• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.274-277
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• 1999

This paper is concerned with estimating the mass of a loose part in the steam generator of a nuclear power plant. Although there is the basic principle known as “Hertz Theory”for estimating mass and energy of a spherical part impacted on an infinite flat plate, the theory is not directly applicable because real plants do not comply with the underlying ideal assumptions. (Say, the steam generator is of a cylindrical and hemisphere shape.) In this work, a practical method is developed based on the basic theory and considering amplitude and energy attenuation effects. Actually, the impact waves propagating along the plate to the sensor locations become significantly different in shape and frequency spectrum from the original waveform due to the plate and surrounding conditions, distance attenuation and damping loss. To show the validity of the present mass estimation algorithm, it has been applied to the mock-up impact test data and also to real plant data. The results show better performance comparing to the conventional Hertz schemes.

• Structural Monitoring and Maintenance
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• 제6권3호
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• pp.237-254
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• 2019

This paper presents an improved time series based damage detection approach with experimental verifications for detection, localization, and quantification of damage in shear-type structures under varying mass effects using output-only vibration data. The proposed method can be very effective for automated monitoring of buildings to develop proactive maintenance strategies. In this method, Auto-Regressive Moving Average models with eXogenous inputs (ARMAX) are built to represent the dynamic relationship of different sensor clusters. The damage features are extracted based on the relative difference of the ARMAX model coefficients to identify the existence, location and severity of damage of stiffness and mass separately. The results from a laboratory-scale shear type structure show that different damage scenarios are revealed successfully using the approach. At the end of this paper, the methodology limitations are also discussed, especially when simultaneous occurrence of mass and stiffness damage at multiple locations.

• 대한의용생체공학회:의공학회지
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• 제42권4호
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• pp.193-200
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• 2021

Flowmeter and oxygen sensors are listed in COVID-19 essential medical devices. This article reports a Teensy microcontroller-based Oxygen mass flow controller (MFC), core part of the oxygen respirator or extracorporeal membrane oxygenation (ECMO). The developed MFC consisting of the microcontroller, MEMS flow sensor, and solenoid valve was able to accurately control 0 to 100 sccm of oxygen flow rate. The pressure of vacuum chamber increased proportionally to the flow rate (0.998 of Pearson correlation coefficient). The experimental results proved that the developed MFC exhibits comparable performance to a commercial MFC in accuracy, settling time, linearity with pressure, and repeatability of oxygen mass flow control. It is expected that this simple and cheap MFC is utilized for oxygen therapy against the severe acute respiratory syndrome coronavirus 2.

• 전자공학회논문지
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• 제50권1호
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• pp.232-238
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• 2013

본 논문은 노이즈가 비 정규 분포를 따르는 수중 환경에서 비 선형 필터 기법에 따른 Mass-Damper-Spring (MBK) 시스템 위치추정에 관한 연구 내용이다. 최근 위치 추정에 사용되는 필터는 확장 칼만 필터 (EKF: Extended Kalman Filter) 와 파티클 필터(Particle Filter)가 주목 받고 있다. EKF는 가우시안 잡음 (Gaussian Noise) 이 존재하는 비선형 시스템에서 정확도가 높은 알고리즘으로 널리 사용되고 있지만, 수중 환경과 같이 비 가우시안 잡음이 존재하는 경우 사용에 많은 제약이 따른다. 이에 본 논문에서는 상태예측을 기반으로 둔 EKF와 비교하여, 통계적 발생 가능성 인자 (Maximum Likelihood) 에 기반한 분포 재해석 기법을 이용한 개선된 ODPF (One-Dimension Particle Filter)를 제안한다. 모의 실험을 통하여 non-Gaussian noise가 존재하는 수중 환경에서 EKF와 제안한 Particle filter를 사용한 위치 추정 결과를 비교 분석하였으며, 계산 용량 및 통계 샘플이 충분한 경우 ODPF가 EKF 대비 정확한 위치 추정 결과를 제공하는 것을 확인하였다.

