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주변 온도 영향에 따른 비분산 적외선 가스센서의 출력 특성 해석
박한길 ( Han-gil Park ),이승환 ( Seung-hwan Yi ) 한국센서학회 2018 센서학회지 Vol.27 No.5
This article describes the output properties of non-dispersive infrared carbon dioxide(CO<sub>2</sub>) sensors resulting from the changes in ambient temperatures. After the developed sensor module was installed inside the gas chamber, the temperature was set to 267 K, 277 K, 300 K, and 314 K, and the concentrations of CO<sub>2</sub> gas were increased from 0 to 5,000 ppm. Then, the output voltage at each concentration was obtained. Through these experimental results, two observations were made. First, both the CO<sub>2</sub> sensor and the reference sensor showed an increase in the output voltages as the temperature rose from 0 ppm, Second, the full scale outputs of the CO<sub>2</sub> sensor grew as the temperature increased. The output characteristics were analyzed based on two factors: change in the radiant energy of the infrared light source and change in the absorptivity of CO<sub>2</sub> gas according to the ambient temperature. Additionally, temperature compensation methods were discussed.
위치/힘 피드백이 가능한 외골격 구조의 데이터 글로브 개발
김민정(Min Jung Kim),김대경(Dae Gyeong Kim),박한길(Han Gil Park),김의겸(Ui Kyum Kim),최병준(Byung June Choi),최혁렬(Hyouk Ryeol Choi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
In this paper we present a new Data-Glove of exoskeleton type that can carry out the position/force-based control by the data communication. The Data-Glove is designed based on the skeletal structure of the human hand, and finger module has 1 DOF by utilizing three four-bar mechanism joints in series and wire coupling mechanism. Also, the transmission ratio of finger module is kept 1:1.4:1 in the whole movement range, and it can perform motions in both extension and flexion. In addition, to realize the adduction/abduction motion of human hand, unique MCP joint is designed by using two universal joints. All the driving circuits and sensors are integrated to the Data-Glove, and the robot hand with link-gear mechanism is developed for evaluation. To validate the feasibility of the Data-Glove, master-slave control experiments based on force-position control between the Data-Glove and robot hand are conducted.
위치 힘 피드백이 가능한 외골격 구조의 데이터 글로브 개발
김민정(Min Jeong Kim),김대경(Dae Gyeong Kim),박한길(Han Gil Park),김의겸(Ui Kyum Kim),최병준(Byung June Choi),최혁렬(Hyouk Ryeol Choi) 대한기계학회 2011 大韓機械學會論文集A Vol.35 No.12
본 연구에서는 사용자의 손에 장착하여 손의 움직임을 측정하고 힘의 반영이 가능한 새로운 형태의 데이터 글로브(data glove)를 제안한다. 본 연구의 데이터 글로브는 인간의 외골격 구조의 분석이 기반하고 있으며 하나의 손가락 모듈은 4절기구의 조합을 통하여 1자유도로 구동이 되도록 고안되어 있다. 데이터 글로브는 펴기(extension)와 구부리기(flexion)를 할 수 있으며 내전(adduction)/외전(abduction)을 위해서 두 개의 유니버설 관절을 이용한 새로운 metacarpal joint 메커니즘을 고안하였다. 동 데이터 글로브의 유효성을 평가하기 위하여 검지손가락을 위한 구동회로와 센서를 포함한 전체 시스템을 제작하였으며 가상공간에 동적 시뮬레이션을 통해서 나타낸 물체를 조작하는 실험을 수행하였다. In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.