• Smart Media Journal
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• v.12 no.9
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• pp.134-141
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• 2023

In this paper, we propose a ToF-Stereo fusion sensor system for 3D space scanning that increases the recognition rate of 3D objects, guarantees object detection quality, and is robust to the environment. The ToF-Stereo sensor fusion system uses a method of fusing the sensing values of the ToF sensor and the Stereo RGB sensor, and even if one sensor does not operate, the other sensor can be used to continuously detect an object. Since the quality of the ToF sensor and the Stereo RGB sensor varies depending on the sensing distance, sensing resolution, light reflectivity, and illuminance, a module that can adjust the function of the sensor based on reliability estimation is placed. The ToF-Stereo sensor fusion system combines the sensing values of the ToF sensor and the Stereo RGB sensor, estimates the reliability, and adjusts the function of the sensor according to the reliability to fuse the two sensing values, thereby improving the quality of the 3D space scan.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.30A no.7
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• pp.82-88
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• 1993

This paper describes fabrication of relative type capacitive pressure sensor to be in great demand for many fields. The fabricated sensor consists of two parts` a sensing diaphragm and a pyrox glass cover. The sensor size is 4.5${\times}3.4mm$^{2})$ and 400$\mu$m thick. To improve the nonlinearity, this sensor is designed a rectangular silicon diaphragm with a center boss structure, and in order to improve the temperature characteristics of the sensor in a packaging process, the sensing element is mounted on the pyrex glass support. Some suggestions toward the design and fabrication of improved sensors have been presented. The zero pressure capacitance, Co of sensor is 26.57pF, and the change of capacitance, ${\Delta}$C is 1.55pF from 0Kgf/Cm$^{2}$ to 1Kgf/Cm$^{2}$ at room temperature. The nonlinearity of the sensor output with center boss diaphragm is 1.29%F.S., and thermal zero shift and thermal sensitivity shift is less than 1.43%F.S./$^{\circ}C$and 0.14% F.S./$^{\circ}C$, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.268-274
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• 2013

In this paper, the performance analysis of optics-based sensor node localization using ToF (Time of Flight) scheme is conducted. Generally, the position of the sensor node is calculated on the base station. And the base station scans neighboring sensor nodes with a laser. The laser which is reflected from one sensor node, however, can be reached to the base station at different angles according to the scanning resolution. This means that the error of the reached angle can increase and one node may be recognized as different nodes. Also the power of laser can decrease because the laser signal spread. Thus the sensor node which is located at a long distance from the base station cannot be detected. In order to overcome these problems which can be occurred in localization using ToF, the beam spot, the scanning resolution, the size of reflector and the power of laser at the sensor node were analyzed. It can be expected that the consequence of analysis can be provided in acquisition of accurate position of sensor node and construction of optics-based sensor node localization system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• The Journal of the Acoustical Society of Korea
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• v.34 no.4
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• pp.288-294
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• 2015

The fiber optic Sagnac interferometer is well established as a sensor for detection of physical perturbations such as acoustic and vibration. In this paper acoustic signals generated in the cylindrical cavity submerged in transformer oil were measured by the fiber optic sensor array in one Sagnac loop. Two different external sound frequencies, $f_1$ and $f_2$, were applied to the sensor array simultaneously by using piezoelectric with frequency range from 5 kHz to 90 kHz. Based on the experimental results, fiber optic sensor detected harmonic series of applied sound frequency such as $f_1$, $f_2$, $2f_1$, $2f_2$, ${\mid}f_1-f_2{\mid}$, ${\mid}f_1+f_2{\mid}$. Suggested fiber optic sensor array can be applied to monitor physical quantities such as internal sound pressure and vibration due to partial discharge in the real electric transformer system.

• Journal of Sensor Science and Technology
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• v.29 no.5
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• pp.279-282
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• 2020

In this study, body pressure was quantitatively detected using built-in optical sensors, inside an air cushion seat. The proposed system visualizes the effect of the body pressure distribution on the air cushion seat. The built-in sensor is based on the time-of-flight (ToF) optical method, instead of the conventional electrical sensor. A ToF optical sensors is attached to the bottom surface of the air-filled cells in the air cushion. Therefore, ToF sensors are durable, as they do not come in physical contact with the body even after repeated use. A ToF sensor indirectly expresses the body pressure by measuring the change in the height of the air-filled cell, after being subjected to the weight of the body. An array of such sensors can measure the body pressure distribution when the user sits on the air cushion seat. We implemented a prototype of the air cushion seat equipped with 7 ToF optical sensors and investigated its characteristics. In this experiment, the ToF optical pressure sensor successfully identified the pressure distribution corresponding to a sitting position. The data were accessed through a mobile device.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• Korean Journal of Materials Research
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• v.16 no.2
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• pp.129-136
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• 2006

In order to get basic information on the reference electrode material for the long life Al concentration sensor in zinc galvanizing melt, the workability and stability of fluorine potential cell with $CaF_2$ single crystal electrolyte were examined carefully at constant temperature for six kinds of reference materials (Zn, Sn, Cd, Bi, Pb, Al-Sn alloy + fluorides). Good workability and stability of the sensor were found in sensor with $Bi+BiF_3$ reference electrode. The Al sensor with $Bi+BiF_3$ reference electrode was assembled and was tested in Zn-Al melt with different Al concentration. The EMF was changed rapidly with the change of Al concentration and was stabilized in a short time. Thus the response of EMF was satisfactory for $CaF_2$ sensor. The correlationship between EMF from the sensor and logarithm of Al concentration has been derived from the least square regression method. E/mV=57.515log[wt% Al]+1883.3 R=0.9717 ($0.013{\leq}[wt% Al]{\leq}0.984$) The EMF from Al sensor was increased linearly against logarithm of [wt% Al]. The fluorine potential of Zn-Al melt was also calculated to be in the range of $10^{-60}{\sim}10^{-61}$ Pa for the present experiemental condition.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1994.11a
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• pp.101-105
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• 1994

A/F sensor with a sensing and a pumping element, which is made of YSZ(yttria stabilized zirconia) sheets, can be used for the combustion control of lean burn engine. A/F sensor can detect the oxygen partial pressure in more wide range than the other oxygen sensors, such as the limiting current type oxygen sensor and λ-sensor. However this sensor has the disadvantage that the characteristics has been degraded rapidly due to the physical or electrochemical reasons. The blackening phenomenon is known as one of the degradations caused by high voltage biased for oxygen pumping. In this paper, we have studied to analyze the blackening phenomenon by comparing two characteristics between before and after blackening in impedance spectroscopy, and discussed the blackening mechanism.