• 스마트미디어저널
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• 제12권9호
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• pp.134-141
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• 2023

본 논문에서는 3차원 객체의 인식률을 높이고 객체 검출 품질이 보장되며, 환경에 강건한 3차원 공간 스캔용 ToF-Stereo 융합 센서 시스템을 제안한다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 융합하는 방식을 사용하며, 하나의 센서가 동작하지 않더라도 다른 하나의 센서를 이용하여 계속해서 객체를 검출해 나갈 수 있다. ToF 센서와 Stereo RGB 센서의 센싱 거리, 센싱 해상도, 빛 반사도 및 조도 등에 따른 품질이 달라지므로, 신뢰도 추정에 기반하여 센서의 기능을 조절할 수 있는 모듈을 두었다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 결합하고, 신뢰도를 추정한 후 신뢰도에 따라 센서의 기능을 조절하여 두 센싱 값을 융합하므로 3차원 공간 스캔의 품질을 향상할 수 있다.

• 전자공학회논문지A
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• 제30A권7호
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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.

• 제어로봇시스템학회논문지
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• 제19권3호
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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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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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.

• 한국음향학회지
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• 제34권4호
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• pp.288-294
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• 2015

광섬유 사냑 간섭계는 음향 및 진동과 같은 물리적 변화량을 탐지하는 센서로 잘 개발되어 있다. 본 논문에서는 변압기유가 채워진 원통형 캐비티에 음압이 발생되었을 때 한 개의 루프내에 설치된 광섬유 배열 센서를 이용하여 음향을 탐지하였다. 서로 다른 외부 음향 주파수 $f_1$과 $f_2$를 피에조 재료를 이용하여 발생시키고 주파수는 5 kHz에서 90 kHz까지로 선정하였다. 실험 결과 광섬유 센서는 하모닉 성분인 $f_1$, $f_2$, $2f_1$, $2f_2$, ${\mid}f_1-f_2{\mid}$, ${\mid}f_1+f_2{\mid}$의 주파수를 탐지하였다. 제안된 광섬유 센서 배열은 변압기 내의 부분 방전으로 인한 음압과 진동과 같은 물리량을 모니터링 하는데 적용할 수 있을 것으로 판단된다.

• 센서학회지
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• 제29권5호
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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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• 제5권3호
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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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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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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.

• 한국재료학회지
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• 제16권2호
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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.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1994년도 추계학술대회 논문집
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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.