• Title/Summary/Keyword: Soft sensor

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Real-Time Centralized Soft Motion Control System for High Speed and Precision Robot Control (고속 정밀 로봇 제어를 위한 실시간 중앙 집중식 소프트 모션 제어 시스템)

  • Jung, Il-Kyun;Kim, Jung-Hoon
    • IEMEK Journal of Embedded Systems and Applications
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    • v.8 no.6
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    • pp.295-301
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    • 2013
  • In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

NON-DESTRUCTIVE DETECTION FOR FOREIGN MATERIALS IN FOOD AND AGRICULTURAL PRODUCTS USING X-RAY SYSTEM

  • Morita, Kazuo;Tanaka, Shun'ichirou;Ogawa, Yukiharu
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 1996.06c
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    • pp.334-343
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    • 1996
  • Quality evaluation for food and agricultural products have always been one of the most elusive problems associated with the handling , processing and marketing in a food plant production. In order to detect physical foreign materials in food and agricultural products, non-destructive techniques have been developed for many years. Application of X-ray system to detect physical foreign materials in food and agricultural products could be considered to be a high potential method. Especially , it is impossible to detect internal physical foreign materials by visual inspections. In this study, it was tried to be applied for two different X-ray devices. Soft X-ray system with CdTe sensor and X-ray CT scanner were evaluated for advantage of the detection of non-meltallic foreign materials in food and agricultural products . Though the soft X-ray is not a high energy radiation, it is possible to detect small different density in a material. The CdTe sensor has a high resolution for t e soft X-ray energy region. The density characteristics of foods and foreign material were expressed region. The density characteristics of foods and foreign materials were expressed as a soft X-ray energy spectrum. The energy spectrum was analyzed by a personal computer with a multi-channel analyzer. X-ray CT scanner can provide visual image and analyze by three dimensional information inside food and agricultural products. The X-ray CT scanner using as a medical equipment was used to detect a foreign material. The density characteristics of food and foreign materials in food were tried to be detected by the threshold value on the basis of the CT numbers. The soft X-ray absorption characteristics for acrylin plates and distilled water were obtained and could be found the possibility of detecting a small physical foreign materials such as a plastic wrapping film , a stone and grasshopper in food and agricultural products.

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A Study on the Performance of Atomic Force Probe for Coordinate Measuring Machines (3차원 측정기를 위한 원자간력 프로브 성능 연구)

  • Jung, P.G.;Bae, G.H.;Hong, S.W.
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.17 no.4
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    • pp.75-80
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    • 2008
  • This paper presents an atomic force probe for triggering coordinate measuring machines(CMMs). A rigorous comparison is made between touch trigger probe and atomic force probe for CMMs. Typical CMMs(touch trigger probe based CMMs) often lead to some errors associated with object curvature and difference in triggering sensitivity. Their applicability is limited only to hard objects. The aim of this work is to develop a trigger sensor for CMMs using atomic force. In order to show the applicability of atomic force as a trigger sensor, a cylindrical shape is measured with a CMM and an atomic force microscope. Three different touch probe heads with different ball sizes are tested. The experiments show that smaller ball provides better results for curved objects. The experimental results also show that the performance of atomic force as a trigger sensor is about that of the smallest ball probe. In addition, experiments are also performed to measure soft objects. Finally, this paper suggests and verifies a trigger sensor using atomic force for CMMs.

Recent Research Trend in Soft Tactile Sensor for Electronic Skin (전자피부(E-Skin)용 유연 촉각센서 연구동향)

  • Jee, Eunsong;Kim, Joo Sung;Kim, Do Hwan
    • Prospectives of Industrial Chemistry
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    • v.21 no.1
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    • pp.3-18
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    • 2018
  • 전자피부(Electronic skin)는 외부 환경과의 상호작용하는 인간 피부의 기능을 대체하여 외부 자극 신호를 전기적 신호로 변환하는 센서들로 이루어진 인공피부로써, 최근 인간과 전자기기 간의 인터페이스에 대한 관심이 급증하면서 이에 대한 많은 연구들이 진행되고 있다. 그중에서도 피부의 주된 기능인 외부 물리적 자극을 인지하는 촉각을 모방하는 촉각센서는 많은 발전을 거쳐 왔으며, 한계를 극복하고자 다양한 연구들이 진행되고 있다. 촉각센서는 압력, 인장, 굽힘과 같은 물리적 자극에 반응하며, 물리적 자극 신호를 아날로그 및 디지털 신호로 변환하여 인지하는 연구들이 폭넓게 개발되고 있다. 또한, 소자의 구조에 따라 물리적 자극을 전달하는 다양한 변환 방식들이 있으며, 최근에는 각 신호 변환 방식의 민감도, 반응속도, 자극 인지 범위 등의 한계점을 극복하고, 소재의 기계적 물성을 향상시키기 위해 소재의 변형을 주거나 생체의 기관 구조 및 외부 자극 인지 원리 등을 모사한 연구들이 많은 관심을 받고 있다. 본 기고에서는 이러한 촉각센서의 물리적 자극 신호 변환 방식과 소재 변형 및 생체 모사를 통한 다양한 연구들을 소개하고자 하며, 이를 통하여 촉각센서의 나아갈 방향을 제시하고자 한다.

