• Journal of IKEEE
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• v.19 no.2
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• pp.142-147
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• 2015

In this paper, a Kalman filter-based sensor fusion filter that measures posture by calibrating and combining information obtained from acceleration and gyro sensors was proposed. Recent advancements in sensor network technology have required sensor fusion technology. In the proposed approach, the nonlinear system model of the filter is converted to a linear system model through a Jacobian matrix operation, and the measurement value predicted via Euler integration. The proposed filter was implemented at an operating frequency of 74 MHz using a Virtex-6 FPGA Board from Xilinx Inc. Further, the accuracy and reliability of the measured posture were validated by comparing the values obtained using the implemented filters with those from existing filters.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.244-248
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• 1987

The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.

• Journal of The Korean Association of Information Education
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• v.21 no.1
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• pp.23-31
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• 2017

This research targeted some content of curriculum of the 2nd semester of the 6th grade to search a method for algorithm realization and digital programing of the regular curriculum. This research analyzed the effect of programing study on the elementary school students by analyzing the survey and teachers' evaluation result after programing utilized with some curriculum along with scratch and sensor board after conducting a class on 6th graders. As the result, interest and participation of programing study appeared higher, respectively 9.37% and 7.53% when sensor board, the hardware, rather than merely utilizing scratch while programing study. Also, understanding of class displayed 7.53% higher. Achievement evaluation that evaluated effective completion of programing, also, was analyzed effective, since it is available for a wide algorithm realization.

• Journal of The Korean Association of Information Education
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• v.18 no.2
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• pp.213-224
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• 2014

STEAM learning, which combined software with hardware, can greatly increase algorithm improvement, problem-solving skills, integrated thinking ability etc. and can ultimately improve learning attitude and academic achievement. In this study, we developed STEAM learning model so that 6th graders who can fully understand the basic concept of programming can learn subject contents of national textbooks (5 kinds) with programming that combined six sensors attached Sensor_board with Scratch and applied it to 6th grade class and analyzed the results. As a result, the STEAM learning tool that combined Scratch with Sensor_board was analyzed to be suitable for most elementary school students to be evaluated. In the achievement evaluation of learning, 39.5% of students obtained more than 7 points out of perfect 10 in the average achievement level of 5 subjects so most students evaluated were analyzed to obtain satisfactory achievement. Therefore, STEAM learning using Scratch and Sensor_board, hardware is considered to be more effective than existing software-centered ${\times}$learning using only software.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.4
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• pp.198-205
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• 2022

Along with a variety of coding education, physical computing education for controlling various sensors is being actively conducted for elementary, middle, and high school students in line with the era of the fourth industrial revolution. A problem with physical computing education using Arduino is pin connection errors between Arduino and various sensors. Most of the students who come into contact with the Arduino for the first time often do not know the purpose of the Arduino pin and the connection position of the pin. Also, hardware built with incorrect pin connections to the Arduino board often does not work properly. If this case continues, students will lose interest in coding education. Therefore, in this paper, we implemented an augmented reality application that informs the connection process of the Arduino board and the sensor during physical computing coding education using Arduino, and designed and implemented educational content for the Arduino pin position and connection process. First, we explain the role of the Arduino board and the sensor and the location of the pins. After that, the students run the educational augmented reality educational content using their smartphones and check the correct pin connection process between the Arduino and the sensor. In the physical computing education, augmented reality content is used to increase the understanding and immersion of the class. It is expected that the educational effect will also increase by inducing fun and interest in physical computing coding education.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.59-61
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• 2004

For automatic landing of small VTOL UAV, it is necessary to calculate the distance from the UAV and the ground. The distance can be generally measured by a ultra-sonic sensor, but the ultra-sonic sensor has errors according to velocity of a sensor board. To compensate these errors, we proposed a sensor fusion method using a Kalman filter.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1791-1796
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• 2004

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using stateof- the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on AUVs, a powerful on-board computer system and an accurate sensor system with an well-organized control system architecture are needed. In this paper, a new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent) which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures. This paper also proposed a sensor fusion structure based on the definition of 4 categories of sensors called grouping and 5-step data processing procedure. The development of the AUV, ORCA involving the system architecture, vehicle layout, and hardware configuration of on-board system are described.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.691-697
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• 1999

This paper describes the implementation of a high speed image processing board. This image processing board is consist of a image acquisition part and a image processing part. The image acquistion part is digitizing the image input data from CIS and save it to the dual port RAM. By putting on the dual port memory between two parts, during acquistion of image, the image processing part can be effectively processing of large-volume image data. Most of all image preprocessing part are integrated in a large-scaled FPGA. We arwe using ADSP-2181 of the Analog Device Inc., LTD. for a image processing part, and using the available all memory of DSP for the large-volume image data. Especially, using of IDMA exchanges the data with the external microprocessor or the external PC, and can watch the result of image processing and acquired image. Finally, we show that an implemented image processing board used for the simulation of image retreval by the one of the typical application.

• Journal of the Korean Society of Visualization
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• v.7 no.2
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• pp.17-21
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• 2010

This paper presents the fabrication and performance measurement of a temperature sensor array on a flexible substrate attachable to a curved surface using MEMS technology. Specifically, the fabrication uses the well-developed printed circuit board fabrication technology for complex electrode definition. The temperature sensor array are lifted off with a $10{\times}10$ matrix in a $50\;mm{\times}50\;mm$ to visualize temperature distribution. Copper is used as temperature sensing material to measure the change in resistances with temperature increase. In a thermal oven with temperature control, the temperature sensor array is Characterized. The constant slope of resistance change is obtained and temperature distribution is measured from the relationship between resistance and temperature.