• Journal of Sensor Science and Technology
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• v.25 no.3
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• pp.178-183
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• 2016

Semiconductor gas sensors based on metal oxide are widely used in a number of applications, from health and safety to energy efficiency and emission control. Nanomaterials including nanowires, nanorods, and nanoparticles have dominated the research focus in this field owing to their large number of surface sites that facilitate surface reactions. Recently, metal oxide hollow structures using soft templates have been developed owing to their high sensing properties with large-area uniformity. Here, we provide a brief overview of metal oxide hollow structures and their gas-sensing properties from the aspects of template size, morphology, and additives. In addition, a gas-sensing mechanism and perspectives are presented.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.130-132
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• 2008

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• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.3
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• pp.1319-1335
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• 2017

This paper proposes an opportunistic reporting-based sensing-reporting-throughput optimization scheme that maximizes the spectral efficiency of secondary users (SUs) in cooperative cognitive radio networks with a soft combining rule. The performance of cooperative spectrum sensing depends on the sensing time, the reporting time of transmitting sensing results, and the fusion scheme. While longer sensing time and reporting time improve the sensing performance, this shortens the allowable data transmission time, which in turn degrades the spectral efficiency of SUs. The proposed scheme adopts an opportunistic reporting scheme to restrain the reporting overhead and it jointly controls the sensing-reporting overhead in order to increase the spectral efficiency of SUs. We show that there is a trade-off between the spectral efficiency of SUs and the overheads of cooperative spectrum sensing. The numerical results demonstrate that the proposed scheme significantly outperforms the conventional sensing-throughput optimization schemes when there are many SUs. Moreover, the numerical results show that the sensing-reporting time should be jointly optimized in order to maximize the spectral efficiency of SUs.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.17-22
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• 2021

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.4 no.6
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• pp.1023-1041
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• 2010

In cognitive radio networks, cooperative spectrum sensing schemes are proposed to improve the performance of detecting licensees by secondary users. Commonly, the cooperative sensing can be realized by means of hard decision fusion (HDF) or soft decision fusion (SDF) schemes. The SDF schemes are superior to the HDF ones in terms of the detection performance whereas the HDF schemes are outperforming the SDF ones when the traffic overhead is taken into account. In this paper, a hybrid SFD-HDF cluster-based approach is developed to jointly exploit the advantages of SFD and HDF schemes. Different SDF schemes have been proposed and compared within a given cluster whereas the OR-rule base HDF scheme is applied to combine the decisions reported by cluster headers to a common receiver or base station. The computer simulations show promising results as the performance of the proposed scenario of hybridizing soft and hard fusion schemes is significantly outperforming other different combinations of conventional SDF and HDF schemes while it noticeably reduces the network traffic overhead.

• Proceedings of the Materials Research Society of Korea Conference
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• 2011.05a
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• pp.16.1-16.1
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• 2011

$TiO_2$ is a promising material for gas sensors. To achieve high sensitivities, the material should exhibit a large surface-to-volume ratio and possess the high accessibility of the gas molecules to the surface. Accordingly, a wide variety of porous $TiO_2$ nanomaterials synthesized by wet-chemical methods have been reported for gas sensor applications. Nonetheless, achieving the large-area uniformity and comparability with well-established semiconductor production processes of the methods is still challenging. An alternative method is soft-templating which utilizes nanostructured inorganic or organic materials as sacrificial templates for the preparation of porous materials. Fabrication of macroporous $TiO_2$ films and hollow $TiO_2$ tubes by soft-templating and their gas sensing applications have been reported recently. In these porous materials composed of assemblies of individual micro/nanostructures, the form of links or necks between individual micro/nanostructures is a critical factor to determine gas sensing properties of the material. However, a systematic study to clarify the role of links between individual micro/nanostructures in gas sensing properties of a porous metal oxide matrix is thoroughly lacking. In this work, we have demonstrated a fabrication method to prepare highly-ordered, embossed $TiO_2$ films composed of anatase $TiO_2$ hollow hemispheres via soft-templating using polystyrene beads. The form of links between hollow hemispheres could be controlled by $O_2$ plasma etching on the bead templates. This approach reveals the strong correlation of gas sensitivity with the form of the links. Our experimental results highlight that not only the surface-to-volume ratio of an ensemble material composed of individual micro/nanostructures but also the links between individual micro/nanostructures play a critical role in evaluating the sensing properties of the material. In addition to this general finding, the facileness, large-scale productivity, and compatability with semiconductor production process of the proposed fabrication method promise applications of the embossed $TiO_2$ films to high-quality sensors.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.287-304
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• 2012

Spectrum sensing is an important functionality for cognitive users to look for spectrum holes before taking transmission in dynamic spectrum access model. Unlike previous works that assume perfect knowledge of the SNR of the signal received from the primary user, in this paper we consider a realistic case where the SNR of the primary user's signal is unknown to both fusion center and cognitive radio terminals. A Kalman filter based adaptive Takagi and Sugeno's fuzzy system is designed to make the global spectrum sensing decision based on the observed energies from cognitive users. With the capacity of adapting system parameters, the fusion center can make a global sensing decision reliably without any requirement of channel state information, prior knowledge and prior probabilities of the primary user's signal. Numerical results prove that the sensing performance of the proposed scheme outperforms the performance of the equal gain combination based scheme, and matches the performance of the optimal soft combination scheme.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.1-11
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• 2021

Soft robotics has attracted a huge amount of interest in the recent decade or so, be it either actuators or sensors. Recently, a soft optical waveguide sensor has proven its effectiveness for various sensing applications such as strain, force, and bending measurements. The operation principle of the waveguide is simple, but the present technology is far too much complex to manufacture the waveguide. The waveguide fails to attract various practical applications in comparison to other types of sensors despite its superior safety and ease working principle. This study pursues to develop the soft sensors based on the optical phenomena so that the waveguide can be easily manufactured and its design can be conducted. Several physical properties of the waveguide are confirmed through the repetitive experiments in the aspects of strain, force, and bending of the waveguide. Finally, the waveguide sensor is embedded inside the actuator to verify the effectiveness of the proposed waveguide as well as to extend the application fields of the waveguide sensor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.