노면판별용 PVDF 압전센서의 이송속도 및 노면상태에 따른 신호특성 연구

다국어 초록 (Multilingual Abstract)

In this study, a tactile sensor was made by PVDF(Polyvinylidene Fluoride) sensor embedded PDMS(Polydimethylsiloxane) structure which can be applied to the outer skin of the snake robot, and the system which detects the condition of the road surface in real time was constructed. Experiments were conducted by moving tactile sensors on the road surface, and measuring output signals in real time. Test conditions were 10N of vertical force and 10 ~ 30mm/s of moving speed. Measured signals were converted into the frequency domain by FFT(Fast fourier transform), and analyzed to distinguish conditions of each road surface. Road surfaces considered in the experiment were coarse gravels fine gravels, coarse sands, and fine sands. The experimental results depict that the amplitude and frequency at the peaks of each signal in frequency were different with respect to the road surface. The system was developed based on the data of the peak amplitude and frequency to determine the type of the road surface.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 실험
• 3. 결론
• 참고문헌