A Cantilever Type Contact Force Sensor Array for Blood Pressure Measurement (혈압 측정을 위한 외팔보형 접촉힘 센서 어레이)

  • Lee, Byeung-Leul;Jung, Jin-Woo;Chun, Kuk-Jin
    • Journal of Sensor Science and Technology
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    • v.21 no.2
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    • pp.121-126
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    • 2012
  • Piezoresistive type contact force sensor array is fabricated by (111) Silicon bulk micromachining for continuous blood pressure monitoring. Length and width of the unit sensor structure is $200{\mu}m$ and $190{\mu}m$, respectively. The gap between sensing elements is only $10{\mu}m$. To achieve wafer level packaging, the sensor structure is capped by PDMS soft cap using wafer molding and bonding process with $10{\mu}m$ alignment precision. The resistance change over contact force was measured to verify the feasibility of the proposed sensor scheme. The maximum measurement range and resolution is 900 mm Hg and 0.57 mm Hg, respectively.

Study of Energy Save upon Result of CSMA/CA Collision on IEEE 802.15.4 (IEEE 802.15.4 기반 CSMA/CA 충돌에 대한 실험결과에 근거한 Energy Save에 대한 연구)

  • Shin, Jin-Chul;Park, Hong-Sung
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.445-447
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    • 2007
  • This paper is seeing as one big cause that reduce Life Time of sensor node become soft if BackOff Time is prolonged in CDMA/CA of competition way that consist at data transmission of each sensor nodes base sensor network environment. So solution method uses GTS, wish to reduce competition Node's, and minimise data transmission delay.

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Development of Magnetoimpedance Sensor Utilizing Soft Magnetic Amorphous Ribbon with Exchange Coupling and Application to Nondestructive Testing (교환결합을 가진 연자성 비정질 리본을 이용한 자기 임피던스 센서 개발과 비파괴검사 응용)

  • Yoon, Seok-Soo;Kim, Gun-Woo;Lee, Sang-Hun;Kim, Cheol-Gi
    • Journal of the Korean Society for Nondestructive Testing
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    • v.28 no.5
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    • pp.401-406
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    • 2008
  • Recently, portable magnetic sensors with high sensitivity are strongly required for various applications such as biosensor, nondestructive testing and directional sensor. A novel magnetic sensor system was developed by utilizing giant magnetoimpedance(MI) effect of soft magnetic ribbons. The sensor system consists of sensing head of $Co_{66}Fe_{4}Si_{15}B_{15}$ ribbon having asymmetric MI characteristics through exchange coupling produced by field-annealing in open air and circuit for signal processing. The sensor system showed almost linear characteristics in dynamic range of $-1\;Oe\;{\sim}\;1\;Oe$ and sensitivity of 10.5 V/Oe. The sensor was applicable to nondestructive testing system to detect defects in wire ropes.

Development of Automated Monitoring System for Soft Ground Settlement Based on Hole Senor (홀센서 기반의 연약지반 자동 지반침하 계측시스템 개발)

  • Jeon, Je-Sung;Lee, Keun-Ho;Yoon, Dong-Gu
    • Journal of the Korean Geotechnical Society
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    • v.28 no.6
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    • pp.39-52
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    • 2012
  • Magnetic sensing system and automated monitoring system based on digital hall sensor for ground settlement are developed to change traditional method for monitoring surface settlement and underground settlement by manual type and to overcome technical limits of existing automated settlement monitoring system. It's possible to monitor surface settlement and underground settlement with multi-points at the same time in a single hole with NX size. It was possible to verify technical confidence and stability by several case studies of soft ground improvement project.

Magneto-Impedance Effect of CoFeSiBNi Amorphous Magnetic Films according to the size (CoFeSiBNi 아몰퍼스 합금의 소자 크기에 대한 자기-임피던스 효과 관찰)

  • Park, Byung-Kyu;Hwang, Sung-Woo;Moon, Sung
    • Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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    • 2007.06a
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    • pp.339-341
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    • 2007
  • Soft ferromagnetic materials are very useful for many sensors using magnetic materials with high permeability, low coercivity and low hysteresis loss. Among them, FeCoSiBNi amorphous magnetic films show us a good impedance change(about 3.05%/Oe, at 12MHz) by the exterior magnetic field in this experiment. These are produced by rapid solidification from the melt and the material is ejected in a jet from a nozzle and quenched in a stream of liquid. After that, we make them a shape of wire with different sizes of width. Thus, we can find that the impedance change (122.16%, at 12MHz) is occurred and the fabricated magnetic wire has the characteristics of good sensor element.

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