FET형 반도체 마이크로센서 개발(Ⅱ)

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.

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.

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>

Robust Electric Compass to Dynamic Magnetic Field Interference

Jae-Pyung Ko,Yang-Hwan Kim,Woong-Ki Kang,Jang-Myung Lee 제어로봇시스템학회 2004 제어로봇시스템학회 국제학술대회 논문집 Vol.2004 No.8

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.

Korean Vowel Recognition Using Attractor Reconstruction on DSP Board

Jae Pyung Ko,Ho Sun Chung 대한전자공학회 1994 대한전자공학회 세미나 Vol.1994 No.-

이동로봇의 추측항법 정확성을 개선하기 위한 자이로스코프의 정확도 교정

고재평(Jae-Pyung Ko),윤재무(Jae-Mu Yun),이장명(Jang-Myung Lee) 제어로봇시스템학회 2005 제어·로봇·시스템학회 논문지 Vol.11 No.5

동적간섭자기장에 강인한 전자컴파스

고재평(Jae-Pyung Ko),강웅기(Woong-Ki Kang),김양환(Yang-Hwan Kim),이장명(Jang-Myung Lee) 제어로봇시스템학회 2005 제어·로봇·시스템학회 논문지 Vol.11 No.1

Process Effect on the RMS Roughness of CuInSe₂ 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.

생물활성탄 공정을 이용한 오존처리 부산물인 aldehyde류의 생분해 특성평가

고재현(Jae Hyun Ko),손희종(Hee Jong Son),김영진(Young Jin Kim),배석문(Seog Moon Bae),유평종(Pyung Jong Yoo),이태호(Tae Ho Lee) 大韓環境工學會 2009 대한환경공학회지 Vol.31 No.11

생물활성탄 재질별 및 안트라사이트 biofilter에서 EBCT 및 수온변화에 따른 aldehyde 4종(formaldehyde, acetaldehyde, glyoxal 및 methylglyoxal)의 생물분해 특성을 조사한 결과 EBCT와 수온을 증가시킬 경우 제거율이 상승하였으며, 수온이 25℃일 때 aldehyde 4종의 제거율은 EBCT의 영향을 크게 받지 않았으나 수온이 5℃일 경우에는 EBCT의 증가가 aldehyde 4종의 제거율 상승에 큰 영향을 미쳤다. 활성탄 재질별 BAC 및 biofilter에서 aldehyde 4종의 제거능은 석탄계-BAC>야자계-BAC>목탄계-BAC>biofilter 순으로 조사되었다. 수온 5℃~25℃, 석탄계-BAC에서 aldehyde류 4종에 대한 생물분해 속도상수(k)와 반감기(t1/2)를 조사한 결과, formaldehyde는 0.2175~0.7826 min-1와 0.89~3.19 min, acetaldehyde는 0.2068~0.9211 min-1와 0.75~3.35 min, glyoxal은 0.1468~0.3213 min-1와 2.16~4.72 min, methylglyoxal은 0.1794~0.4665 min-1와 1.49~3.86 min이었다. Aldehyde 4종에 대한 물질별 생분해율 평가 결과 formaldehyde ≥ acetaldehyde>methylglyoxal>glyoxal 순으로 나타났다. In this study, the effects of biofilter media type (three different activated carbons and anthracite), empty bed contact time (EBCT) and temperature on the removal of four aldehyde species (formaldehyde, acetaldehyde, glyoxal and methylglyoxal) in BAC filters were investigated. Experiments were conducted at three water temperature (5, 15 and 25℃) and four EBCTs (5, 10, 15, and 20 min). The experimental results indicated that the coal based BAC retained more bacterial biomass on the surface of the activated carbon than the other BACs, and increasing EBCT or increasing water temperature also increased the four aldehyde species removal in BAC filters. To achieve above 80% of removal efficiency for four aldehyde species in a BAC filter, above 15 min EBCT at 5℃ and 10 min EBCT at above 15℃ were required. The kinetic analysis indicated a first-order reaction rate for the biodegradation of four aldehyde species at various water temperatures. Data obtained from the BAC filters at various temperatures were also used to evaluate pseudo first-order rate constants for four aldehyde species. The half-lives evaluated for formaldehyde, acetaldehyde, glyoxal and methylglyoxal in the coal-based BAC ranging from 0.89 to 3.19 min, from 0.75 to 3.35 min, from 2.16 to 4.72 min and from 1.49 to 3.86 min, respectively, could be used to assist water utilities in designing and operating BAC filters.