunctional SHM system as "place and forget" wireless sensors.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.207-210
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• 2005

Ubiquitous computing is one of the key technology areas in the "Project on Development of Ubiquitous computing and network technology" promoted by the Ministry of Science and Technology as a frontier business of the $21^{st}$ century in Korea, which is based on the new concept merging physical space and computer-based cyber space. With recent advances in Micro Electro Mechanical System (MEMS) technology, low cost and low-power consumption wireless micro sensor nodes have been available. Using these smart sensor nodes, there are many activities to monitor real world, for example, habitat monitoring, earthquake monitoring and so on. In this paper, we introduce web-based real environment monitoring system incorporating wireless sensor nodes. It collects sensing data produced by some wireless sensor nodes and stores them into a database system to analyze. Our environment monitoring system is composed of a networked camera and environmental sensor nodes, which are called Mica2 and developed by University of California at Berkeley. We have modified and ported network protocols over TinyOS and developed a monitoring application program using the MTS310 and MTS420 sensors that are able to observe temperature, relative humidity, light and accelerator. The sensed data can be accessed user-friendly because our environment monitoring system supports web-based user interface. Moreover, in this system, we can setup threshold values so the system supports a function to inform some anomalous events to administrators. Especially, the system shows two useful pre-processed data as a kind of practical uses: a discomfort index and a septicity index. To make both index values, the system restores related data from the database system and calculates them according to each equation relatively. We can do enormous works using wireless sensor technologies, but just environment monitoring. In this paper, we show just one of the plentiful applications using sensor technologies.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.5 no.1
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• pp.103-110
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• 2011

In this paper, we propose a gaze recognition interface for smart wheelchair. The gaze recognition interface is a user interface which recognize the commands using the gaze recognition and avoid the detected obstacles by sensing the distance through range sensors on the way to driving. Smart wheelchair is composed of gaze recognition and tracking module, user interface module, obstacle detector, motor control module, and range sensor module. The interface in this paper uses a camera with built-in infra red filter and 2 LED light sources to see what direction the pupils turn to and can send command codes to control the system, thus it doesn't need any correction process per each person. The results of the experiment showed that the proposed interface can control the system exactly by recognizing user's gaze direction.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.1
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.11
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• pp.2686-2692
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• 2013

In this paper, various growth environment data collecting and monitoring based on wireless sensor network for greenhouse environmental monitoring system is designed and implemented. In addition, greenhouse control system is proposed to integrated control and management in internal environment and greenhouse facilities. The system provides real-time remote greenhouse integrated management service which collects greenhouse environment information and controls greenhouse facilities based on wireless sensor network. Graphical user interface for an integrated management system is designed based on the HMI and the experimental results show that the sensor data were collected by integrated management in real-time.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1173-1178
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• 2007

Ubiquitous sensor network (USN) is composed of many sensor nodes which are one of the simplest form of embedded system. In developing the sensor network system, a debugging tool is necessary to test and verify the system. Recently, a so-called packet analyzer has been developed for this purpose, and it supports IEEE 802.15.4 which is considered as the standard for the sensor network protocols. The major function of the packet analyzer is to take RF packets from sensor nodes and show the structure and the data of the packets graphically to the user. However, the conventional packet analyzers do not support remote control because they require a USB interface along with a personal computer. To make it available for remote control, we propose a new packet analyzer based on a server-client scheme in which a server program is implemented on embedded Linux and a client program is implemented on Windows for convenient use.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.134-140
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• 2003

The film sensor is used for measuring pressure distribution at planar area, especially at a small space or gap. The present paper deals with the development of film type sensors and system for pressure distribution measuring. The developed system is consist of (1)film sensor with 40/sup */40 array, (2)PCI interface card with maximum sampling rate of 100㎐, and (3)software for data processing and real-time display. The contact pressure test of wiper blade and front glass of vehicle was performed with wiper blade by 40cm. Generally spring force of wiper arm is designed at 0.7∼1kN. Test results of total force was 9.4N and 7.1N in each driver and passenger toward. The paper suggested possibility for base definition in wiper design. A windshield wiper blade experiment revealed that the system successfully measured the contact force distribution during static state, showing the usefulness of the developed system.

• Proceedings of the KOSOMBE Conference
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• v.1994 no.05
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• pp.88-91
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• 1994

We develope a assistant system of foot pressure distribution for improvement gait Pattern, adapted working speed, and minimitation of muscle fatigue of the sensory feedback type FES system(SEFES). This measurement system consist of mat type pressure sensor with piezo electric films. The pressure data signal multiflexed input scanning method processed A/D conversion after two step amplify and integrate. Matrix sensor interface to PC for pseudo color display by level of Pressure distribution data. This measurement system clinically evaluated in hemiplegic patients. It has produced acceptable results with optimal location of the food sensor's pressure point and avoid the muscle fatigue.