• Journal of IKEEE
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• v.15 no.3
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• pp.227-234
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• 2011

The Interest in robotics has been steadily increasing in recent times both in Korea as well as abroad. Research on robots for new and diverse fields is ongoing. This study discusses the current research and development on robot actuator, which are used to control the joints of robots, and focuses on developing more efficient technology for joint control, as compared with the current technologies. It also aims to find means to apply the abovementioned technology to diverse industrial fields. We found that easy and effective control of actuators could be achieved by using ZigBee sensor networks, which were widely being used on wireless communications. Throughout the experiments it is proved that the developed wireless actuator could be used for easy control of various robot joints. This technology can be effectively applied to develop two-legged robots that will be able to walk like human, or even quadruped and hexapod robots. It can also be applied to motors used in industry. In this study, we develop an extremely minimized ZigBee sensor network module that can be used to control various servo motors with low power consumption even if it is long distances. We realized effective wireless control by optimizing the ZigBee antenna, and were able to quickly check the status of relevant Tree node through mutual communication between the servo motors composing the ZigBee sensor network and the main server control modules. The developed Servo Motor with ZigBee sensor network modules can be applied in both robotics as well as for home or factory automation.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.214-219
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• 2014

In this paper, a new robot system is designed and manufactured to improve the educational robot. The main processor is realized using the ARM Cortex-M3 and the co-processor is implemented by AVR ATMega2560 to deal with data coming from sensor modules. The processor of sensor modules was developed by the AVR ATMega8. The communication system is composed with IIC communication to alleviate the load of main processor. We have developed the educational robot system adopting the hub module for extension characteristics.

• Current Photovoltaic Research
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• v.9 no.3
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• pp.106-109
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• 2021

In order to perform photovoltaic (PV) operation and management (O&M) efficiently, individual PV module monitoring is becoming more important. In this research, we developed wireless IoT sensor which can monitor individual photovoltaic modules. This IoT sensor can detect the output voltage, current and module temperature of individual modules and provide monitored data by wireless communication. Measured voltage error was 1.23%, and it shows 16.6 dBM, 0.42sec and 7.1 mA for voltage, transmittance output, response time and mean power consumption, respectively. IoT sensors were demonstrated in the test field with real climate environment condition and each of 5 sensors showed precise results of voltage, current and temperature. Also, sensors were compared with commercial power-optimizers and showed result difference within 5%.

• Journal of IKEEE
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• v.18 no.1
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• pp.77-95
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• 2014

In general, image acquisition characteristics tests of image sensors and modules vary widely according to the characteristics of image sensors and modules under test, the application purpose of target devices where image sensors and modules are mounted, and the functions of test equipments. However, some de facto standard tests are frequently used in industry fields. They differ only in several parameters e.g. thresholds for fault detection, and they can be applied to most image sensors and modules. In this paper, 11 typical tests are explained in detail, and they are described in a simple and clear form under single framework, which significantly reduces errors and saves efforts.

• Advances in robotics research
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• v.1 no.1
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• pp.101-126
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• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.145-151
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• 2003

A global ultrasonic sensor system for self-localization of a mobile robot is proposed in this paper. The global ultrasonic sensor system consists of three or more ultrasonic transmitters fixed at some positions in the world coordinate and receivers in the moving coordinate of a mobile robot. In this global sensor system it is easy to get state vector of the mobile robot in the world coordinate from the distance information between each ultrasonic transmitter and receiver. An extended kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. In case of using several independent ultrasonic transmitters, it is necessary to avoid the cross talk among the ultrasonic waves and to synchronize between each ultrasonic transmitter and receiver. The small sized radio frequency modules are adopted to solve the cross talk and the synchronization problem Computer simulation and experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.761-769
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• 2012

In this paper, we propose a low-power design strategy to minimize energy-consumption for surveillance and reconnaissance sensor networks. The sensor network consists of many different nodes with various operations such as target detection, packet relay, video monitoring, changing protocols, and etc. Each sensor node consists of sensing, computing, communication, and power components. These components are integrated on a single or multiple boards. Therefore, the power consumption of each component can be different on various operation types. First, we identified the list of components and measured power consumption for them from the first prototype nodes. Next, we focus on which components are the main sources of energy consumption. We propose many energy-efficient approaches to reduce energy consumption for each operation type.

• Journal of IKEEE
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• v.22 no.4
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• pp.953-958
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• 2018

In this study, a portable detection system was developed that can detect harmful gas and signals simultaneously in an enclosed space of industrial sites and underground facilities. The developed system is a sensor module for gas detection, a patch type 1 channel small ECG sensor, a module for three-axial acceleration detection sensor, and a system for statistics. In order to verify the performance of the system modules, the digital resolution, signal frequency, output voltage, and ultra-small modules were evaluated. As a result of the performance of the developed system, the digital resolution was 300 (rps) and the signal amplification gain was 500 dB or more, and the ECG module was manufactured with $50mm{\times}10mm{\times}10mm$ to increase patch utilization. It is believed that the product of this research will be valuable if it is used as an IoT-based management system for real-time monitoring of industrial workers.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.3-117
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• 2002

In this paper a new framework is presented for developing the personal robot being used in home environments. We mainly focus on the system engineering technology such as the modularization and standardization. Effective ways for interfacing among modules are addressed regarding compatibility in hardware and software, and as a result a personal robot platform named DHR I is built. The robot is composed of five modules such as brain, mobile, sensor, vision, and user interface modules. Each module can be easily plugged in the system in a mechanical as well as electrical sense by sharing the communication protocol with IEEE1394 FireWire. &n...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.223-227
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• 2003

A new flexible electronic packaging technology and its medical applications are presented. Conventional silicon chips and electronic modules can be considered as "mechanically rigid box." which does not bend due to external forces. This mechanically rigid characteristic prohibits its applications to wearable systems or bio-implantable devices. Using current MEMS (Microelectromechanical Systems) technology. a surface micromachined flexible polysilicon sensor array and flexible electrode array fer neural interface were fabricated. A chemical thinning technique has been developed to realize flexible silicon chip. To combine these techniques will result in a realization of truly flexible sensing modules. which are suitable for many medical applications.