• 센서학회지
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• 제22권3호
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• pp.219-222
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• 2013

The exhaled breath contains gases generated from human body. When disease occurs in the body, exhaled breath may include gas components released from disease metabolism. If we can find specific elements through analysis of the exhaled gases, this approach is an effective way to diagnose the disease. The lung function has a close relationship with exhalation. Exhaled gases from COPD (Chronic Obstructive Pulmonary Disease) patients can be analyzed by gas chromatography-mass spectroscopy (GC-MS) and a gas sensor system. The exhaled breath for healthy person and COPD patients had different components. Significantly more benzendicarboxylic acid was detected from COPD patients than in healthy persons. In addition, patients had a variety of decane. Phosphorous compounds with different isomers were detected from patients. The results obtained by gas sensor system were processed by PCA (Principal Component Analysis). The PCA results revealed distinct difference between the patients and healthy people.

• 한국군사과학기술학회지
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• 제15권3호
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• pp.257-265
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• 2012

This paper presents a study on characteristics of precession motion of a smart munition. It's a kind of the Sensor Fuzed Weapon. The particular thing for the smart munition is that it has precession motion in the air while the sensor is searching the ground to detect ground vehicles such as tanks. The smart munition has a cylindrical shape and has a sensor attached on its side. Due to its non-uniform mass distribution, its center of gravity(CG) is located away from the center of volume(CV). In order for the smart munition to detect the target effectively, the ground searching pattern of sensor should have an uniform circular form, and for this, the precession motion of smart munition should be in its steady-state. Finally, it is necessary to choose the right initial conditions at the moment of firing, for the steady-state precession motion during flight.

• 한국소음진동공학회논문집
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• 제27권2호
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• pp.148-154
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• 2017

This paper discussed design for resonance avoidance of sensor plates of loose-parts monitoring systems (LPMS) in nuclear power plants (NPP). An LPMS monitors impact of loose parts in primary loop of NPP by using accelerometers, which is mounted on sensor plates. Resonance of the plates may cause false alarms at frequencies over 10 kHz, which can be misunderstood as impact signals of loose parts with small mass and cause unnecessary response of NPP operators. Modal analysis was carried out for the existing sensor plate and design parameters affecting natural frequencies were chosen. Frequency response functions of plates were analyzed by changing the parameters and the optimized plate design for avoiding resonance was determined. Experiments was carried out for the plate specimen with improved design and verified the proposed approach and design.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.264-266
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• 2005

Recently, on-line diagnosis methods through wired and wireless networks are widely adopted in the diagnosis of industrial Electric Facilities, such as generators, transformers and motors. Also smart sensors which includes sensors, signal conditioning circuits and micro-controller in one board are widely studied in the field of condition monitoring. This paper suggests an self-powered system suitable for condition-monitoring smart sensors, which uses parasitic vibrations of the facilities as energy source. First, vibration-driven noise patterns of the electric facilities are presented. And then, an electromagnetic generator which uses mechanical mass-spring vibration resonance are suggested and designed. Finally energy consumption of the presented smart sensor, which consists of MEMS vibration sensors, signal conditioning circuits, a low-power consumption micro-controller, and a ZIGBEE wireless tranceiver, are presented. The usefulness and limits of the presented electromagnetic generators in the field of electric facility monitoring are also suggested.

• 센서학회지
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• 제13권2호
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• pp.90-95
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• 2004

Protein and gene detection have been growing importance in medical diagnostics. Field effect transistor (FET) - type biosensors have many advantages such as miniaturization, standardization, and mass-production. In this work, we have fabricated metal-oxide-semiconductor (MOS) FET that operates as molecular recognitions based electronic sensor. Measurements were taken with the devices under phosphate buffered saline solution. The drain current ($I_{D}$) was decreased after forming self-assembled mono-layers (SAMs) used to capture the protein, which resulted from the negative charges of SAMs, and increased after forming protein by 11.5% at $V_{G}$ = 0 V due to the positive charges of protein.