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손병기,이흥락,박이순,조진호,이성필,최평,서화일,고성택,박재윤,서장수,김창수 경북대학교 센서기술연구소 1994 연차보고서 Vol.1994 No.-
현재 의료진단, 화학공정의 모니터링이나 환경공학적 감시 및 제어 등의 분야에서 사용되고 있는 기존의 센서는 고가이며 용적이 클 뿐만 아니라 분석시간이 길고 사용하기 까다로운 것 등 여러 가지 문제점이 있다. 또한 측정환경에 영향을 주지 않을 만큼 충분히 작으며 빠른 분석시간을 가진 센서를 필요로 하고 있다. 본 연구에서는 기존의 센서들의 난점을 극복할 수 있는 새로운 형태의 FET형 전해질(electrolyte : H^+, K^+, Ca^2+, Na^+)분석 시스템, 용존가스(O_2, CO_2)분석 시스템의 개발을 중점적으로 추진하며, FET형 압력센서, 습도센서, 방사형 온도센서 등의 개별 FET형 센서에 관한 연구도 병행하고자 한다. Recently various kinds of sensors have been developed, being applicated to their own purpose. There are lots of difficulties to apply them to measurements in which the real-time monitoring is required without disturbing the surrounding environment. FET type semiconductor sensors, fabricated by the semiconductor integration technologies, have many advantages for their miniaturization, standardization, mass-production and in vivo/in situ monitoring. They also hold a very proper configuration for multi-functional sensors or integrated smart sensors, and wide availability by forming various kinds of physical or chemical sensing materials onto their sensing gates.
Tactile tele-operation of a mobile robot with a collision vector
Ko, Jae-Pyung,Lee, Jang-Myung Cambridge University Press 2006 Robotica Vol.24 No.1
<P>In this paper, we have developed and implemented a system that combines autonomous obstacle avoidance with force-reflective tele-operation. In this system, a tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. The force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force. A virtual force is generated in the form of a new collision vector and reflected to the operator, which makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to a master (two degrees of freedom joystick) over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.</P>
Internet-based Real-time Obstacle Avoidance of a Mobile Robot
Ko Jae-Pyung,Lee Jang-Myung The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.6
In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.
Internet-based Real-time Obstacle Avoidance of a Mobile Robot
Jae-Pyung Ko,Jang-Myung Lee 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.6
In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.
Process Effect on the RMS Roughness of CuInSe<sub>2</sub> Thin Films Grown by MOMBE
Ko, Young-Don,Moon, Pyung,Yun, Il-Gu,Ham, Moon-Ho,Myoung, Jae-Min The Korean Institute of Electrical and Electronic 2007 Transactions on Electrical and Electronic Material Vol.8 No.2
In this paper, the process effect on the RMS roughness of the $HfO_2$ thin films grown by metal organic molecular beam epitaxy was investigated. The measured RMS roughness is examined to characterize the surface morphology. In order to analyze the factor effects, the significant factors of both the main and the interaction effects were extracted through the effect analysis. In order to compare the regression model with the variable transformation, the effect of each factor and the model efficiency are calculated. The methodology can allow us to analyze the effects between the process parameters related to the process variability.